Light detection device and driving vehicle

Abstract

The present application provides a light detection device and a traveling vehicle, wherein the light detection device includes: a window; a light emitting end configured to output a transmission signal; a light detecting end configured to detect an echo signal of the transmission signal; and a light signal redirecting component configured to deflect the transmission signal by movement so that the transmission signal is emitted from the window of the light detection device to scan a second-direction field of view, and redirect the echo signal so that the echo signal is transmitted to the light detection end; wherein the optical path of the transmission signal and the optical path of the echo signal overlap at least between the window and the light signal redirecting component. In the embodiment of the present application, by arranging the transceiver ends relatively left and right, rather than stacking them up and down, the height of the device can be maintained or even reduced without affecting the detection performance, and the close-range blind spot can be reduced.

Description

Technical Field

[0001] The present application relates to the field of optical ranging technology, and in particular to a light detection device and a traveling vehicle. Background Art

[0002] LiDAR (LiDAR) is a device that detects external objects by emitting laser light and receiving the return signal from the target surface. LiDAR used in autonomous vehicles must meet numerous requirements, including high point cloud density, a wide field of view, no blind spots, a high refresh rate, a compact size, low energy consumption, and a low price.

[0003] Typically, a LiDAR system consists of a stacked transmitter module (including a laser) and a receiver module (including a detector).

[0004] However, such a solution will bring many problems. First of all, this type of LiDAR is relatively large and difficult to hide in the usual installation space on the vehicle, such as in the headlights or on the top floor of the car. When the receiving module and the transmitting module are stacked on top of each other, the total height of the product needs to be greater than the total height of the two modules stacked together, which makes it difficult to reduce the total height of the LiDAR product. Forcibly lowering the height of the radar will result in the sacrifice of parameters such as the radar's field of view or beam; accordingly, the detector may receive a reduced amount of echo signals, sacrificing the signal-to-noise ratio parameter, that is, the distance and reflectivity data detected by the radar to the target will be inaccurate, and the radar performance will deteriorate. In such a situation, it is impossible to realize a LiDAR with a high beam volume, such as a LiDAR with more than 32 lines (for example, 32 lines, 64 lines, 128 lines, etc.).

[0005] Secondly, this type of LiDAR has a short-range blind spot problem. Because the transmitting and receiving modules are arranged one above the other, when detecting targets within a relatively close range of the LiDAR, a large portion of the echo signal reflected by the laser will fall outside the detector's field of view. As a result, the LiDAR detector cannot receive the echo signal or receives an extremely weak echo signal, resulting in a short-range blind spot. Summary of the Invention

[0006] In view of the above-mentioned shortcomings of the prior art, the present application provides a light detection device and a traveling vehicle to solve the problems of the prior art.

[0007] To achieve the above objectives and other related objectives, the present application provides a light detection device in a first aspect, comprising: a window; a light emitting end, comprising a light emitter array, configured to output a transmission signal; the light emitter array comprising N mutually staggered light emitters; A plurality of light emitters are provided, each extending in a first direction, where N is greater than 1; a light detection end comprising: a light detector array configured to detect an echo signal reflected by the transmitted signal after encountering an obstacle; the light detector array comprising M staggered columns of light detectors, each extending in the first direction, where M is greater than 1; the light emitter array and the light detector array forming a plurality of detection channels to scan a field of view in the first direction; each detection channel comprising at least one light emitter and at least one light detector, each corresponding to a field of view in the first direction; and a light signal redirection assembly configured to deflect the transmitted signal through movement so that the transmitted signal is emitted from a window of the light detection device, thereby scanning a field of view in a second direction, and to redirect the echo signal so that the echo signal is transmitted to the light detection end; wherein the optical path of the transmitted signal and the optical path of the echo signal overlap at least between the window and the light signal redirection assembly.

[0008] In some embodiments of the first aspect, the light emitters in the light emitter array are vertical cavity surface laser emitters; and the light emitters included in the light emitting end are provided with a microlens array for collimating the transmitted signal.

[0009] In some embodiments of the first aspect, each of the light emitters includes a plurality of light-emitting units, and each microlens unit in the microlens array corresponds to a light-emitting unit one by one and is arranged with matching shapes; the plurality of light-emitting units are arranged in a polygonal shape, and each of the microlens units has a corresponding polygonal shape and is spliced ​​together.

[0010] In some embodiments of the first aspect, the microlens array is disposed separately from the light emitter, or is imprinted on the light emitting surface of the light emitter.

