Detection device and method

Abstract

The present application provides a detection device and method, which relate to the field of laser radar technology. In the detection device, the light transmitting module includes a plurality of transmitting units, and the corresponding light receiving module includes a plurality of receiving units, and also includes a processing module, the processing module can generate a first instruction, so that all the transmitting units output the transmitted light at the same time, and the processing module calculates and obtains the detection target distance information according to the one-time receiving data of the receiving module; the processing module can also generate an instruction different from the first instruction, so that the light transmitting module outputs the transmitted light once or more, and only part of the transmitting units output the transmitted light at a certain moment, and the processing module obtains the detection target distance information containing one or more reflected light data according to the one or more receiving data of the light receiving module, so that the number of transmitting units and the number of transmissions are adaptively adjusted to improve the adaptability of the detection device.

Description

Technical Field

[0001] The present application relates to the field of detection technology, and in particular to a detection device and method. Background Art

[0002] The principle of time of flight (TOF) is to continuously send light pulses to the target, then use a sensor to receive the light returned from the object, and obtain the distance of the target by detecting the flight (round-trip) time of the light pulses.

[0003] Direct Time of Flight (DTOF) is a type of TOF. DTOF technology calculates the emission and reception time of light pulses to directly obtain the target distance. It has the advantages of simple principle, good signal-to-noise ratio, high sensitivity and high accuracy. It has received more and more attention. The same ITOF solution can also obtain a high-precision and high-sensitivity distance detection solution.

[0004] However, as the demand for detection distance increases, the existing DTOF or ITOF technology has problems with insufficient detection distance and inability to adaptively adjust. Summary of the invention

[0005] The purpose of the present application is to provide a detection device and method to address the deficiencies in the above-mentioned prior art, so as to solve the technical problem that the detection distance of the existing detection device is not far enough.

[0006] To achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows:

[0007] 1. In a first aspect, an embodiment of the present application provides a detection device, comprising: an optical transmission module, a processing module, and an optical receiving module, wherein the optical transmission module comprises a plurality of transmission units, and the optical receiving module comprises a plurality of receiving units;

[0008] The processing module can generate a first instruction to electrically connect all the transmitting units so that they output the transmitted light at the same time. All the receiving units of the light receiving module correspond to the transmitting units one by one. The processing module calculates and obtains the detection target distance information according to the data of the light receiving module.

[0009] The processing module can also generate an instruction different from the first instruction to electrically connect only part of the transmitting unit, so that the light transmitting module outputs the transmitted light once or more, the light receiving module obtains the reflected light data of the target area once or more, the processing module obtains the data of the receiving area once or more, and calculates and obtains the detected target distance information containing the reflected light data once or more.

[0010] Optionally, the processing module generates the first instruction or an instruction different from the first instruction according to the distance information of the detected target.

[0011] Optionally, the detected target distance information is historical detection distance information. The detection device can electrically connect the processing module and the light emitting module according to a first instruction or an instruction different from the first instruction, and the light emitting module outputs the emitted light once or more than once. The processing device obtains the data received by the light receiving device and calculates and obtains the historical detection distance information.

[0012] Optionally, the detected target distance information is preset distance information.

[0013] Optionally, the multiple transmitting units are located in different optical transmitting modules.

[0014] Optionally, the optical emission module is a vertical cavity surface laser chip.

[0015] Optionally, the multiple transmitting units are located in the same optical transmitting module.

[0016] Optionally, the multiple transmitting units may be divided into at least two transmitting areas, and the multiple receiving units may be divided into at least two receiving areas corresponding thereto.

[0017] Optionally, the plurality of emission units in the same emission area are electrically connected to the processing module under an instruction different from the first instruction to output emission light at different times.

[0018] Optionally, the processing module is further used to set the receiving signals of other receiving areas in the receiving area except the target receiving area to preset values ​​according to the target receiving area.

[0019] In a second aspect, an embodiment of the present application provides a detection method, which is applied to the detection device described in the first aspect above, and the detection method includes:

[0020] generating a first instruction or an instruction different from the first instruction;

[0021] The processing module can control all the transmitting units to output the transmitting light at the same time according to the first instruction, all the receiving units of the light receiving module correspond to the transmitting unit one by one, and the processing module calculates and obtains the detection target distance information according to the data of the light receiving module;

[0022] The processing module can also control the light transmitting module to output the transmitted light once or more than once according to an instruction different from the first instruction, and only part of the transmitting units output the transmitted light at a certain moment. The light receiving module obtains the reflected light data of the target area once or more, and the processing module obtains the data of the receiving area once or more, and calculates and obtains the detected target distance information containing the reflected light information once or more.

[0023] Optionally, the light processing module generates the first instruction or an instruction different from the first instruction according to the distance information of the detected target.

[0024] Optionally, the detected target distance information is historical detection distance information. The detection device can output the transmitted light once or more than once through the optical transmission module according to the first instruction or an instruction different from the first instruction. The processing device obtains the data received by the optical receiving device and calculates and obtains the historical detection distance information.

