LiDAR transceiver chip system and 3D sensing device

Abstract

The present application relates to a laser radar transceiver chip system and a 3D sensing device. The system includes: a TX end, which includes multiple TX channels and each of which can be turned on and off separately; a TX end optical module, which is used to calibrate the emission light from the TX end so that the emission light passing through each TX channel has a corresponding emission direction; an RX end, which includes multiple RX channels and each of which can be turned on and off separately; and an RX end optical module, which is installed on the RX end and is used to perform focusing operations and mask operations so that the light received through each RX channel has a corresponding receiving range. The system is located in a specific detection mode and generates detection results by controlling the opening and closing of each of the multiple TX channels and the opening and closing of each of the multiple RX channels. In this way, a better balance is achieved in various aspects such as power utilization, scanning angle, detection distance, and detection accuracy.

Description

Technical Field

[0001] The present application relates to the field of optoelectronic technology, and specifically to a laser radar transceiver chip system and a 3D sensing device. Background Art

[0002] Laser Radar is also called Light Detection and Ranging (LiDAR). Its principle is to emit a laser beam as a detection signal and receive the reflected signal and then process it to obtain characteristic information such as target distance, direction, height, speed, attitude, shape, etc. One ranging principle of laser radar is the time of flight (TOF) method, which calculates the spatial distance from the target object to the sensor by measuring the propagation time of light (such as the pulse signal emitted by a pulsed laser) reflected from the target object to the receiver. Another ranging principle of laser radar is the coherence method or frequency modulated continuous wave (FMCW), that is, to emit a continuous light beam with a stable frequency change over time and use the principle of frequency difference caused by transmission distance difference to achieve ranging. Laser radar can provide ranging, positioning and three-dimensional rendering functions, and is widely used in the fields of autonomous driving and unmanned aerial vehicles.

[0003] Based on the basic structure and technical route of LiDAR, LiDAR can be divided into mechanical, semi-solid and all-solid. Mechanical LiDAR uses mechanical structure to continuously rotate the overall structure of the transmitting system and the receiving system to turn the laser point into a line and achieve the purpose of 3D scanning. However, mechanical LiDAR requires high-frequency and accurate rotation and complex mechanical structure and its reliability is not high in the field of autonomous driving. Semi-solid LiDAR keeps the transceiver module stationary and drives the rotating mirror to move through a motor, such as a micro-electro-mechanical system (MEMS) galvanometer to reflect the light beam to a specified range in space to achieve scanning detection. However, semi-solid LiDAR still relies on mechanical movement to achieve scanning and also requires a small number of moving parts and mechanical structures. It is also limited by the physical limits of MEMS galvanometers and cannot obtain a higher scanning frequency. All-solid-state LiDAR does not contain any moving parts and is considered to be the mainstream development direction in the future. All-solid-state LiDAR is generally divided into optical phased array (OPA) and flood array. Among them, the OPA laser radar uses an array composed of multiple transmitting and receiving units and uses the phase relationship between the light waves emitted by different phased units to generate mutually reinforcing interference in the set direction and cancel each other in the non-set direction so that the light beam can achieve spatial scanning according to the design. However, the manufacturing process of the OPA type is difficult, such as the array unit size is generally not required to be larger than half a wavelength, which limits the promotion and application of the OPA type. The flood array laser radar is also called the FLASH laser radar. Its principle is to emit a laser covering a large detection area in a short time and complete the drawing of the surrounding image through the receiver, such as illuminating the entire scene by emitting a flash in all directions and collecting laser beams reflected from different directions through the sensor array. The working principle of the FLASH laser radar is similar to that of the TOF camera that detects the entire depth image of the object through a dot matrix photosensitive sensor. However, the detection signal emitted by the FLASH laser radar is scattered throughout the scene or the entire field of view, including less important areas, and the larger the scanning angle (Focus of View, FOV), the larger the coverage area, and the higher the power required to maintain sufficient detection accuracy and distance. Higher detection accuracy and distance can be achieved by increasing the light emission rate, but this will also lead to increased energy consumption in the field of autonomous driving. In addition, due to the limitation of the current laser's luminous power density, more lasers must be used, which leads to increased costs.Reducing the FOV or scanning angle, including providing a variable scanning angle, means that a higher power density can be achieved within a smaller scanning range. However, sacrificing the scanning range is not conducive to quickly obtaining information around the vehicle in the field of autonomous driving, especially in scenarios that require rapid response to complex surrounding environments, such as driving in urban areas or on highways with heavy traffic. Therefore, it is difficult for existing FLASH-type laser radars to achieve a good balance in power utilization, scanning angle, detection distance, detection accuracy, etc., which has brought obstacles to the promotion of FLASH-type laser radars.

[0004] To this end, a lidar transceiver chip system and a 3D sensing device are needed that can overcome the various shortcomings mentioned above, not only to achieve a good balance in power utilization, scanning angle, detection distance, detection accuracy and other aspects, but also to be used in various complex application scenarios in the fields of autonomous driving and unmanned aerial vehicles and provide safe and reliable ranging, positioning and three-dimensional drawing functions. Summary of the invention

[0005] In the first aspect, an embodiment of the present application provides a laser radar transceiver chip system. The laser radar transceiver chip system includes: a transmitting TX end, wherein the TX end includes multiple TX channels, and the opening and closing of each of the multiple TX channels can be controlled separately; a TX end optical module, wherein the TX end optical module is used to calibrate the emission light from the TX end so that the emission light of each of the multiple TX channels passing through the TX end has a corresponding emission direction; a receiving RX end, wherein the RX end includes multiple RX channels, and the opening and closing of each of the multiple RX channels can be controlled separately; and an RX end optical module, wherein the RX end optical module is installed on the RX end and is used to perform focusing operations and mask operations so that the light received by each of the multiple RX channels passing through the RX end has a corresponding receiving range. Wherein, the laser radar transceiver chip system is located in a specific detection mode and generates detection results under the specific detection mode by controlling the opening and closing of each of the multiple TX channels and the opening and closing of each of the multiple RX channels.

[0006] The technical solution described in the first aspect not only achieves a good balance in various aspects such as power utilization, scanning angle, detection distance, and detection accuracy, but can also be used in various complex application scenarios in the fields of autonomous driving and unmanned aerial vehicles and provide safe and reliable ranging, positioning, and three-dimensional drawing functions.

[0007] According to a possible implementation method of the technical solution of the first aspect, an embodiment of the present application further provides that the TX-end optical module is used to calibrate the emission light from the TX-end so that the emission light of each TX channel among the multiple TX channels passing through the TX-end each has a corresponding emission direction, including: the TX-end optical module is used to calibrate the emission light from the TX-end so that the emission light of each TX channel among the multiple TX channels passing through the TX-end each has a corresponding main optical axis direction.

[0008] According to a possible implementation method of the technical solution of the first aspect, an embodiment of the present application further provides that the TX-end optical module is used to calibrate the emission light from the TX-end so that the emission light of each TX channel among the multiple TX channels passing through the TX-end respectively has a corresponding emission direction, including: the TX-end optical module is used to calibrate the emission light from the TX-end so that the emission light of each TX channel among the multiple TX channels passing through the TX-end respectively is projected onto the corresponding projection area of ​​the reference object.