[0011] In some embodiments of the first aspect, the light emitter is a back-emitting semiconductor structure, and the microlens array is imprinted on a surface of a substrate of the semiconductor structure.

[0012] In some embodiments of the first aspect, during a signal transmission process from sending a transmission signal to detecting a corresponding echo signal, a plurality of optical signal transmission detection channels in working state are formed between the multiple activated optical transmitters in the optical transmitter array and the multiple activated optical receivers in the optical receiver array; the optical transmitter array includes multiple optical transmitter groups and / or the optical receiver array includes multiple optical receiver groups; the activated optical transmitters belong to different optical transmitter groups and / or the activated optical receivers belong to different optical receiver groups.

[0013] In some embodiments of the first aspect, the light emitters in each light emitter group and / or the light detectors in each light detector group are activated in turn during multiple signal transmissions.

[0014] In some embodiments of the first aspect, after the light detection device performs the distance detection action during a preset number of signal transmission processes, it performs the proximity detection action during the next signal transmission process.

[0015] In some embodiments of the first aspect, a first number of light emitters in a middle area of ​​the light emitter array in the first direction are activated in the far-sensing action, and a second number of light emitters are activated in the near-sensing action; the first number is greater than the second number.

[0016] In some embodiments of the first aspect, there are multiple detection distances corresponding to the distance measurement action; wherein, the closer the position of the activated light emitter is to the center in the light emitter array, the longer the corresponding expected detection distance.

[0017] In some embodiments of the first aspect, signal characteristics of optical signals transmitted in various detection channels operating in the same signal transmission process are different.

[0018] In some embodiments of the first aspect, the emission signal comprises one or more pulse signals; and the dimensions of the signal characteristics comprise one or more combinations of wavelength, pulse width, number of pulses, pulse peak value, and time interval between pulses.

[0019] In some embodiments of the first aspect, the light emitter array and the light detector array are cooperatively configured to achieve a beam capacity of more than 32 lines.

[0020] In some embodiments of the first aspect, the optical signal redirection component includes: a rotating member, which is controlled to rotate and includes at least one reflecting surface, suitable for receiving an echo signal and / or outputting a transmission signal; a first redirection member, located in the optical path of the transmission signal and the optical path of the reception signal, configured to output one of the transmission signal and the echo signal to the rotating member, and forming a passage portion for allowing the other of the echo signal and the transmission signal to pass through.

[0021] In some embodiments of the first aspect, the through portion includes: one or more gaps formed on the side and / or middle of the first redirecting member.

[0022] In some embodiments of the first aspect, the first redirecting element includes: a first region for outputting the transmitted signal toward the rotating element, and a second region outside the first region for transmitting the echo signal.

[0023] In some embodiments of the first aspect, the light detection device includes: a light shielding member disposed on a propagation path of the emission signal transmitted through the first redirecting member.

[0024] In some embodiments of the first aspect, at least a portion of an end surface of the first redirecting member away from the rotating member is configured as a first reflecting surface; a first preset angle is configured between the first reflecting surface and the axis of a first optical path segment in the optical path of the transmitting signal leading to the first redirecting member, so as to deviate the optical signal transmitted along the first optical path segment from the optical path of the receiving signal; and / or, at least a portion of the end surface of the first redirecting member away from the rotating member is configured as a second reflecting surface; a second preset angle is configured between the second reflecting surface and the axis of a second optical path segment in the optical path of the receiving signal starting from the first redirecting member, so as to deviate the optical signal transmitted along the second optical path segment from the optical path of the transmitting signal.

[0025] In some embodiments of the first aspect, an end surface of the first redirecting member at an end close to the rotating member is configured to be parallel to the axial direction of the optical path segment of the optical path for receiving signals between the rotating member and the first redirecting member.

[0026] In some embodiments of the first aspect, the rotating member includes more than two reflective surfaces.

[0027] In some embodiments of the first aspect, the first redirecting member is encapsulated in a first housing, and the first housing extends along the optical path of the transmitted signal toward the light emitting end.

[0028] In some embodiments of the first aspect, a size of the first redirecting element is proportional to a divergence angle of the outgoing light beam and inversely proportional to a cross-section of the return light beam.

[0029] In some embodiments of the first aspect, the optical detection device includes: a transceiver lens, which is arranged between the rotating member and the first redirecting member, and is used to converge the echo signal from one side of the rotating member and transmit it to the passing portion of the first redirecting member, and to allow the transmission signal from one side of the first redirecting member to pass through.