[0025] Optionally, the detected target distance information is preset distance information.

[0026] Optionally, the multiple transmitting units are located in different optical transmitting modules.

[0027] Optionally, the optical emission module is a vertical cavity surface laser chip.

[0028] Optionally, the multiple transmitting units are located in the same optical transmitting module.

[0029] Optionally, the multiple transmitting units may be divided into at least two transmitting areas, and the multiple receiving units may be divided into at least two receiving areas corresponding thereto.

[0030] Optionally, the plurality of emission units in the same emission area output emission light at different times under the control of an instruction different from the first instruction.

[0031] Optionally, the processing module is further used to set the receiving signals of other receiving areas in the receiving area except the target receiving area to preset values ​​according to the target receiving area.

[0032] The beneficial effects of this application are:

[0033] The present application provides a detection device and method, the detection device comprising: a light transmitting module, a processing module, and a light receiving module, wherein the light transmitting module comprises a plurality of transmitting units, and the light receiving module comprises a plurality of receiving units; the processing module can generate a first instruction to electrically connect all the transmitting units so that they simultaneously output transmitted light, and all the receiving units of the light receiving module correspond to the transmitting units one by one, and the processing module obtains the detection target distance data according to the data of the light receiving module; the processing module can also generate an instruction different from the first instruction to electrically connect only part of the transmitting units so that the light transmitting module outputs transmitted light once or more than once, and the light receiving module The receiving module obtains the reflected light information of the target area once or more than once, the processing module obtains the data of the receiving area once or more than once, and calculates and obtains the detection target distance data containing the reflected light information once or more. In this way, the adaptive emission mode of the light emitting module is realized to concentrate the energy originally occupying the entire field of view angle on a smaller field of view angle, thereby realizing energy concentration and improving power density. Therefore, to a certain extent, the detection distance of the detection device can be increased and the applicability of the detection device can be improved. On the other hand, all or part of the emission units can emit light once or more according to different instructions, thereby realizing adaptation to different measurement scenarios and expanding the application scenarios of the detection device. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0035] Figure 1 A schematic diagram of functional modules of a detection device provided in an embodiment of the present application;

[0036] Figure 2 A schematic diagram of a partition transmission provided in an embodiment of the present application;

[0037] Figure 3 A schematic diagram of an emission area provided in an embodiment of the present application;

[0038] Figure 4 A schematic diagram of another emission area provided in an embodiment of the present application;

[0039] Figure 5 A schematic diagram of another emission area provided in an embodiment of the present application;

[0040] Figure 6A schematic diagram of another partition transmission provided in an embodiment of the present application;

[0041] Figure 7 A flow chart of a detection method provided in an embodiment of the present application;

[0042] Figure 8 A flow chart of another detection method provided in an embodiment of the present application;

[0043] Fig. 9 A flowchart of another detection method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0045] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0046] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0047] Figure 1 This is a functional module diagram of a detection device provided in an embodiment of the present application. Figure 1 As shown, the detection device includes: an optical transmitting module 110 , a processing module 120 , and an optical receiving module 130 . The optical transmitting module 110 includes a plurality of transmitting units, and the optical receiving module 130 includes a plurality of receiving units corresponding to the optical transmitting module 110 .

[0048] Among them, the processing module 120 is used to generate a first instruction or an instruction different from the first instruction. The first instruction can be used to make all the transmitting units output transmitted light at the same time, and all the receiving units of the optical receiving module 130 correspond to the transmitting unit one by one. The processing module calculates and obtains the detection target distance data according to the data of the receiving module. Different from the first instruction, only the processing module 120 is electrically connected to part of the transmitting units, so that the optical transmitting module 110 outputs transmitted light once or more, and the optical receiving module 130 obtains the reflected light information of the target area once or more. The processing module 120 obtains the data of the receiving area once or more, and calculates and obtains the detection target distance data containing the reflected light information once or more. For example, the processing module 120 generates a second instruction, and the processing module 120 is electrically connected to part of the optical transmitting units according to the second instruction. The optical transmitting module 110 outputs transmitted light once, and the optical receiving module Block 130 also obtains the reflection information of the target area once, and the processing module 120 obtains the data once, calculates and outputs the distance of the target object. In this mode, the distance of the detected object is relatively close, and only a few transmitting units are needed to output the transmitted light once, thereby realizing low-power distance measurement. In addition, the processing module 120 generates a third instruction, and the processing module 120 is electrically connected to part of the light transmitting units according to the third instruction. The light transmitting module 110 outputs the transmitted light at least twice, and the light receiving module 130 also obtains the reflection information of the target area twice or more. The processing module 120 obtains the data at least twice, calculates and outputs the distance of the target object. In this mode, the distance of the detected object is relatively far, and only a few transmitting units are needed to output the transmitted light at least twice, thereby concentrating the energy on part of the transmitting units, thereby realizing an increase in the distance range of laser ranging under the conditions of low power or maximum power limitation, and at the same time enhancing the detection system's resistance to environmental interference.