[0009] According to a possible implementation of the technical solution of the first aspect, the embodiment of the present application further provides that the reference object has multiple projection areas, and each of the multiple TX channels is associated with at least one of the multiple projection areas. Wherein, the TX end optical module is used to calibrate the emission light from the TX end so that the emission light of each of the multiple TX channels passing through the TX end is projected to the corresponding projection area of ​​the reference object, including: the TX end optical module is used to calibrate the emission light from the TX end so that the emission light of each of the multiple TX channels passing through the TX end is projected to the projection area associated with the TX channel.

[0010] According to a possible implementation method of the technical solution of the first aspect, an embodiment of the present application further provides that the distribution of the multiple projection areas on the reference object satisfies that any projection area among the multiple projection areas is adjacent to or connected to at least one other projection area among the multiple projection areas.

[0011] According to a possible implementation of the technical solution of the first aspect, the embodiment of the present application further provides that the multiple RX channels correspond to the multiple projection areas one by one. Wherein, the RX end optical module is installed on the RX end and is used to perform focusing operation and masking operation so that the light received by each of the multiple RX channels passing through the RX end has a corresponding receiving range, including: the RX end optical module is installed on the RX end and is used to perform focusing operation and masking operation so that the light received by each of the multiple RX channels passing through the RX end is reflected from the projection area corresponding to the RX channel.

[0012] According to a possible implementation method of the technical solution of the first aspect, an embodiment of the present application further provides that each of the multiple TX channels is associated with at least one projection area among the multiple projection areas, including: the multiple TX channels correspond one-to-one to the multiple projection areas and each of the multiple TX channels is only associated with the projection area corresponding to the TX channel.

[0013] According to a possible implementation method of the technical solution of the first aspect, an embodiment of the present application further provides that a corresponding receiving range of light received by each of the multiple RX channels passing through the RX end defines a specific space corresponding to the RX channel, and each of the multiple RX channels is sensitive to the light field distribution located in the specific space corresponding to the RX and is insensitive to the light field distribution not located in the specific space corresponding to the RX.

[0014] According to a possible implementation of the technical solution of the first aspect, the embodiment of the present application also provides that the specific detection mode is a preset detection mode among multiple preset detection modes, and the multiple preset detection modes include a flash mode and a scan mode. Wherein, the laser radar transceiver chip system is in a specific detection mode and generates a detection result in the specific detection mode by controlling the opening and closing of each of the multiple TX channels and the opening and closing of each of the multiple RX channels, including: the laser radar transceiver chip system is in the Flash mode by controlling all of the multiple TX channels to be turned on and controlling all of the multiple RX channels to be turned on, and the laser radar transceiver chip system is in the Scan mode by controlling the multiple TX channels to be turned on one by one in a specific order and controlling the multiple RX channels to turn on the RX channels corresponding to the currently turned on TX channels.

[0015] According to a possible implementation method of the technical solution of the first aspect, an embodiment of the present application further provides that at least two TX channels among the multiple TX channels are respectively connected to different light sources, and the light sources connected to the at least two TX channels are not consistent in at least one of the following configuration parameters: transmission power, wavelength, encoding method, signal modulation method, pulse power, number of unit pulses, imaging distance, power consumption, and maximum detection distance.

[0016] According to a possible implementation method of the technical solution of the first aspect, an embodiment of the present application further provides that at least two of the multiple preset detection modes satisfy that the light sources connected to the TX channels respectively turned on in the at least two preset modes have different configuration parameters.

[0017] According to a possible implementation method of the technical solution of the first aspect, an embodiment of the present application further provides that the multiple preset detection modes include an urban detection mode and a highway detection mode, wherein the light source connected to the TX channel turned on in the urban detection mode adopts a wavelength of 940 nanometers and an emission power of 100 watts, and the light source connected to the TX channel turned on in the highway detection mode adopts a wavelength of 850 nanometers and an emission power of 200 watts.

[0018] According to a possible implementation method of the technical solution of the first aspect, an embodiment of the present application also provides that the laser radar transceiver chip system is configured to select the specific detection mode from the multiple preset detection modes according to the application scenario of the laser radar transceiver chip system.

[0019] According to a possible implementation method of the technical solution of the first aspect, an embodiment of the present application also provides that the laser radar transceiver chip system controls the opening and closing of each of the multiple TX channels through a first addressing method and controls the opening and closing of each of the multiple RX channels through a second addressing method, and the first addressing method and the second addressing method can be reprogrammed or dynamically adjusted.

[0020] According to a possible implementation method of the technical solution of the first aspect, an embodiment of the present application further provides that the specific detection mode is based on the addressing of the TX channels that have been turned on among the multiple TX channels, the addressing of the RX channels that have been turned on among the multiple RX channels, and the configuration parameters of the light sources connected to each of the TX channels that have been turned on among the multiple TX channels, wherein the configuration parameters include at least one of the transmission power, wavelength, encoding method, signal modulation method, pulse power, number of unit pulses, imaging distance, power consumption, and maximum detection distance.

[0021] According to a possible implementation of the technical solution of the first aspect, an embodiment of the present application further provides that the laser radar transceiver chip system is configured to set the specific detection mode according to the size and distance of the area of ​​interest.

[0022] According to a possible implementation method of the technical solution of the first aspect, an embodiment of the present application also provides that the TX end includes a multi-section multi-channel vertical cavity surface emitting laser VCSEL chip and a high-speed laser driver chip for generating emission light from the TX end, and the RX end includes a sensor chip for detecting the light received by the RX end.

[0023] According to a possible implementation method of the technical solution of the first aspect, an embodiment of the present application also provides that the laser radar transceiver chip system is a fully solid-state laser radar.

[0024] In a second aspect, an embodiment of the present application provides a 3D sensing device. The 3D sensing device includes: a TX end, wherein the TX end includes a plurality of TX channels, and the opening and closing of each of the plurality of TX channels can be controlled separately; a TX end optical module, wherein the TX end optical module is used to calibrate the emission light from the TX end so that the emission light of each of the plurality of TX channels passing through the TX end is projected to a projection area associated with the TX channel of a reference target, the reference target having a plurality of projection areas, and each of the plurality of TX channels is associated with at least one projection area of ​​the plurality of projection areas; an RX end, wherein the RX end includes a plurality of RX channels, and the opening and closing of each of the plurality of RX channels can be controlled separately, and the plurality of RX channels correspond to the plurality of projection areas one by one; and an RX end optical module. The RX end optical module is mounted on the RX end and is used to perform focusing operations and masking operations so that the light received by each of the plurality of RX channels passing through the RX end is reflected from the projection area corresponding to the RX channel. The 3D sensing device is placed in a specific detection mode and generates a detection result in the specific detection mode by controlling the opening and closing of each of the multiple TX channels and controlling the opening and closing of each of the multiple RX channels.

[0025] The technical solution described in the second aspect not only achieves a good balance in various aspects such as power utilization, scanning angle, detection distance, and detection accuracy, but can also be used in various complex application scenarios in the fields of autonomous driving and unmanned aerial vehicles and provide safe and reliable ranging, positioning, and three-dimensional drawing functions.

[0026] According to a possible implementation of the technical solution of the second aspect, an embodiment of the present application further provides that the multiple TX channels are connected to an edge emitting laser or a surface emitting laser, wherein the surface emitting laser at least includes a vertical cavity surface emitting laser VCSEL.