[0030] In some embodiments of the first aspect, the light emitting end corresponds to one end of the second sleeve; the second sleeve extends along the optical path of the transmitted signal toward the first redirecting member and forms a light output port at the other end; and / or, the light detecting end corresponds to one end of the third sleeve; the third sleeve extends along the optical path of the received signal toward the first redirecting member and forms a light input port at the other end.

[0031] In some embodiments of the first aspect, the light detection device includes: a second lens disposed in the optical path of the received signal and located between the light detection end and the first redirecting element.

[0032] In some embodiments of the first aspect, the second lens is vertically arranged in a direction with a preset deflection angle relative to the longitudinal direction of the light detection device to deflect light incident at an edge viewing angle away from the light detector array.

[0033] In some embodiments of the first aspect, the optical detection device includes: a control module for performing compensation processing on an echo signal received in an optical transmission detection channel corresponding to a corresponding field of view angle away from the rotating member.

[0034] In some embodiments of the first aspect, the light detection device is a forward laser radar, and M=N>32.

[0035] To achieve the above objectives and other related objectives, a second aspect of the present application provides a traveling vehicle, comprising: a light detection device as described in any one of the first aspects.

[0036] In some embodiments of the second aspect, the traveling vehicle is a vehicle, and the light detection device is a forward laser radar installed at the front of the vehicle.

[0037] In summary, the present application provides a light detection device and a traveling vehicle, wherein the light detection device includes: a window; a light emitting end configured to output a transmission signal; a light detecting end configured to detect an echo signal of the transmission signal; and a light signal redirecting component configured to deflect the transmission signal by movement so that the transmission signal is emitted from the window of the light detection device to scan the second direction of the field of view, and redirect the echo signal so that the echo signal is transmitted to the light detection end; wherein the optical path of the transmission signal and the optical path of the echo signal overlap at least between the window and the light signal redirecting component. In the embodiment of the present application, the optical paths of the transmission signal and the echo signal overlap without being limited by the up and down stacking method of the transceiver modules, which can effectively reduce the height of the device without affecting the detection performance, and the overlapping of the transceiver and light paths can eliminate close-range blind spots. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 A schematic diagram of the structure of a rotating mirror laser radar is shown in an example.

[0039] Figure 2A A schematic diagram showing the optical path during lidar detection in an example.

[0040] Figure 2B A schematic diagram showing the principle of a close-range blind spot in an example.

[0041] Figure 3A A schematic diagram of a top perspective structure of a light detection device in one embodiment of the present application is shown.

[0042] Figure 3BA schematic diagram showing the front view of the arrangement structure of the light emitter array in one embodiment of the present application is shown.

[0043] Figure 3C Display as Figure 3B Schematic diagram of the left view local structure.

[0044] Figure 4A A schematic diagram of a top perspective structure of a light detection device in a specific embodiment of the present application is shown.

[0045] Figure 4B A schematic top perspective structural diagram showing an optical detection device for shape change of a rotating member in another specific embodiment of the present application.

[0046] Figure 4C exhibit Figure 4A Schematic diagram of the side view structure of the mid-light detection device.

[0047] Figure 5 A schematic diagram of the perspective structure of the light detection device in the first variant example of the present application is shown.

[0048] Figure 6 A schematic diagram of the perspective structure of the light detection device in the second variant example of the present application is shown.

[0049] Figure 7 A schematic plan view of the first redirecting member in the third variant example of the present application is shown.

[0050] Figure 8 Shown is a partial structural schematic diagram of a first redirecting member and a rotating member in one embodiment of the present application.

[0051] Figure 9 Shown is a structural schematic diagram of the first redirecting member in the fourth variant example of the present application.

[0052] Figure 10 A schematic diagram of the top view of the optical detection device in another embodiment of the present application is shown.

[0053] Figure 11A and Figure 11B Schematic diagrams of the top perspective structure of the light detection device in two other specific embodiments of the present application are shown.

[0054] Figure 12A Display based on Figure 3B A structural diagram of dividing the light emitter groups according to an example.

[0055] Figure 12B Shown is a waveform diagram showing a signal characteristic of a corresponding detection channel using pulse width in one embodiment of the present application.

[0056] Figure 12CShown is a waveform diagram showing a pulse time interval as a signal characteristic of a corresponding detection channel in an embodiment of the present application.