[0049] The light transmitting module 110 can be electrically connected to the processing module 120, and is used to enable at least two transmitting areas to sequentially output the transmitted light according to the transmission sequence instructions generated by the processing module 120; the light receiving module 130 can be electrically connected to the processing module 120, and is used to enable at least two receiving areas to receive at least two reflected lights reflected by the detection target 150 according to the transmission sequence instructions generated by the processing module 120.

[0050] During the operation of the detection system, the first instruction generated by the processing module or an instruction different from the first instruction may refer to the distance information of the detection target, and the distance information may be historical detection distance information. The historical distance information obtains adaptive pre-detection similar to the ranging process, that is, the detection device may electrically connect the processing module 120 and the light emitting module 110 according to the first instruction or an instruction different from the first instruction, and the light emitting module 110 outputs the emitted light once or more than once, and the processing module 120 obtains the data received by the light receiving device, and calculates and obtains the historical detection distance information. It may also directly start the detection device in a predetermined manner according to a preset function table or similar empirical data method, and then adaptively adjust the instructions of the detection system during the actual detection process.

[0051] At the same time Figure 1 As shown, the detection device includes: an optical transmission module 110, a processing module 120, and an optical receiving module 130. The optical transmission module 110 includes at least two transmission areas, and the optical receiving module 130 includes at least two receiving areas corresponding to the optical transmission module 110.

[0052] The processing module 120 is used to generate a transmission sequence instruction, which can be used to indicate the transmission sequence of at least two transmission areas in the optical transmission module 110, and can include a transmission sequence such as sequential transmission and random transmission.

[0053] The optical transmitting module 110 can be electrically connected to the processing module 120, and is used to enable at least two transmitting areas to output the transmitted light in sequence according to the transmission sequence instructions generated by the processing module 120; the optical receiving module 130 can be electrically connected to the processing module 120, and is used to enable at least two receiving areas to receive at least two reflected lights of the transmitted light reflected by the detection target 150 according to the transmission sequence instructions generated by the processing module 120, and here it works according to the third instruction mentioned above.

[0054] The above-mentioned light emitting module 110 may include a light source and an emitting optical element. The light source includes but is not limited to semiconductor lasers, solid lasers, and may also include other types of lasers. The emitting optical element includes but is not limited to lenses, lens groups, Fresnel lenses, wave zone plates, reflectors, etc. The emitted light output by the light source can be emitted to the detection target 150 through the emitting optical element. In the embodiment of the present application, the light emitting module 110 includes at least two emitting areas, which means that the light source outputs the emitted light in different areas. The light receiving module 130 may include a receiving array and a receiving optical element. The receiving array includes but is not limited to a photodiode array, an avalanche photodiode array, a single photon avalanche photodiode array, etc., that is, the reflected light reflected by the detection target 150 can be received by the receiving array through the receiving optical element. In the embodiment of the present application, the light receiving module 130 includes at least two receiving areas, which means that the receiving array receives the reflected light reflected by the detection target 150 in different areas. The at least two receiving areas can establish a one-to-one correspondence with the at least two emitting areas according to the reflected light.

[0055] According to the division of the emission area, the area of ​​the detection target 150 can be divided, wherein one emission area can form a mapping relationship with an area on the detection target 150 and correspond to one receiving area. Optionally, the number of emission areas can be the same as the number of receiving areas, that is, one emission area corresponds to one receiving area, and the receiving area is used to receive the reflected light of the emission light reflected by the detection target 150. In this way, the partitioned emission of the optical emission module 110 and the partitioned reception of the optical receiving module 130 are realized, and the energy originally occupying the entire field of view angle is concentrated on a smaller field of view angle, so as to achieve energy concentration and improve the power density, so that it can be applied to a longer detection distance.

[0056] The processing module 120 is used to obtain data of at least two receiving areas according to the transmission sequence instruction sequence, and calculate and obtain the detection target distance data containing at least two reflected light information.

[0057] Among them, since the light transmitting module 110 enables at least two transmitting areas to output the transmitted light in sequence according to the transmission sequence instruction generated by the processing module 120, and the light receiving module 130 enables at least two receiving areas to receive at least two reflected lights of the transmitted light reflected by the detection target 150 according to the transmission sequence instruction generated by the processing module 120, therefore, when receiving, the processing module 120 can obtain the data of at least two receiving areas according to the transmission sequence instruction sequence, and splice the data of the at least two receiving areas according to the transmission sequence instruction to synthesize a complete distance map, so as to calculate and obtain the detection target distance data containing at least two reflected light information, and output the detection distance for the detection target, thereby ensuring the accuracy of detection while ensuring the detection distance, and will not be affected by the environment (such as fog, haze, raindrops), etc., resulting in a shorter detection distance.