[0027] According to a possible implementation of the technical solution of the second aspect, the embodiment of the present application further provides that the specific detection mode is a preset detection mode among multiple preset detection modes, and the multiple preset detection modes include a flash mode and a scan mode. Wherein, the 3D sensing device is located in a specific detection mode and generates a detection result in the specific detection mode by controlling the opening and closing of each of the multiple TX channels and the opening and closing of each of the multiple RX channels, including: the 3D sensing device is located in the Flash mode by controlling all of the multiple TX channels to be turned on and controlling all of the multiple RX channels to be turned on, and the 3D sensing device is located in the Scan mode by controlling the multiple TX channels to be turned on one by one in a specific order and controlling the multiple RX channels to turn on the RX channel corresponding to the currently turned on TX channel.

[0028] According to a possible implementation method of the technical solution of the second aspect, an embodiment of the present application further provides that the specific detection mode is based on the addressing of the TX channels that have been turned on among the multiple TX channels, the addressing of the RX channels that have been turned on among the multiple RX channels, and the configuration parameters of the light sources connected to each of the TX channels that have been turned on among the multiple TX channels, wherein the configuration parameters include at least one of the transmission power, wavelength, encoding method, signal modulation method, pulse power, number of unit pulses, imaging distance, power consumption, and maximum detection distance. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] In order to illustrate the technical solutions in the embodiments of the present application or the background technology, the drawings required for use in the embodiments of the present application or the background technology will be described below.

[0030] Figure 1 A block diagram of a laser radar transceiver chip system provided in an embodiment of the present application is shown.

[0031] Figure 2 A schematic diagram showing the distribution of the projection area of ​​the reference target provided in an embodiment of the present application is shown.

[0032] Figure 3 A schematic diagram showing multiple preset detection modes provided in an embodiment of the present application is shown.

[0033] Figure 4 The present application embodiment provides a method for Figure 1 A schematic diagram of the user operation interface of the lidar transceiver chip system is shown. DETAILED DESCRIPTION

[0034] In order to solve the technical problems such as various deficiencies of the existing laser radars of various structures and technical routes, the embodiments of the present application propose a laser radar transceiver chip system and a 3D sensing device. Among them, the laser radar transceiver chip system includes: a transmitting TX end, wherein the TX end includes multiple TX channels, and the opening and closing of each of the multiple TX channels can be controlled separately; a TX end optical module, wherein the TX end optical module is used to calibrate the emission light from the TX end so that the emission light of each of the multiple TX channels passing through the TX end has a corresponding emission direction; a receiving RX end, wherein the RX end includes multiple RX channels, and the opening and closing of each of the multiple RX channels can be controlled separately; and an RX end optical module, wherein the RX end optical module is installed on the RX end and is used to perform focusing operations and masking operations so that the light received by each of the multiple RX channels passing through the RX end has a corresponding receiving range. Among them, the laser radar transceiver chip system is located in a specific detection mode and generates detection results under the specific detection mode by controlling the opening and closing of each of the multiple TX channels and the opening and closing of each of the multiple RX channels. The embodiments of the present application have the following beneficial technical effects: not only a good balance is achieved in various aspects such as power utilization, scanning angle, detection distance, and detection accuracy, but also it can be used in various complex application scenarios in the fields of autonomous driving and unmanned aerial vehicles and provide safe and reliable ranging, positioning, and three-dimensional drawing functions.

[0035] The embodiments of the present application can be used in the following application scenarios, including but not limited to laser detection, laser ranging, 3D imaging, three-dimensional scene rendering, three-dimensional modeling, autonomous driving, unmanned aerial vehicles, augmented reality (AR), virtual reality (VR) and any application scenario that may utilize the laser radar transceiver chip system and 3D sensing device of the embodiments of the present application.

[0036] The embodiments of the present application can be adjusted and improved according to the specific application environment and are not specifically limited here.

[0037] In order to enable those skilled in the art to better understand the present application, the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.

[0038] Figure 1The block diagram of the laser radar transceiver chip system provided by the embodiment of the present application is shown. The laser radar transceiver chip system includes: a transmitting end also called a TX end (transmitter) 110, wherein the TX end 110 includes a plurality of TX channels (not shown), and the opening and closing of each of the plurality of TX channels can be controlled separately; a TX end optical module 112, wherein the TX end optical module 112 is used to calibrate the emission light from the TX end 110 so that the emission light of each of the plurality of TX channels passing through the TX end 110 has a corresponding emission direction; a receiving end is also called an RX end (receiver) 120, wherein the RX end 120 includes a plurality of RX channels (not shown), and the opening and closing of each of the plurality of RX channels can be controlled separately; and an RX end optical module 122. The RX end optical module 122 is installed on the RX end 120 and is used to perform focusing operations and masking operations so that the light received by each of the plurality of RX channels passing through the RX end 120 has a corresponding receiving range. Among them, the laser radar transceiver chip system is located in a specific detection mode and generates detection results in the specific detection mode by controlling the opening and closing of each of the multiple TX channels and controlling the opening and closing of each of the multiple RX channels.

[0039] Figure 1The laser radar transceiver chip system shown includes multiple TX channels whose opening and closing can be controlled separately, which means that the control of each TX channel can be independent of each other, that is, controlling one TX channel to be opened while controlling the closing of another TX channel. In addition, the TX end optical module 112 is used to calibrate the emitted light from the TX end 110 so that the emitted light of each of the multiple TX channels passing through the TX end 110 has a corresponding emission direction. This means that combined with the control of opening and closing of each TX channel and the calibration function of the TX end optical module 112, it is possible to achieve that the light emitted through the TX end 110 covers the specified area in a predetermined manner or a specified design. By controlling some TX channels to be opened and other TX channels to be closed, the closed TX channels will not emit light or the light cannot be emitted through the closed TX channels, which also means that light can only be emitted through the opened TX channels. In this way, by controlling the opening and closing of these TX channels, for example, by controlling the opening and closing of the channels through an addressable multi-channel transmitter or a codable controller, it is convenient to control which TX channels, that is, the TX channels that have been turned on, the emitted light from the TX end 110 is emitted from. In this way, each TX channel has a corresponding emission direction under the calibration of the TX end optical module 112, so that the light beam emitted from the TX end 110 covers the specified area according to a predetermined method or a specified design. This control method is different from a mechanical laser radar or a semi-solid laser radar, which eliminates all moving parts in the system and does not rely on mechanical movement; it is also different from an OPA laser radar, and the manufacturing process is relatively simple, for example, by controlling the opening and closing of the channels through an addressable multi-channel transmitter or a codable controller. In addition, the laser radar transceiver chip system also includes a plurality of RX channels whose opening and closing can be controlled separately, and the RX end optical module 122 performs focusing operations and masking operations so that the light received by each of the multiple RX channels has a corresponding receiving range. That is to say, by controlling some RX channels to be turned on and other RX channels to be turned off, the turned-off RX channels cannot receive light, which means that the light received by the RX end 120 does not come from the receiving range corresponding to the turned-off RX channels, and also means that the light received by the RX end 120 can only come from the receiving range corresponding to the turned-on RX channels. In this way, by controlling the opening and closing of these RX channels, for example, by controlling the opening and closing of channels through an addressable multi-channel receiver or a codable controller, it is convenient to control which receiving ranges the light received by the RX end 120 comes from, which is conducive to flexibly adjusting the reflection area of ​​the signal received by the laser radar transceiver chip system as needed.Furthermore, the laser radar transceiver chip system is in a specific detection mode by controlling the opening and closing of each of the multiple TX channels and the opening and closing of each of the multiple RX channels, thereby combining the above-mentioned control method at the TX end and the control method at the RX end, thereby achieving at the same time: the laser radar transceiver chip system allows the emission light beam to cover the specified area in a predetermined manner or a specified design while also flexibly adjusting the reflection area of ​​the received signal. Therefore, the specific detection mode is based on two dimensions of flexibility, namely the flexibility of the area covered by the emission light beam and the flexibility of the reflection area of ​​the received signal. In addition, the setting and adjustment of the specific detection mode can be conveniently achieved by, for example, controlling the opening and closing of the channels by an addressable multi-channel transmitter and a matching receiver or an encodable controller. Such setting and adjustment of specific detection modes, and the corresponding flexible adjustment of the area covered by the emission beam and the reflection area of ​​the received signal, are different from the FLASH laser radar or flood array laser radar of the prior art, and can realize refined and flexible control of the detection range and scanning range, so as to avoid using too much power in less important areas. For example, the transmission power can be concentrated on the key area by controlling the opening and closing of the TX channel, and the size of the reflection area of ​​the received signal can be adjusted to meet the needs of specific application scenarios. For example, in the scenario of driving in the urban area, the opening and closing of the RX channel can be controlled to receive signals from a larger range of reflection areas. In addition, it should be understood that the above-mentioned laser radar transceiver chip system provides a structure for flexibly setting the detection mode and adjusting the area covered by the emission beam and the reflection area of ​​the received signal. Its operation does not require a specific light source or laser, and therefore it can be flexibly adapted to any suitable light source. In addition, the TX channel of the TX end 110 can be connected to the same light source or to different light sources. For example, each TX channel can be connected to a different light source, and the connection relationship between the TX channel and the light source can be fixed or adjustable. For example, by merging channels, two or more TX channels can receive light from the same light source, thereby changing the projection mode of multiple TX channels by adjusting a single light source, and the light source connected to each TX channel can be adjusted individually. In other words, on the basis of controlling the opening and closing of each TX channel separately mentioned above, the light source connected to each TX channel can also be adjusted individually, jointly, or globally. And the adjustment of the light source can include various means such as adjusting the power of the laser signal and the encoding method, so that the best measurement effect can be achieved in different application scenarios, which will be explained in more detail below. Therefore,. Figure 1The laser radar transceiver chip system shown overcomes the shortcomings of mechanical laser radar or semi-solid laser radar that rely on mechanical movement and moving parts, and also overcomes the shortcomings of the high difficulty of the manufacturing process of the existing all-solid-state laser radar, and achieves a good balance in power utilization, scanning angle, detection distance, detection accuracy and other aspects.