[0057] Figure 13A A schematic structural diagram of a microlens array in one embodiment of the present application is shown.

[0058] Figure 13B A schematic structural diagram of a microlens array in another embodiment of the present application is shown.

[0059] Figure 14A A schematic top perspective structural diagram showing a window structure of a light detection device according to an embodiment of the present application is shown.

[0060] Figure 14B exhibit Figure 14A Schematic diagram of the three-dimensional structure of the window structure of the light detection device. DETAILED DESCRIPTION

[0061] The following describes the embodiments of the present application through specific examples. Those skilled in the art can easily understand the other advantages and effects of the present application from the content disclosed in this specification. The present application can also be implemented or applied through different specific embodiments. The details in this specification can also be modified or changed based on different viewpoints and application systems without departing from the spirit of the present application. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other unless they conflict.

[0062] The following is a detailed description of the embodiments of the present application with reference to the accompanying drawings so that those skilled in the art can easily implement the present application. The present application can be embodied in many different forms and is not limited to the embodiments described herein.

[0063] In order to clearly describe the present application, components not related to the description are omitted, and the same or similar components throughout the specification are given the same reference numerals.

[0064] Throughout this specification, when a device is said to be "connected" to another device, this includes not only "direct connection" but also "indirect connection" with other elements interposed therebetween. Furthermore, when a device is said to "include" a certain component, unless otherwise stated, this does not exclude the inclusion of other components but rather implies that the device may include other components.

[0065] When a device is said to be "on" another device, it may be directly on the other device, but there may also be other devices between it. In contrast, when a device is said to be "directly on" another device, there are no other devices between it.

[0066] Although the terms first, second, etc. are used in some instances herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, descriptions of a first interface and a second interface, etc. are provided. Furthermore, as used herein, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context indicates otherwise. It should be further understood that the terms "comprise" and "include" indicate the presence of the described features, steps, operations, elements, components, items, types, and / or groups, but do not exclude the presence, occurrence, or addition of one or more other features, steps, operations, elements, components, items, types, and / or groups. The terms "or" and "and / or" used herein are interpreted as inclusive, or mean any one or any combination. Therefore, "A, B, or C" or "A, B, and / or C" means "any of the following: A; B; C; A and B; A and C; B and C; A, B, and C." Exceptions to this definition occur only when the combination of elements, functions, steps, or operations is inherently mutually exclusive in some manner.

[0067] The technical terms used herein are intended only to refer to specific embodiments and are not intended to limit this application. The singular form used herein also includes the plural form unless the statement explicitly indicates otherwise. The term "comprising" as used in this specification is intended to specify specific features, regions, integers, steps, operations, elements, and / or components and does not exclude the presence or addition of other features, regions, integers, steps, operations, elements, and / or components.

[0068] Spatially relative terms such as "below" and "above" may be used to more easily explain the relationship of one device to another in the drawings. These terms refer not only to the device in the drawings but also to other aspects of the device during use or operation. For example, if a device in a drawing is turned over, a device previously described as "below" another device may now be described as "above" the other device. Therefore, the exemplary term "below" encompasses both above and below. A device may be rotated 90° or at other angles, and spatially relative terms should be interpreted accordingly.

[0069] Although not defined differently, all terms used herein, including technical and scientific terms, have the same meanings as those generally understood by those skilled in the art to which this application belongs. Terms defined in commonly used dictionaries are to be interpreted as having meanings consistent with the relevant technical literature and current teachings, and unless otherwise defined, they should not be overly interpreted as ideal or highly formalized meanings.

[0070] Typically, a laser radar is configured with a transmitting module and a receiving module stacked up and down.

[0071] Take the rotating mirror scanning LiDAR as an example. Please refer to Figure 1 , showing a schematic diagram of the structure of a rotating mirror laser radar in an example.

[0072] The rotating mirror scanning laser radar 10 includes a single laser 11, a transmitting lens 12, a rotating mirror 13, a receiving lens 14 and a single light detector 15. The laser 11 and the light detector 15 are stacked up and down. The laser 11 is located at the top and is used to emit light to emit laser light as a transmitting signal. The central axis of the light-emitting surface of the laser 11 is A1; the light detector 15 is located below the laser 11 and is used to receive the light of the echo signal of the transmitting signal. The central axis of the receiving surface of the light detector 15 is B1. The transmitting lens 12 is used to collimate the passing transmitting signal, and the receiving lens 14 is used to converge the passing echo signal to the light detector 15.