[0058] When the system is working in the second instruction described above, the optical transmitting module 110 enables a certain transmitting area to output the transmitted light according to the transmission sequence instruction generated by the processing module 120, and the optical receiving module 130 enables a certain receiving area to receive the reflected light reflected by the detection target 150 according to the transmission sequence instruction generated by the processing module 120. Therefore, when receiving, the processing module 120 can obtain the data of a certain receiving area according to the transmission sequence instruction sequence, and calculate the data of the receiving area according to the transmission sequence instruction to complete the distance map, so as to calculate the detection target distance data of the reflected light information once, and output the detection distance for the detection target, thereby ensuring the accuracy of detection while ensuring the detection distance, and ensuring that the detection energy can be reduced under this instruction without affecting the detection accuracy, thereby achieving the purpose of short-distance detection with adaptive adjustment of the detection system.

[0059] Figure 2 A schematic diagram of a partition transmission provided in an embodiment of the present application. Figure 2As shown, there may be a certain mapping relationship between the emission area, the receiving area and the detection target area. For example, the optical emission module 110 may include 4 emission areas A1, A2, A3, and A4, and the optical receiving module 130 may include 4 receiving areas B1, B2, B3, and B4. Correspondingly, the detection target 150 may also be divided into 4 detection areas C1, C2, C3, and C4. Taking the emission area A1 as an example, optionally, there may be a mapping relationship between the emission area A1, the receiving area B1, and the detection area C1, that is, the emission light output by the emission area A1 is emitted to the detection area C1 through the emission optical element 111, and the reflected light is generated after being reflected by the detection area C1. The reflected light is then received by the receiving optical element 131 through the receiving area B1, thereby realizing partitioned emission and partitioned reception. Of course, the present application does not limit the number of the above-mentioned emission areas and receiving areas, which can be set according to the actual application scenario. The actual correspondence between the transmitting end, the receiving end, and the detection area is not limited to the method shown in the figure.

[0060] In summary, the detection device provided in the embodiment of the present application includes: a light emitting module, a processing module, and a light receiving module, wherein the light emitting module includes a plurality of emitting units, and the light receiving module includes a plurality of receiving units; the processing module can generate a first instruction to electrically connect all the emitting units so that they simultaneously output emitted light, and all the receiving units of the light receiving module correspond one-to-one to the emitting units, and the processing module obtains the detection target distance data according to the data of the light receiving module; the processing module can also generate an instruction different from the first instruction to electrically connect only part of the emitting units, so that the light emitting module outputs emitted light once or more than once, and the light receiving module obtains the reflected light of the target area once or more than once. Information, the processing module obtains the data of the receiving area once or more than once, and calculates and obtains the detection target distance data containing one or more reflected light information. In this way, the detection system has multiple modes, and can realize automatic selection of modes according to distance and other methods. For example, when the detection distance is far, the distance data can be obtained by multiple measurements in different areas. When the detection distance is short, the distance data can be obtained by measuring a single area once. At a position with a moderate distance, the transmitting and receiving units obtain the distance data once in a one-to-one correspondence. In the specific implementation process, the moderate distance can be a preset range value, or it can be an adaptive dynamic obtained by collating and calculating historical situations in actual use, thereby realizing the effect of real-time adjustment according to the usage status and ensuring the system's always efficient effect.

[0061] In addition, through partitioned transmission, the pressure on the driver caused by the increase in the pulse power of the optical transmission module can be reduced, and the maximum instantaneous current generated when the pulse is transmitted can be reduced, making the driving current smoother. At the same time, the heat dissipation burden of the optical transmission module can be reduced and the heat dissipation effect can be improved. Only one area can be used in short-range detection to reduce the energy consumption of the entire system.

[0062] Next, the embodiments of the present application introduce the emission area based on various situations included in the optical emission module.

[0063] Optionally, the optical transmission module 110 may include at least two transmission arrays, each of which serves as a transmission area.

[0064] Among them, the emitting array may include multiple light sources, for example, multiple semiconductor lasers, but not limited to this. Other types of lasers may be included according to actual application scenarios, so as to solve the problem of limited power of a single light source and improve the detection distance.

[0065] For a given DTOF laser radar, such as a vertical-cavity surface-emitting laser (VCSEL), in the prior art, the corresponding emission field of view is a×b, that is, the horizontal axis is a and the vertical axis is b. Optionally, the emission area in the embodiment of the present application may correspond to an n×n emission array. For example, the emission array may include n×n VCSELs, and the value of n may be 3, 4, 5, etc., which can be selected according to the actual application scenario. Each VCSEL is used to output emission light to different areas on the detection target 150. Then, the field of view corresponding to each VCSEL provided in the embodiment of the present application is a / n×b / n, and the area corresponding to each VCSEL on the detection target 150 is reduced to 1 / n of the original area. 2 , the signal strength received on the detection target surface is increased to the original n 2 times, therefore, the energy that originally occupied the entire field of view angle is concentrated on a smaller field of view angle, reducing the field of view angle corresponding to each emission area, increasing the energy received by the detection target 150 unit area and the number of received reflected light photons, realizing energy concentration and improving power density. Therefore, to a certain extent, the detection distance of the detection device can be increased and the applicability of the detection device can be improved.

[0066] During short-distance detection, one or several areas of the n×n VCSELs output the emitted light at one time, which can reduce the energy of the laser and achieve energy saving during short-distance detection.