[0040] In some embodiments, the TX end optical module 112 is used to calibrate the emitted light from the TX end 110 so that the emitted light of each of the multiple TX channels passing through the TX end 110 has a corresponding emission direction, including: the TX end optical module 112 is used to calibrate the emitted light from the TX end 110 so that the emitted light of each of the multiple TX channels passing through the TX end 110 has a corresponding main optical axis direction. In this way, the main optical axis direction of the emitted light of each TX channel can be adjusted by calibration, thereby adjusting the area covered by the emitted light beam.

[0041] In some embodiments, the TX end optical module 112 is used to calibrate the emission light from the TX end 110 so that the emission light of each of the multiple TX channels passing through the TX end 110 has a corresponding emission direction, including: the TX end optical module 112 is used to calibrate the emission light from the TX end 110 so that the emission light of each of the multiple TX channels passing through the TX end 110 is projected onto a corresponding projection area of ​​a reference object. In this way, the emission light of each TX channel can be adjusted to be projected onto a corresponding projection area of ​​a reference object through calibration, thereby adjusting the area covered by the emission light beam. Figure 1 As shown, the emission light of each TX channel will cover some areas after being projected onto the reference target 130, and these areas are the corresponding projection areas of the reference object. As mentioned above, light can only be emitted through the turned-on TX channels, which means that the projection area corresponding to the turned-on TX channels will be covered by the emission light beam.

[0042] In some embodiments, the reference object has multiple projection areas, and each of the multiple TX channels is associated with at least one of the multiple projection areas. The TX-end optical module 112 is used to calibrate the emission light from the TX end 110 so that the emission light of each of the multiple TX channels passing through the TX end 110 is projected onto the corresponding projection area of ​​the reference object, including: the TX-end optical module 112 is used to calibrate the emission light from the TX end 110 so that the emission light of each of the multiple TX channels passing through the TX end 110 is projected onto the projection area associated with the TX channel. Figure 1As shown, after the emission light of each TX channel is projected onto the reference target 130, it will cover some areas, and these areas are the corresponding projection areas of the reference object. In addition, there are multiple projection areas on the reference target 130, which can be combined with Figure 2 For further instructions, see Figure 2 , Figure 2 FIG. 1 is a schematic diagram showing the distribution of the projection area of ​​the reference target provided in the embodiment of the present application. Figure 2 As shown, the reference target includes 9 projection areas and forms an array of 3 rows and 3 columns, which are numbered as projection areas 201, 202, 203, 204, 205, 206, 207, 208 and 209 respectively. There are 9 TX channels, and the 9 TX channels can be associated with the 9 projection areas one by one. Alternatively, there are 3 TX channels, and each TX channel can be associated with 3 projection areas one by one. For example, a certain TX channel can be set to be associated with projection areas 201, 202 and 203, and when the TX channel is turned on, the emitted light through the TX channel is projected to the projection areas 201, 202 and 203. It should be understood that the distribution of the projection areas on the reference target 130 can be adjusted based on the TX end optical module 112, for example, by changing the position, size, etc. of the projection area associated with each TX channel through different calibration or focusing elements. In addition, the distribution of the projection areas on the reference target 130 can satisfy adjacent, connected or any possible relationship. For example, the projection area 201 and the projection area 202 may be adjacent or connected areas or non-adjacent and non-connected areas. If multiple projection areas are associated with the same TX channel, it can be inferred that the multiple projection areas satisfy the relationship of being adjacent or connected, because the projection area covered by the light beam emitted by the same TX channel should be regarded as a continuous whole. The relationship between the TX channel and the projection area is determined by the TX-end optical module 112, and the TX-end optical module 112 may have different configurations by replacement, so in one configuration, there may be multiple projection areas associated with the same TX channel and adjacent to each other, but in another configuration, the multiple projection areas may be associated with multiple TX channels and not adjacent to each other. In a possible implementation, the distribution of the multiple projection areas on the reference object satisfies that any projection area in the multiple projection areas is adjacent or connected to at least one other projection area in the multiple projection areas. In other words, there is no isolated projection area in the multiple projection areas, that is, there is no projection area that is not adjacent to or connected to other projection areas. Furthermore, the reference target 130 may be understood as a reference plane at the maximum detection distance or maximum detection position of the system, and the projection area on such a reference plane may also be used to reflect the maximum field of view angle or the maximum field of view.