[0073] The rotating mirror 13 is controllably rotatable, shown in the diagram as rotating counterclockwise as indicated by the X arrow. In this example, the mirror 13 is designed to be large enough to transmit the transmit signal and the echo signal to different regions on one or more surfaces. The transmit signal from the transmission laser 11 is transmitted to the rotating mirror 13 via the transmitting lens 12. Conversely, the mirror 13 rotates to a predetermined position so that one surface receives the transmit signal, which is then reflected and emitted toward the external environment along the optical axis of arrow C. The optical axis of the output light path is A2. Correspondingly, the echo signal travels along the optical path of arrow D, along the optical axis of axis B2, through the receiving lens 14, and is incident on the photodetector 15. In the diagram, optical axes B2 and B1 are connected. The dotted shading in the figure schematically represents the light spot where the beam lands.

[0074] As can be understood from the diagram, because the height of the entire radar must be at least equal to the total height of the laser 11 and the light detector 15, the stacked structure of the laser 11 and the light detector 15 will have the problem of being difficult to reduce in height. In addition, in this example, the size of the rotating mirror 13 must be made relatively large to cover the landing point of the transmitted signal and the echo signal, which will increase the size of the entire rotating mirror scanning laser radar. If the size of the rotating mirror scanning laser radar is to be reduced, the effective aperture of the radar's transmission and reception will inevitably be reduced, the radar's field of view angle will be reduced, and the radar performance will be significantly deteriorated. In addition, Figure 1 The solution shown cannot meet the future mainstream demand for radar products with high wire harness volume (e.g., more than 32 wires, such as 32 wires, 64 wires, 128 wires) in the field of autonomous driving.

[0075] In addition, this upper and lower stacking structure will also cause the problem of blind spots in close-range detection.

[0076] like Figure 2A As shown, a schematic diagram of the optical path in the laser radar detection process in an example is shown.

[0077] In order to detect a distant target E1, the laser radar using a stacked transmitting module 21 and a receiving module 22, the field of view of the receiving module 22 is configured to receive signals at a distant location (e.g., 200 meters from the laser radar). Figure 2A Therefore, within a certain distance close to the laser radar (such as several meters, more than ten meters or tens of meters), the transmission signal emitted by the transmitting module 21 is transmitted through the transmitting lens 23 and may fall outside the field of view (FOV) of the receiving module 22, causing the receiving module 22 to not receive the echo signal reflected from the target object or the received echo signal to be extremely weak, thus forming a close-range blind spot. Figure 2A In FIG, the area F between the two dotted lines is used to schematically represent the close-range blind spot.

[0078] For further details, please refer to Figure 2B Assume that there is a target E2 in area A. When the transmitted signal reflects off target E2 and forms an echo signal, the image point G formed by the receiving lens 24 does not fall on the focal plane of the receiving lens 24, but rather behind it. Furthermore, because the close-range target is above the optical axis of the receiving lens 24, its image formed by the receiving lens 24 must be below the optical axis of the receiving lens 24. Combining these two factors, it can be seen that the position of the imaging point G of the close-range target E2 is completely offset from the receiving module 22, resulting in the LiDAR receiving module 22 being unable to receive the target's reflected signal.

[0079] The reason for the above-mentioned close-range blind zone is that there is an angle between the optical axes of the optical path of the transmitting signal and the optical path of the receiving signal of the echo signal, such as Figure 2A As shown in α, such an optical path structure can also be called "paraxial".

[0080] In addition to the above, this type of off-axis optical path structure will also affect the performance of lidar signal detection, for example, causing differences between detection channels. First, define "detection channel". If the lidar is equipped with multiple lasers or a multi-beam lidar, each row / column of light emitters can extend along a certain direction. Similarly, each row / column of light detectors can extend along a certain direction, thereby jointly constituting a scan of the field of view corresponding to the extension direction (for example, the column direction corresponds to the vertical field of view, the row direction corresponds to the horizontal field of view, etc.). Among them, the measurement dimension of the field of view (FOV) is often referred to as the field of view angle, for example, the horizontal FOV is 100° and the vertical FOV is 120°. Each detection channel can include at least one laser and at least one detector, and each detection channel corresponds to a field of view in a certain direction (for example, it can be a vertical field of view or a horizontal field of view). In other words, a detection channel can be composed of multiple lasers and one detector, one laser and multiple detectors, or one laser and one detector. In other words, one or more lasers plus one or more corresponding light detectors constitute a detection channel. The correspondence here refers to the correspondence between the laser that transmits the transmission signal and the light detector that receives the echo signal of the transmission signal, that is, the laser and light detector corresponding to the same detection field of view. For example, one laser and one detector constitute one detection channel of the lidar. Multiple detection channels are also called "multi-lines" in the radar field.