[0067] Figure 3 A schematic diagram of an emission area provided in an embodiment of the present application. Figure 3As shown, the transmitting array may include 3×3 Models, one Model may correspond to one VCSEL, then the field of view corresponding to each VCSEL is a / 3×b / 3, and the area corresponding to each VCSEL on the detection target 150 is reduced to 1 / 3 of the original area. 2 , the signal strength received on the target surface is increased to 3 2 times.

[0068] In addition, it should be noted that the present application does not limit the number of the transmitting arrays. Depending on the actual application scenario, the number can be 3, 4, 6, etc.; of course, the size of each transmitting array is not limited. Depending on the actual application scenario, it can be 3×3, 4×4, 5×5, etc.

[0069] Optionally, the optical transmission module 110 may include a transmission array, and the transmission array may be divided into at least two transmission modules, each of which serves as a transmission area.

[0070] Among them, the emission array can be composed of multiple emission pixels. For example, a VCSEL can be used as an emission array, and the emission array can be divided into at least two emission modules. Each emission module is used as an emission area and can include one or more emission pixels to achieve secondary partition emission. It will also have the same technical effect as the above, and this application will not be repeated here. According to the actual application scenario, the corresponding optical emission module 110 can be selected to output the emission light.

[0071] Optionally, the light emitting module 110 includes at least two emitting units, and at least some of the emitting units in the same emitting area output emitting light at different times.

[0072] Among them, the emission unit can be an emission pixel, and each light emitting module can include at least two emission pixels when serving as an emission area. Optionally, when the same emission area is emitting, at least part of the emission pixels can be selected to output emission light at different times, that is, time-sharing emission can be achieved on the basis of partitioned emission. In this way, the pressure on the driver caused by the increase in the pulse power of the light emitting module can be reduced, and the instantaneous current maximum value generated when the pulse is emitted can be reduced, so that the driving current is smoother. At the same time, the heat dissipation burden of the light emitting module can be reduced, and the heat dissipation effect can be improved.

[0073] Each emitting pixel can also be used as a separate emitting area. Different pixel units or emitting areas can be combined into an emitting group by the arrangement of the processing module. The emitting pixels in each emitting group can output emitting light at the same time. Different emitting areas of the emitting array are combined into different emitting groups. Different emitting groups accept the emission sequence instructions generated by the processing module to obtain the detection target distance data containing two reflected light information. The emitting pixels or emitting areas in the group can be combined in regular shapes such as linear, broken line, triangular, circular, etc., or in irregularly randomly arranged shapes. The corresponding receiving end and target area can also establish a corresponding group relationship, which is not limited here. In this way, the detection distance can be improved according to the increase in the number of light emission times, and the adaptability of the light source to the target area or the target object can also be adaptively adjusted by using the arrangement shape.

[0074] Figure 4 This is a schematic diagram of another emission area provided in an embodiment of the present application. Figure 4 As shown, one Model can correspond to one VCSEL, and the emission array can be divided into 9 emission modules, each emission module includes 4 emission pixels, and each emission pixel is numbered in each emission module according to the same marking method to distinguish it. Optionally, when each emission area outputs emission light, the emission pixels with the same number in each emission module can be emitted simultaneously according to the number of the emission pixel in each emission module to output emission light.

[0075] Of course, it should be noted that the embodiment of the present application does not limit the transmission order and transmission mode, and the specific transmission order and transmission mode are determined according to the transmission sequence instruction. Figure 4 As shown, according to the emission sequence instruction, during the first emission, the emission pixels numbered 1 in each emission module can be emitted simultaneously to output the first emission light; during the second emission, the emission pixels numbered 2 in each emission module can be emitted simultaneously to output the second emission light; according to this process, the third emission light and the fourth emission light are output in sequence, and the process is repeated for emission, but is not limited to this.

[0076] Optionally, the optical transmission module 110 may include at least two transmission units, each of which serves as a component unit of a transmission area.

[0077] The emission unit may be an emission pixel, that is, the light emission module 110 may include at least two emission pixels, each of which is a component unit of an emission area. It should be noted that the present application does not limit the number of emission units in each emission area, and the emission area may include one or more emission units.

[0078] Figure 5A schematic diagram of another emission area provided in an embodiment of the present application. Figure 5 As shown, one Model can correspond to one VCSEL. Based on one VCSEL, the VCSEL can be divided into four emission areas, PART 1 to PART 4, to achieve partitioned emission, which will also have the same technical effect as the above, and this application will not be repeated here. Compared with each emission array as an emission area, since the partitioned emission is based on a single VCSEL, its light-emitting area can be more concentrated, and the single-chip partitioned emission VCSEL can arrange all IO interfaces on the periphery of the chip, thereby avoiding the need to add some isolation space between each VCSEL when using multiple VCSELs, resulting in a certain distance between the light-emitting points and the inability to cover all fields of view. Therefore, compared with the existing use of a single VCSEL for emission without partitioning, the detection device provided in the embodiment of the present application can increase the energy received per unit area of ​​the detection target and the number of reflected light photons received, achieve energy concentration, improve power density, and increase the detection distance of the detection device.