[0043] In some embodiments, the multiple RX channels correspond to the multiple projection areas one by one. The RX end optical module 122 is installed on the RX end 120 and is used to perform focusing operations and masking operations so that the light received by each of the multiple RX channels passing through the RX end 120 has a corresponding receiving range, including: the RX end optical module 122 is installed on the RX end and is used to perform focusing operations and masking operations so that the light received by each of the multiple RX channels passing through the RX end 120 is reflected from the projection area corresponding to the RX channel. Figure 1 As shown, the signal reflected from the reference target 130 is received by the RX end 120 via the RX end optical module 122. The light received by each RX channel is reflected from certain areas on the reference target 130, which are the projection areas corresponding to the RX channel. Figure 2 Taking the projection area of ​​the reference target shown as an example, multiple RX channels correspond to multiple projection areas one-to-one, which means that there are also 9 RX channels corresponding to 9 projection areas 201, 202, 203, 204, 205, 206, 207, 208 and 209. Each RX channel corresponds to a projection area, which also means that different RX channels correspond to different projection areas. The receiving range of light received by each RX channel defined in this way is the corresponding projection area on the reference target 130. In a possible implementation, each TX channel of the multiple TX channels is associated with at least one projection area of ​​the multiple projection areas, including: the multiple TX channels correspond to the multiple projection areas one-to-one and each TX channel of the multiple TX channels is only associated with the projection area corresponding to the TX channel. In this way, both the TX channel and the RX channel correspond to the projection area one-to-one.

[0044] In some embodiments, the corresponding receiving range of the light received by each of the multiple RX channels passing through the RX end 120 defines a specific space corresponding to the RX channel, and each of the multiple RX channels is sensitive to the light field distribution in the specific space corresponding to the RX and is insensitive to the light field distribution not in the specific space corresponding to the RX. In this way, by controlling the opening and closing of the RX channel, it is possible to be sensitive to the light field distribution in the specific space, which is equivalent to providing a light sensor sensitive to spatial distribution.

[0045] It is described above that the laser radar transceiver chip system provided in the embodiment of the present application has a structure for flexibly setting the detection mode and adjusting the area covered by the transmitted light beam and the reflection area of ​​the received signal, and the connection relationship between the multiple TX channels of the TX end 110 and the light source and the configuration of the light source can also be adjusted, which is conducive to achieving the best measurement effect in different application scenarios, which is described in detail below.

[0046] In some embodiments, the specific detection mode is a preset detection mode among a plurality of preset detection modes, and the plurality of preset detection modes include a flash mode and a scan mode. Wherein, the laser radar transceiver chip system is in a specific detection mode and generates a detection result in the specific detection mode by controlling the opening and closing of each of the plurality of TX channels and the opening and closing of each of the plurality of RX channels, including: the laser radar transceiver chip system is in the Flash mode by controlling all of the plurality of TX channels to be turned on and controlling all of the plurality of RX channels to be turned on, and the laser radar transceiver chip system is in the Scan mode by controlling the plurality of TX channels to be turned on one by one in a specific order and controlling the plurality of RX channels to turn on the RX channels corresponding to the currently turned on TX channels. Here, when all TX channels are turned on and all RX channels are turned on, it means that the maximum coverage range of the transmitted light beam is obtained and the maximum reflection range of the received signal is obtained. Such a Flash mode is conducive to maximizing the use of the detection range and obtaining information. The Flash mode can also be understood as the maximum field of view mode or the most channel scanning mode. The above-mentioned opening and closing of the TX channel and the RX channel, which can be flexibly controlled by, for example, addressing, can be understood as obtaining a portion of the maximum coverage of the transmission beam (opening a portion of all TX channels) and a portion of the maximum reflection range of the received signal (opening a portion of all RX channels). In addition, the Scan mode means opening the TX channels and the corresponding RX channels one by one in a specific order. Figure 2Taking the projection area of ​​the reference target as an example, the Scan mode may mean turning on the TX channels one by one so as to project the emission light beam to the projection area 201, the projection area 202 and the projection area 203 in turn, and turning on the corresponding RX channels means receiving the reflected signals from the projection area 201, the projection area 202 and the projection area 203 in turn. Therefore, the Scan mode represents the scanning of the specified area with refined control, which can be understood as a fixed-point scanning mode. By switching between the various preset detection modes mentioned above, the size, position and specific scanning order of the area to be scanned can be flexibly adjusted, which helps to meet the needs of various complex application scenarios. For example, when the system is used for automatic driving or assisted driving in the urban area, it may be suitable to use the FLASH mode to obtain the information around the vehicle to the maximum extent, because there may be various obstacles, pedestrians, surrounding vehicles, etc. in the urban area. However, if it is also located in the urban area, the traffic conditions may be relatively good at night. At this time, the Flash mode can also be used to concentrate on scanning the area in front of the vehicle or scan in a specific order, which helps to save energy. In addition, when driving in the city, the distance between obstacles and vehicles is often relatively close, which means that it is suitable for close-range scanning, especially a mode with a close distance but a larger field of view. Therefore, in the scenario of driving in the city, it is suitable to open more TX channels to obtain a larger field of view. However, in the scenario of driving on the highway, obstacles such as other vehicles traveling on the highway are often far away from the vehicle where the system is located, which means that it is suitable for long-distance scanning. At this time, it is suitable to open fewer TX channels to concentrate the transmission power to a smaller field of view, so as to achieve sufficiently good detection accuracy at a longer detection distance by concentrating the transmission power. In short, by flexibly adjusting various preset detection modes, including setting the details in various preset detection modes, it can be helpful to meet the needs of various application scenarios.

[0047] In some embodiments, at least two of the multiple TX channels are connected to different light sources, and the light sources connected to the at least two TX channels are not consistent in at least one of the following configuration parameters: transmission power, wavelength, encoding mode, signal modulation mode, pulse power, number of unit pulses, imaging distance, power consumption, and maximum detection distance. As mentioned above, the connection relationship between the multiple TX channels of the TX end 110 and the light source and the configuration of the light source can also be adjusted. The configuration of the light source is embodied in the configuration parameters of the light source. By adjusting the configuration parameters of the light source and adjusting the connection relationship between the TX channel and the light source, the needs of various application scenarios can be better met. For example, the configuration parameters of the light source can be adjusted to adopt a higher transmission power emission light, so that it has better performance under longer-distance detection, that is, it is suitable for application scenarios such as highways that require long-distance detection. For another example, the configuration parameters of the light source can be adjusted to adopt a coding method with better anti-interference performance or a signal modulation method with better anti-interference performance or a longer wavelength, which is beneficial to application scenarios that require noise reduction and precise perception, such as in urban areas, especially in downtown areas with complex traffic conditions. In addition, the configuration parameters of these light sources can be pre-set or fixed, and the light of a certain light source can be selectively received by changing the connection relationship between the TX channel and the light source. For example, in an application scenario where more unit pulses are required, light is received from a light source that meets the conditions. In addition, configuration parameters such as imaging distance, power consumption, and maximum detection distance can also be used to determine how to adjust the light source or how to change the connection relationship between the TX channel and the light source.

[0048] In some embodiments, at least two of the multiple preset detection modes satisfy that the light sources connected to the TX channels respectively turned on in the at least two preset modes have different configuration parameters. This means that the preset detection modes may also differ according to the configuration parameters of the specific connected light sources. For example, one preset detection mode corresponds to a driving scene in an urban area and the configuration parameters of the connected light source are suitable for the scene, that is, it has better performance in close-range detection and wide-range detection, and another preset detection mode corresponds to a driving scene on a highway and the configuration parameters of the connected light source are suitable for the scene, that is, it has better performance in long-range detection.