[0081] because Figure 2A The paraxial optical path structure in the system will cause the positions and orientations of each detection channel relative to the same obstacle to be different, which in turn causes the optical response curves of each channel (for example, describing the relationship between light intensity and target distance) to be different and vary greatly. Finally, it is difficult to measure the distance and reflectivity of the obstacle based on the echo signal.

[0082] In view of the various problems in the above examples, an embodiment of the present application provides a light detection device that innovatively abandons the paraxial optical path and utilizes at least partially overlapping light and light receiving paths to solve the above problems.

[0083] like Figure 3A , which shows a schematic top perspective structural diagram of a high-beam (beams can be ≥32) scanning optical detection device in one embodiment of the present application.

[0084] Figure 3A The figure shows the interior perspective of the light detection device in a transverse plane from a top-down perspective. For clarity, the housing of the light detection device is not shown. The transverse plane can be a plane perpendicular to the height direction of the light detection device, and can be, for example, a horizontal plane or other plane.

[0085] The optical detection device 30 includes a window 31, through which both the transmitted signal and the received echo signal pass. The echo signal is formed when the transmitted signal is reflected by an obstacle. For example, a flat window glass can be installed at the window 31. In other embodiments, the window 31 can also have a curved structure. The optical detection device 30 includes a light emitting end 32 and a light detecting end 33. The light emitting end 32 is configured to output the transmitted signal; and the light detecting end 33 is configured to detect the echo signal of the transmitted signal. For example, a space can be formed within the housing to accommodate the light emitting end 32 and the light detecting end 33.

[0086] The light emitting end 32 may include a light emitter array. Figure 3B , which shows a schematic diagram of the front view of the arrangement structure of the light emitter array in one embodiment of the present application.

[0087] The light emitter array may include N columns of light emitters staggered from each other, each column of light emitters extending along a first direction to form a scan of the field of view in the first direction, where N>1. Exemplarily, the field of view in the first direction may be a vertical field of view. Optionally, the fields of view of adjacent light emitters in a column may not overlap with each other. Specifically, in a light emitter column, each light emitter corresponds to a vertical field of view, so the combination of the vertical fields of view of each light emitter in a column corresponds to the vertical field of view of the light emitter column (the field of view of the light emitter row can be obtained similarly), and the combination of the vertical fields of view of each light emitter column corresponds to the vertical field of view of the light detection device.

[0088] To clarify the staggered structure between the light emitter rows, please refer to Figure 3B and Figure 3C . Figure 3C Display as Figure 3B Schematic diagram of the left-view partial structure. The light emitter array 321 is provided on a circuit board 322 (PCB). The light emitter column on the left is not aligned with the adjacent light emitter column on the right in the column direction, resulting in the staggered arrangement. To be more specific, the first light emitter b1 in the light emitter column on the right is slightly lower than a1, and higher than the second light emitter a2 on the left. Among them, the absolute value of the vertical field of view angle corresponding to a1 is greater than the absolute value of the vertical field of view angle corresponding to light emitter b1, and is greater than the absolute value of the vertical field of view angle corresponding to a2. The so-called staggered arrangement refers to the staggered arrangement of the two columns of light emitters in the first direction, which can also be understood as the at least partial non-overlap of the field of view angles of each laser in the first direction (such as the vertical direction).

[0089] like Figure 3CIt can be seen from the side that b1 fills the gap between a1 and a2 in the column direction, which makes the light emitters in the column direction more densely distributed, thereby improving the vertical resolution of the light detection device. Figure 3B The arrangement of the linear array of light emitters can achieve 1D solid-state scanning in the column direction (corresponding to the vertical field of view). Similarly, in other embodiments, adjacent rows of light emitters can also be staggered in the row direction, which is not explained here.

[0090] on the one hand, Figure 3B and 3C The linear array of light emitters demonstrated reduces the number of light emitters and lowers costs compared to, for example, a square array. Furthermore, the staggered arrangement of adjacent light emitter columns within the linear array allows for smaller dimensions and higher resolution than would be possible with multiple columns of lasers.