[0079] All the emitting units of the emitting module in this embodiment can be arranged to ensure that the light-emitting position is within one plane, and are not stacked with different layers. This can ensure that there is almost no difference in the laser emission position of each emitting unit, and can also ensure the simplicity of the manufacturing process. This feature is very important, especially for the emitting end implemented by VCSEL, and is related to whether the entire solution can be efficiently put into production.

[0080] The processing module 120 is specifically configured to generate the transmission sequence instruction in at least one manner of a function, a list, a series or a randomly generated sequence.

[0081] The embodiment of the present application does not limit the method of generating the transmission sequence instruction, which can be generated by a function method, or selected from a list or a series, or can be generated randomly, wherein the generated transmission sequence instruction can correspond to multiple transmission methods including sequential transmission one by one, sequential transmission in multiple regions, random single region transmission, random multi-region transmission, etc. Of course, it should be noted that according to the actual application scenario, the transmission sequence instruction can also be generated by other methods, and the transmission methods included can also include more methods.

[0082] Optionally, the processing module 120 is further used to determine the receiving area corresponding to each reflected light as the target receiving area according to the transmission sequence instruction; and obtain at least part of the target distance information according to the time information corresponding to the target receiving area receiving the reflected light.

[0083] Of course, when the light emitting module 110 is transmitting in partitions, the light receiving module 130 can also realize partition reception. Among them, since the light emitting module 110 makes at least two transmitting areas output the transmitted light in sequence according to the transmission sequence instruction generated by the processing module 120, the processing module 120 can determine the reception corresponding to each reflected light as the target receiving area according to the transmission sequence instruction, and then receive the time information corresponding to the transmitted light according to the target receiving area, so as to obtain at least part of the target distance information. According to this method, when the light emitting module 110 is transmitting in partitions, the light receiving module 130 can receive in partitions, and finally, according to the data of each receiving area, the detection target distance data containing at least two reflected light information can be calculated to increase the detection distance of the detection device and improve the applicability of the detection device.

[0084] Optionally, the processing module 120 is further configured to set reception signals of other reception areas in the reception area except the target reception area to preset values ​​according to the target reception area.

[0085] In addition, when performing partitioned reception, in order to avoid interference with received signals in non-target receiving areas, the received signals in other receiving areas in the receiving area except the target receiving area can also be set to preset values, for example, to 0, through the processing module 120, so as to shield the non-target receiving area and retain only the target receiving area. In this way, when acquiring data from the target receiving area, the processing process of the non-target receiving area data can be omitted, which can improve work efficiency and ensure detection accuracy to a certain extent.

[0086] Optionally, the processing module 120 is specifically configured to generate a detection target map according to the emission sequence instruction and the receiving time corresponding to each reflected light; the detection target map includes all distance data of the detection target.

[0087] Among them, for the light transmitting module 110 adopting the partitioned transmission mode, the light receiving module 130 can adopt the partitioned reception mode to receive each reflected light, and collect the time information corresponding to each reflected light, and send the time information to the processing module 120. The processing module 120 can then splice the received time information according to the transmission sequence instruction and the receiving time information corresponding to each reflected light to generate a detection target map. The detection target map can include all distance data of the detection target 150, and obtain the detection distance for the detection target 150. At a close distance, part of the transmission area emits the detection light at one time, and the processing module 120 obtains the data and calculates the distance of the target area or the target object.

[0088] Figure 6 This is a schematic diagram of another partition transmission provided by an embodiment of the present application. Figure 6As shown, the optical transmitting module 110 includes 4 transmitting areas PART 1 to PART 4, and the optical receiving module 130 includes 4 receiving areas PART 1 to PART 4, which correspond one to one. That is, PART 1 of the receiving area is used to receive the reflected light output by the transmitting area PART 1 and reflected by the detection target 150. If the emission sequence instruction generated by the processing module 120 corresponds to the emission order that the four emission areas output emission light in the order of PART 1→PART 2→PART 3→PART4, the processing module 120 first sends the emission sequence instruction to the optical emission module 110 and the optical receiving module 130 respectively. For the optical emission module 110, that is, the emission area PART 1 outputs the emission light first, then the emission area PART2 outputs the emission light, the emission area PART 3 outputs the emission light, and finally the emission area PART 4 ​​outputs the emission light; for the optical receiving module 130, when the emission area PART 1 emits, the receiving area PART 1 receives the reflected light corresponding to the emission area PART 1 and collects the corresponding time information, the processing module 120 will shield the receiving areas PART 2~PART4 and set the received data of the receiving areas PART 2~PART4 to 0. According to this process, after completing one cycle, the processing module 120 will obtain four time information corresponding to the receiving areas PART 1 to PART 4, and superimpose the four time information on each other to obtain a complete frame of distance information image, and then calculate the distance data of the detected target to obtain the detection distance for the detected target. The close-range situation is not described in detail in this figure, and is similar to the aforementioned method.

[0089] Optionally, the transmitting module is a monolithic vertical cavity surface laser chip.