[0049] In some embodiments, the multiple preset detection modes include an urban detection mode and a highway detection mode, wherein the light source connected to the TX channel turned on in the urban detection mode adopts a wavelength of 940 nanometers and an emission power of 100 watts, and the light source connected to the TX channel turned on in the highway detection mode adopts a wavelength of 850 nanometers and an emission power of 200 watts. Here, the longer the wavelength of the emitted light, the better the anti-interference performance, and the higher the emission rate of the emitted light, the longer the detection distance. Therefore, in view of the characteristics of the urban detection mode that needs to deal with the interference in the urban area and the close distance of obstacles, a wavelength of 940 nanometers and an emission power of 100 watts are used to match its needs for close-range and precise detection, and in view of the characteristics of the long detection distance on the highway that needs to be dealt with by the highway detection mode, a wavelength of 850 nanometers and an emission power of 200 watts are used to match its needs for long-distance detection.

[0050] In some embodiments, the laser radar transceiver chip system is configured to select the specific detection mode from the plurality of preset detection modes according to the application scenario of the laser radar transceiver chip system. In this way, the detection mode is selected to meet the requirements of different application scenarios, and the above-mentioned structure and various adjustment methods ensure that the selected detection mode has good comprehensive performance.

[0051] In some embodiments, the laser radar transceiver chip system controls the opening and closing of each of the multiple TX channels through a first addressing mode and controls the opening and closing of each of the multiple RX channels through a second addressing mode, and both the first addressing mode and the second addressing mode can be reprogrammed or dynamically adjusted. In this way, the existing addressing mode can be flexibly changed through reprogramming or dynamic adjustment, providing more flexibility for the above-mentioned various adjustment modes.

[0052] In some embodiments, the specific detection mode is based on the addressing of the TX channels that have been turned on in the multiple TX channels, the addressing of the RX channels that have been turned on in the multiple RX channels, and the configuration parameters of the light sources connected to the respective TX channels that have been turned on in the multiple TX channels, wherein the configuration parameters include at least one of the transmission power, wavelength, encoding method, signal modulation method, pulse power, number of unit pulses, imaging distance, power consumption, and maximum detection distance. The addressing method represents a specific way of turning the control channel on and off, and as mentioned above, the connection relationship between the TX channel and the light source and the configuration parameters of the light source can be adjusted, so these adjustable factors are integrated together to determine the specific detection mode of the laser radar transceiver chip system, which provides very high flexibility to meet the needs of various application scenarios.

[0053] In some embodiments, the laser radar transceiver chip system is configured to set the specific detection mode according to the size and distance of the region of interest, so as to meet the needs of various application scenarios.

[0054] In some embodiments, the TX end includes a multi-section multi-channel vertical cavity surface emitting laser VCSEL chip and a high-speed laser driver chip for generating emission light from the TX end, and the RX end includes a sensor chip for detecting light received by the RX end. It should be understood that in addition to the VCSEL chip, any suitable laser chip may be used, which is not specifically limited here.

[0055] In some embodiments, the lidar transceiver chip system is an all-solid-state lidar.

[0056] It should be understood that Figure 1 The TX-end optical module 112 shown can use any suitable optical element, lens element, etc. to achieve the necessary calibration, such as through a lens with a focusing function or a calibrator, etc. The RX-end optical module 122 can also use any suitable optical element to achieve the necessary focusing operation and masking operation, such as through a shielding member with a masking function or a lens with a focusing function, etc., which is not specifically limited here.

[0057] See also Figure 1 , Figure 1The laser radar transceiver chip system shown can be regarded as the whole or part of the 3D sensing device. In addition, the 3D sensing device includes: a TX end, wherein the TX end includes a plurality of TX channels, and the opening and closing of each of the plurality of TX channels can be controlled separately; a TX end optical module, wherein the TX end optical module is used to calibrate the emission light from the TX end so that the emission light of each of the plurality of TX channels passing through the TX end is projected to the projection area associated with the TX channel of the reference target, and the reference target has a plurality of projection areas, and each of the plurality of TX channels is associated with at least one of the plurality of projection areas; an RX end, wherein the RX end includes a plurality of RX channels, and the opening and closing of each of the plurality of RX channels can be controlled separately, and the plurality of RX channels correspond to the plurality of projection areas one by one; and an RX end optical module. The RX end optical module is mounted on the RX end and is used to perform focusing operation and masking operation so that the light received by each of the plurality of RX channels passing through the RX end is reflected from the projection area corresponding to the RX channel. Wherein, the 3D sensing device is in a specific detection mode and generates a detection result in the specific detection mode by controlling the opening and closing of each of the multiple TX channels and the opening and closing of each of the multiple RX channels. The multiple TX channels are connected to an edge-emitting laser or a surface-emitting laser, wherein the surface-emitting laser at least includes a vertical cavity surface-emitting laser VCSEL. The specific detection mode is a preset detection mode among multiple preset detection modes, and the multiple preset detection modes include a flash mode and a scan mode. Wherein, the 3D sensing device is in a specific detection mode and generates a detection result in the specific detection mode by controlling the opening and closing of each of the multiple TX channels and the opening and closing of each of the multiple RX channels, including: the 3D sensing device is in the Flash mode by controlling all of the multiple TX channels to be turned on and controlling all of the multiple RX channels to be turned on, and the 3D sensing device is in the Scan mode by controlling the multiple TX channels to be turned on one by one in a specific order and controlling the multiple RX channels to turn on the RX channels corresponding to the currently turned on TX channels. The specific detection mode is based on the addressing of the turned-on TX channels among the multiple TX channels, the addressing of the turned-on RX channels among the multiple RX channels, and the configuration parameters of the light sources connected to each of the turned-on TX channels among the multiple TX channels, wherein the configuration parameters include at least one of the transmission power, wavelength, encoding method, signal modulation method, pulse power, number of unit pulses, imaging distance, power consumption, and maximum detection distance.

[0058] Figure 3 Schematic diagram showing multiple preset detection modes provided in the embodiment of the present application. Figure 3As shown, a variety of preset detection modes include Flash mode 304, Scan mode 306, first urban detection mode 310, second urban detection mode 312, first highway detection mode 320, second highway monitoring mode 322, first other mode 330, second other mode 340, etc. Among them, Flash mode 304 means that the laser radar transceiver chip system controls all the multiple TX channels to be turned on and controls all the multiple RX channels to be turned on. Such a Flash mode is conducive to maximizing the detection range and obtaining information. Scan mode 306 means that the laser radar transceiver chip system controls the multiple TX channels to be turned on one by one in a specific order and controls the multiple RX channels to turn on the RX channels corresponding to the currently turned on TX channels. Scan mode represents the scanning of the specified area with refined control. The first urban detection mode 310 can refer to conventional needs, that is, the needs of close-range detection and precise perception in the urban area, while the second urban detection mode 312 may refer to the energy-saving needs at night, so compared with the first urban detection mode 310, a more energy-saving configuration can be adopted, such as closing some TX channels. The first highway detection mode 320 may refer to conventional needs, that is, the needs of long-distance detection on highways, while the second highway monitoring mode 322 may refer to extreme situations where traffic conditions are particularly bad, such as when there are a lot of vehicles on the highway. Therefore, the second highway monitoring mode 322 can open more TX channels and more RX channels relative to the first highway detection mode 320 to obtain information in a wider range. In addition, the first other mode 330 and the second other mode 340 can correspond to any other application scenarios, which can be set according to actual needs. Therefore, according to different application scenarios, including slightly different scenarios such as daytime driving in urban areas and night driving in urban areas, as well as scenarios such as extreme situations where traffic conditions are particularly bad on highways, corresponding detection modes are provided in a targeted manner to maximize the matching of the needs in these application scenarios, thereby achieving the best laser detection and ranging effects.