[0090] Vertical Cavity Surface Mount Laser (VCSEL) is a semiconductor that emits laser light perpendicular to the top surface, which is different from edge-emitting lasers that are generally made by cutting independent chips and emit laser light from the edge. Of course, it should be noted that the emission module can also be other types of lasers, which is not limited in this application.

[0091] Optionally, the light emitting module 110 is further configured to output emission light in one or more emission areas each time according to an emission sequence instruction.

[0092] When the light emitting module 110 includes a plurality of emitting regions, one or more emitting regions may output emitting light each time. Figure 6As shown, the optical transmission module 110 includes four transmission areas PART1 to PART 4, and the order of outputting the emission light can be that one emission area outputs the emission light at a time, that is, the order of outputting the emission light can be PART 1→PART2→PART 3→PART 4 ​​in sequence; in addition, multiple emission areas can also output the emission light at a time, that is, the order of outputting the emission light can be PART 1, PART 2→PART 3, PART4. Of course, other output methods may also be included according to the actual application scenario, and the present application is not limited thereto.

[0093] Figure 7 The following is a flow chart of a detection method provided in an embodiment of the present application. The method can be applied to the aforementioned detection device. The basic principle and technical effects of the method are the same as those of the aforementioned corresponding device embodiment. For the sake of brief description, the parts not mentioned in this embodiment can be referred to the corresponding contents in the device embodiment. Figure 7 As shown, the detection method includes:

[0094] S101: Generate a first instruction or an instruction different from the first instruction.

[0095] S102. According to different instruction processing modules, all the emission units are electrically connected, or some of the emission units are electrically connected, and the optical emission module outputs emission light once or more than once.

[0096] S103, receiving the reflected light returned from the target area once or more than once according to different instructions by the light receiving module.

[0097] S104. According to different instructions, the processing module processes the received data of the optical receiving module once or more than once to obtain target distance information.

[0098] Optionally, the optical emission module includes at least two emission arrays, and each emission array serves as an emission area.

[0099] Optionally, the optical transmission module includes a transmission array, the transmission array is divided into at least two transmission modules, and each transmission module serves as a transmission area.

[0100] Optionally, the emission module includes at least two emission units, and at least some of the emission units in the same emission area output emission light at different times.

[0101] Optionally, the optical emission module includes at least two emission units, each of which serves as a component unit of an emission area.

[0102] Optionally, the above-mentioned generation of the transmission sequence instruction includes: a mode instruction obtained by judging according to historical distance data or preset distance data.

[0103] Optionally, all the transmitting units or all the transmitting areas of the optical transmitting module output the transmitted light at one time, and the processing module obtains the one-time data of the optical receiving module and outputs the distance information result.

[0104] Optionally, part of the transmitting units or part of the transmitting areas of the optical transmitting module output the transmitted light at one time, and the processing module obtains the one-time data of the optical receiving module and outputs the distance information result.

[0105] Optionally, part of the transmitting units or part of the transmitting areas of the optical transmitting module completely output the transmitted light at least twice, and the processing module obtains at least two data of the optical receiving module and outputs the distance information result.

[0106] When part of the transmitting units or part of the transmitting area of ​​the optical transmitting module outputs the transmitted light at least twice, the processing module obtains at least two data of the optical receiving module and outputs the distance information result, the processing module can be used according to Figure 8 Follow the steps shown.

[0107] S201, generate a transmission sequence instruction.

[0108] S202. According to the emission sequence instruction, at least two emission areas sequentially output emission light.

[0109] S203. According to the transmission sequence instruction, at least two receiving areas receive at least two reflected lights of the transmitted light reflected by the detection target.

[0110] S204, obtaining data of at least two receiving areas according to the transmission sequence instruction sequence, and calculating and obtaining detection target distance data containing at least two reflected light information.

[0111] Optionally, the optical emission module includes at least two emission arrays, and each emission array serves as an emission area.

[0112] Optionally, the optical transmission module includes a transmission array, the transmission array is divided into at least two transmission modules, and each transmission module serves as a transmission area.

[0113] Optionally, the emission module includes at least two emission units, and at least some of the emission units in the same emission area output emission light at different times.

[0114] Optionally, the optical emission module includes at least two emission units, each of which serves as a component unit of an emission area.

[0115] Optionally, the generating of the emission sequence instruction comprises: generating the emission sequence instruction in accordance with at least one of a function, a list, a series or a randomly generated sequence.

[0116] Fig. 9 A flow chart of another detection method provided in an embodiment of the present application. Optionally, Fig. 9 As shown, the above method also includes:

[0117] S301, determining, according to a transmission sequence instruction, a receiving area corresponding to each reflected light as a target receiving area.

[0118] S302: Obtain at least part of the target distance information according to the time information corresponding to the target receiving area receiving the reflected light.

[0119] Optionally, the method further comprises: according to the target receiving area, setting the receiving signals of other receiving areas in the receiving area except the target receiving area to preset values.