[0059] Figure 4 The present application embodiment provides a method for Figure 1 The schematic diagram of the user operation interface of the laser radar transceiver chip system is shown in FIG. Figure 4As shown, the user operation interface includes a mode selection area 402, in which multiple optional detection modes are displayed, including Flash mode 404, Scan mode 406, first urban detection mode 410, second urban detection mode 412, first highway detection mode 420, second highway monitoring mode 422, first other mode 430, second other mode 440, etc. The user operation interface also includes a custom area 401 for users to customize the mode, in which a first custom mode 450 and a second custom mode 460 are displayed. Among them, Figure 4 The various detection modes in the mode selection area 402 shown correspond to Figure 3 The multiple preset detection modes shown. That is to say, the user operation interface allows the user to select a suitable detection mode from a plurality of pre-stored detection modes, or allows the system to select automatically. In addition, the user operation interface also includes a custom area 401, in which the first custom mode 450 and the second custom mode 460 provide options for users to edit the detection mode by themselves. For example, the user can set the detection mode according to his own energy saving, detection sensitivity, daily driving habits, etc. This customized detection mode can be a combination of the above-mentioned various preset detection modes. For example, the user's working habit is to take the highway to the office during the day and go home through the city at night. The user can set the first custom mode 450 to use a detection mode suitable for highways during the day and a detection mode suitable for night driving in the city at night. The specific detection mode can be selected from a plurality of preset detection modes or customized. The second custom mode 460 may be suitable for the user's driving habits during the holidays. In this way, by providing multiple preset detection modes and user-customizable detection modes, combined with the various flexible adjustment methods mentioned above, including the addressing of the TX channels that have been turned on in the multiple TX channels, the addressing of the RX channels that have been turned on in the multiple RX channels, and the configuration parameters of the light sources connected to each of the TX channels that have been turned on in the multiple TX channels, it is possible to meet the user's personal preferences and adapt to various needs.

[0060] It should be understood that the methods, steps, operations, algorithms, models, modules or functional descriptions mentioned in the embodiments of the present application can be implemented by corresponding execution entities or carriers. In some exemplary embodiments, a non-transitory computer-readable storage medium stores computer instructions, which, when executed by a processor, implement the above method and any of the above embodiments, implementation methods or combinations thereof. In some exemplary embodiments, an electronic device includes: a processor; a memory for storing processor-executable instructions; wherein the processor implements the above method and any of the above embodiments, implementation methods or combinations thereof by running the executable instructions.

[0061] The specific embodiments provided by the present application can be implemented with any one or combination of hardware, software, firmware or solid-state logic circuits, and can be implemented in combination with signal processing, control and / or special circuits. The equipment or device provided by the specific embodiments of the present application may include one or more processors (e.g., microprocessors, controllers, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), etc.), which process various computer-executable instructions to control the operation of the equipment or device. The equipment or device provided by the specific embodiments of the present application may include a system bus or a data transmission system that couples various components together. The system bus may include any one or a combination of different bus structures, such as a memory bus or a memory controller, a peripheral bus, a universal serial bus and / or a processor or local bus utilizing any one of a variety of bus architectures. The equipment or device provided by the specific embodiments of the present application may be provided separately, may be a part of a system, or may be a part of other equipment or devices.

[0062] The specific embodiments provided in this application may include a computer-readable storage medium or be combined with a computer-readable storage medium, such as one or more storage devices capable of providing non-temporary data storage. The computer-readable storage medium / storage device may be configured to store data, programmers and / or instructions, which, when executed by a processor of a device or apparatus provided in a specific embodiment of this application, enable these devices or apparatuses to perform related operations. The computer-readable storage medium / storage device may include one or more of the following features: volatility, non-volatility, dynamic, static, readable / writable, read-only, random access, sequential access, location addressability, file addressability, and content addressability. In one or more exemplary embodiments, the computer-readable storage medium / storage device may be integrated into the device or apparatus provided in a specific embodiment of this application or belong to a common system. Computer-readable storage media / storage devices may include optical storage devices, semiconductor storage devices and / or magnetic storage devices, etc., and may also include random access memory (RAM), flash memory, read-only memory (ROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), registers, hard disks, removable disks, recordable and / or rewritable compact disks (CDs), digital versatile disks (DVDs), mass storage media devices or any other form of suitable storage media.

[0063] The above is the implementation method of the embodiment of the present application. It should be noted that the steps in the method described in the specific embodiment of the present application can be adjusted in order, merged and deleted according to actual needs. In the above embodiments, the description of each embodiment has its own emphasis. For the part that is not described in detail in a certain embodiment, refer to the relevant description of other embodiments. It is understandable that the structure shown in the embodiment of the present application and the accompanying drawings does not constitute a specific limitation on the relevant device or system. In other embodiments of the present application, the relevant device or system may include more or fewer components than the specific embodiments and the accompanying drawings, or combine certain components, or split certain components, or have different component arrangements. Those skilled in the art will understand that, without departing from the spirit and scope of the specific embodiments of the present application, various modifications or changes can be made to the arrangement, operation and details of the methods and equipment recorded in the specific embodiments; without departing from the principles of the embodiments of the present application, several improvements and modifications can also be made, and these improvements and modifications are also regarded as the scope of protection of the present application.

Claims

1. A laser radar transceiver chip system, characterized in that: The laser radar transceiver chip system includes: A transmitting TX end, wherein the TX end includes a plurality of TX channels, and the opening and closing of each of the plurality of TX channels can be controlled separately; A TX end optical module, wherein the TX end optical module is used to calibrate the emission light from the TX end so that the emission light of each TX channel of the multiple TX channels passing through the TX end has a corresponding emission direction; A receiving RX end, wherein the RX end includes a plurality of RX channels, and the opening and closing of each of the plurality of RX channels can be controlled separately; and an RX end optical module, wherein the RX end optical module is mounted on the RX end and is used to perform focusing operation and masking operation so that the light received by each of the multiple RX channels passing through the RX end has a corresponding receiving range, The laser radar transceiver chip system is in a specific detection mode and generates a detection result in the specific detection mode by controlling the opening and closing of each of the multiple TX channels and the opening and closing of each of the multiple RX channels. The specific detection mode is a preset detection mode among multiple preset detection modes, wherein the multiple preset detection modes include a flash mode and a scan mode. The laser radar transceiver chip system is in a specific detection mode and generates a detection result in the specific detection mode by controlling the opening and closing of each of the multiple TX channels and controlling the opening and closing of each of the multiple RX channels, including: The laser radar transceiver chip system is in the Flash mode by controlling all of the multiple TX channels to be turned on and controlling all of the multiple RX channels to be turned on. The laser radar transceiver chip system is in Scan mode by controlling the multiple TX channels to be turned on one by one in a specific order and controlling the multiple RX channels to turn on the RX channel corresponding to the currently turned on TX channel. The laser radar transceiver chip system controls the opening and closing of each of the multiple TX channels through a first addressing mode and controls the opening and closing of each of the multiple RX channels through a second addressing mode, and both the first addressing mode and the second addressing mode can be reprogrammed or dynamically adjusted. The specific detection mode is based on the addressing of the turned-on TX channels among the multiple TX channels, the addressing of the turned-on RX channels among the multiple RX channels, and the configuration parameters of the light sources connected to each of the turned-on TX channels among the multiple TX channels, wherein the configuration parameters include at least one of the transmission power, wavelength, encoding method, signal modulation method, pulse power, number of unit pulses, imaging distance, power consumption, and maximum detection distance.