[0120] Optionally, the above-mentioned method of sequentially obtaining data of at least two receiving areas according to the emission sequence instructions, and calculating the detection target distance data containing at least two reflected light information, includes: generating a detection target map according to the emission sequence instructions and the receiving time corresponding to each reflected light; the detection target map includes all distance data of the detection target.

[0121] Optionally, the transmitting module is a monolithic vertical cavity surface laser chip.

[0122] Optionally, the at least two emission areas sequentially output emission light according to the emission sequence instruction, including: according to the emission sequence instruction, one or more emission areas sequentially output emission light each time.

[0123] The above method is applied to the detection device provided in the aforementioned embodiment, and its implementation principle and technical effect are similar, which will not be repeated here.

[0124] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or equipment. In the absence of further restrictions, the elements defined by the sentence "comprise one..." do not exclude the existence of other identical elements in the process, method, article or equipment including the elements. The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application. It should be noted that similar numbers and letters represent similar items in the following figures. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in the subsequent figures. The above description is only a preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A detection device, characterized in that: include: An optical transmitting module, a processing module, and an optical receiving module, wherein the optical transmitting module comprises a plurality of transmitting units, and the optical receiving module comprises a plurality of receiving units; The processing module may generate a first instruction to electrically connect all the transmitting units so that they simultaneously output the transmitted light, and all the receiving units of the light receiving module correspond to the transmitting unit one by one, and the processing module calculates and obtains the detection target distance information according to the data of the light receiving module; the processing module may also generate an instruction different from the first instruction to electrically connect only part of the transmitting units, so that the light transmitting module outputs the transmitted light once or more than once, and the light receiving module obtains the target area reflected light data once or more than once, and the processing module obtains the data of the light receiving module once or more than once, and calculates and obtains the detection target distance information containing the reflected light data once or more than once; The processing module generates the first instruction or an instruction different from the first instruction according to the distance information of the detected target.

2. The detection device according to claim 1, characterized in that: The detected target distance information is historical detection distance information. The detection device can electrically connect the processing module and the light emitting module according to a first instruction or an instruction different from the first instruction, and the light emitting module outputs the emitted light once or more than once. The processing module obtains the data received by the light receiving module and calculates to obtain the historical detection distance information.

3. The detection device according to claim 1, characterized in that: The detected target distance information is preset distance information.

4. The detection device according to claim 1, characterized in that: The multiple emission units are located in different optical emission modules.

5. The detection device according to claim 4, characterized in that: The light emitting module is a vertical cavity surface laser chip.

6. The detection device according to claim 1, characterized in that: The multiple transmitting units are located in the same optical transmitting module.

7. The detection device according to claim 1, characterized in that: The plurality of transmitting units may be divided into at least two transmitting areas, and the plurality of receiving units may be divided into at least two receiving areas corresponding thereto.

8. The detection device according to claim 7, characterized in that: The plurality of emission units in the same emission area are electrically connected to the processing module under an instruction different from the first instruction to output emission light at different times.

9. The detection device according to claim 7, characterized in that: The processing module is further used to set the receiving signals of other receiving areas in the receiving area except the target receiving area to preset values ​​according to the target receiving area.

10. A detection method, characterized in that: Applied to the detection device described in any one of claims 1 to 9 above, the detection method comprises: generating a first instruction or an instruction different from the first instruction; the processing module can control all the transmitting units to output transmitted light at the same time according to the first instruction, all the receiving units of the light receiving module correspond to the transmitting unit one by one, and the processing module calculates and obtains the detection target distance information according to the data of the light receiving module; the processing module can also control the light transmitting module to output transmitted light once or more than once according to an instruction different from the first instruction, only part of the transmitting units output transmitted light at a certain moment, the light receiving module obtains the target area reflected light data once or more, the processing module obtains the data of the light receiving module once or more, and calculates and obtains the detection target distance information containing the reflected light information once or more; The processing module generates the first instruction or an instruction different from the first instruction according to the distance information of the detected target.

11. The detection method according to claim 10, characterized in that: The detected target distance information is historical detection distance information. The detection device can output the transmitted light once or more than once through the optical transmitting module according to the first instruction or an instruction different from the first instruction. The processing module obtains the data received by the optical receiving module and calculates and obtains the historical detection distance information.

12. The detection method according to claim 10, characterized in that: The detected target distance information is preset distance information.

13. The detection method according to claim 10, characterized in that: The multiple emission units are located in different optical emission modules.

14. The detection method according to claim 13, characterized in that: The light emitting module is a vertical cavity surface laser chip.

15. The detection method according to claim 10, characterized in that: The multiple transmitting units are located in the same optical transmitting module.

16. The detection method according to claim 10, characterized in that: The plurality of transmitting units may be divided into at least two transmitting areas, and the plurality of receiving units may be divided into at least two receiving areas corresponding thereto.

17. The detection method according to claim 16, characterized in that: The plurality of emission units in the same emission area output emission light at different times under the control of a command different from the first command.

18. The detection method according to claim 17, characterized in that: The processing module is further used to set the receiving signals of other receiving areas in the receiving area except the target receiving area to preset values ​​according to the target receiving area.

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