2. The laser radar transceiver chip system according to claim 1, characterized in that: The TX end optical module is used to calibrate the emission light from the TX end so that the emission light of each TX channel of the multiple TX channels passing through the TX end has a corresponding emission direction, including: The TX end optical module is used to calibrate the emission light from the TX end so that the emission light of each TX channel among the multiple TX channels passing through the TX end has a corresponding main optical axis direction.

3. The laser radar transceiver chip system according to claim 1, characterized in that: The TX end optical module is used to calibrate the emission light from the TX end so that the emission light of each TX channel of the multiple TX channels passing through the TX end has a corresponding emission direction, including: The TX end optical module is used to calibrate the emission light from the TX end so that the emission light of each TX channel of the multiple TX channels passing through the TX end is projected onto a corresponding projection area of ​​the reference object.

4. The laser radar transceiver chip system according to claim 3, characterized in that: The reference object has a plurality of projection areas, each TX channel of the plurality of TX channels is associated with at least one projection area of ​​the plurality of projection areas, The TX end optical module is used to calibrate the emission light from the TX end so that the emission light of each TX channel of the multiple TX channels passing through the TX end is projected to the corresponding projection area of ​​the reference object, including: The TX end optical module is used to calibrate the emission light from the TX end so that the emission light of each TX channel among the multiple TX channels passing through the TX end is projected to a projection area associated with the TX channel.

5. The laser radar transceiver chip system according to claim 4, characterized in that: The distribution of the multiple projection areas on the reference object satisfies that any projection area among the multiple projection areas is adjacent to or connected to at least one other projection area among the multiple projection areas.

6. The laser radar transceiver chip system according to claim 4, characterized in that: The multiple RX channels correspond to the multiple projection areas one by one, The RX end optical module is mounted on the RX end and is used to perform focusing operation and masking operation so that the light received by each of the multiple RX channels passing through the RX end has a corresponding receiving range, including: The RX end optical module is mounted on the RX end and is used to perform focusing operation and masking operation so that the light received by each of the multiple RX channels passing through the RX end is respectively reflected from the projection area corresponding to the RX channel.

7. The laser radar transceiver chip system according to claim 6, characterized in that: Each of the multiple TX channels is associated with at least one of the multiple projection areas, including: the multiple TX channels correspond to the multiple projection areas one by one and each of the multiple TX channels is only associated with the projection area corresponding to the TX channel.

8. The laser radar transceiver chip system according to claim 6, characterized in that: A corresponding receiving range of light received by each of the multiple RX channels passing through the RX end defines a specific space corresponding to the RX channel, and each of the multiple RX channels is sensitive to the light field distribution located in the specific space corresponding to the RX and is insensitive to the light field distribution not located in the specific space corresponding to the RX.

9. The laser radar transceiver chip system according to claim 1, characterized in that: At least two TX channels among the multiple TX channels are respectively connected to different light sources, and the light sources connected to the at least two TX channels are not consistent in at least one of the following configuration parameters: transmission power, wavelength, encoding method, signal modulation method, pulse power, number of unit pulses, imaging distance, power consumption, and maximum detection distance.

10. The laser radar transceiver chip system according to claim 9, characterized in that: At least two of the multiple preset detection modes satisfy that light sources connected to the TX channels respectively turned on in the at least two preset detection modes have different configuration parameters.

11. The laser radar transceiver chip system according to claim 10, characterized in that: The multiple preset detection modes include an urban detection mode and a highway detection mode, wherein the light source connected to the TX channel turned on in the urban detection mode adopts a wavelength of 940 nanometers and an emission power of 100 watts, and the light source connected to the TX channel turned on in the highway detection mode adopts a wavelength of 850 nanometers and an emission power of 200 watts.

12. The laser radar transceiver chip system according to claim 10, characterized in that: The laser radar transceiver chip system is configured to select the specific detection mode from the multiple preset detection modes according to the application scenario of the laser radar transceiver chip system.

13. The laser radar transceiver chip system according to claim 1, characterized in that: The laser radar transceiver chip system is configured to set the specific detection mode according to the size and distance of the area of ​​interest.

14. The laser radar transceiver chip system according to any one of claims 1 to 8, characterized in that: The TX end includes a multi-section multi-channel vertical cavity surface emitting laser VCSEL chip and a high-speed laser driver chip for generating emission light from the TX end, and the RX end includes a sensor chip for detecting light received through the RX end.

15. The laser radar transceiver chip system according to any one of claims 1 to 8, characterized in that: The laser radar transceiver chip system is a fully solid-state laser radar.

16. A 3D sensing device, characterized in that: The 3D sensing device comprises: A TX end, wherein the TX end includes a plurality of TX channels, and the opening and closing of each of the plurality of TX channels can be controlled separately; A TX-end optical module, wherein the TX-end optical module is used to calibrate the emission light from the TX-end so that the emission light of each of the multiple TX channels passing through the TX-end is respectively projected onto a projection area associated with the TX channel of a reference target, the reference target having multiple projection areas, and each of the multiple TX channels is associated with at least one projection area of ​​the multiple projection areas; An RX end, wherein the RX end includes a plurality of RX channels, each of which can be controlled to be turned on and off respectively, and the plurality of RX channels correspond one-to-one to the plurality of projection areas; and an RX end optical module, wherein the RX end optical module is mounted on the RX end and is used to perform focusing operation and masking operation so that light received by each of the multiple RX channels passing through the RX end is reflected from a projection area corresponding to the RX channel, The 3D sensing device is in a specific detection mode and generates a detection result in the specific detection mode by controlling the opening and closing of each of the multiple TX channels and controlling the opening and closing of each of the multiple RX channels. The specific detection mode is a preset detection mode among multiple preset detection modes, wherein the multiple preset detection modes include a flash mode and a scan mode. The 3D sensing device is in a specific detection mode and generates a detection result in the specific detection mode by controlling the opening and closing of each of the multiple TX channels and controlling the opening and closing of each of the multiple RX channels, including: The 3D sensing device is in the Flash mode by controlling all of the multiple TX channels to be turned on and controlling all of the multiple RX channels to be turned on. The 3D sensing device is in Scan mode by controlling the multiple TX channels to be turned on one by one in a specific order and controlling the multiple RX channels to turn on the RX channel corresponding to the currently turned on TX channel, The 3D sensing device controls the opening and closing of each of the plurality of TX channels by a first addressing mode and controls the opening and closing of each of the plurality of RX channels by a second addressing mode, and both the first addressing mode and the second addressing mode can be reprogrammed or dynamically adjusted. The specific detection mode is based on the addressing of the turned-on TX channels among the multiple TX channels, the addressing of the turned-on RX channels among the multiple RX channels, and the configuration parameters of the light sources connected to each of the turned-on TX channels among the multiple TX channels, wherein the configuration parameters include at least one of the transmission power, wavelength, encoding method, signal modulation method, pulse power, number of unit pulses, imaging distance, power consumption, and maximum detection distance.

17. The 3D sensing device according to claim 16, characterized in that: The plurality of TX channels are connected to an edge emitting laser or a surface emitting laser, wherein the surface emitting laser at least comprises a vertical cavity surface emitting laser (VCSEL).

Images