[0091] In some embodiments, each light emitter may be a laser, such as a vertical cavity surface emitting laser (VCSEL) or an edge emitting laser (EEL). Accordingly, the light detection end 33 may include a light detector array, wherein each light detector (also referred to as a detector or photodetector) may be implemented, for example, as an avalanche photodiode (APD) or a silicon photomultiplier (SiPM).

[0092] The optical detection device 30 also includes an optical signal redirection component 34. Redirection refers to the ability to change / deflect the direction of the input optical signal and redefine the transmission direction of the output optical signal through optical processing methods such as reflection, refraction, and transmission. As shown in Figure 3, the optical signal redirection component 34 is configured to deflect the transmitted signal through movement, causing the transmitted signal to be emitted from the window 31 of the optical detection device 30, thereby scanning the second-directional field of view, and redirect the echo signal so that the echo signal is transmitted to the optical detection end 32. The movement of the optical signal redirection component 34 varies. If the optical signal redirection component is a rotating mirror, the movement can be rotational, such as a 300° or 360° clockwise rotation, or reciprocating motion, such as back and forth between -50° and +50°. Alternatively, if the optical signal redirection component is a galvanometer mirror, the movement can be oscillating.

[0093] The optical paths of the transmitted signal and the received signal overlap at least between the viewing window 31 and the optical signal redirection assembly 34. This overlap can refer to coaxial optical paths, meaning that the two optical path segments have overlapping optical axes, as indicated by J in the figure. It will be appreciated that both the transmitted signal and the echo signal pass through the overlapping optical path segment within the optical detection device 30. This coaxial optical path structure avoids the various issues associated with the paraxial optical path structure in the aforementioned example. Furthermore, due to reflection from the reflective surface 341, the optical paths of the transmitted signal and the received signal also overlap in the optical path segment with optical axis K.

[0094] The optical signal redirection component 3 can further separate the optical path of the transmitting signal and the optical path of the receiving signal in other optical path segments. For example, a reflective surface 37 is provided in the optical path where the optical axis K is located to deflect the transmitting signal from the optical transmitting end 32 into the overlapping optical path segment.

[0095] Here, by forming an overlapping optical path for transmitting and receiving signals, it is no longer necessary to use the structure of stacking the transmitting and receiving modules in the above example, which effectively reduces the height of the optical detection device 30. Figure 3A As can be seen from the schematic structure, in a horizontal plane presented from a top-down perspective of the light detection device 30, the window 31, light emitting end 32, light detection end 33, and light signal redirection component 34 are arranged relatively left and right on the horizontal plane; at least one vertical side surface of each of the window 31, light emitting end 32, light detection end 33, and light signal redirection component 34 is an optical surface, and the vertical side surfaces are correspondingly arranged to form laterally extending optical paths for transmitted and received signals, thereby not increasing the overall height of the radar.

[0096] In a specific example, the optical signal redirection component 34 may include one or more optical surfaces configured to achieve a light redirection effect, such as one or more combinations of reflection, refraction, convergence, and diffusion. The one or more optical surfaces may be located on a carrier component. For further example, the carrier component may be rotating (e.g., a rotating mirror in a rotating mirror scanning lidar) or stationary (e.g., a reflector, refractor, lens, or lens assembly).

[0097] In a specific example, a first lens 35 can be provided in front of the light emitting end 32 to collimate the transmission signal from the light emitting end 32 for transmission. The first lens 35 can be, for example, a plano-convex lens, with its convex surface facing the light emitting end 32. A second lens 36 can be provided in front of the light detecting end 33 to converge the passing echo signal toward the light detecting end 33. The second lens 36 can be, for example, a plano-convex lens, with its flat surface facing the light detecting end 33. It should be noted that the light emitting end 32, the first lens 35 (or lens group), and the reflector 37 can be packaged into a transmitting module, and the light detecting end 33 and the second lens 36 can be packaged into a receiving module, thereby improving assembly convenience.

[0098] like Figure 4A As shown, a schematic diagram of the perspective structure of the light detection device in a specific embodiment of the present application is shown. Figure 4A In the example of FIG, the specific structure of the optical signal redirection component 34 in one embodiment is shown.

[0099] exist Figure 4A In the example, except Figure 3A In addition to the window 31 , the light emitting end 32 , the light detecting end 33 , the first lens 35 , and the second lens 36 shown in FIG, the optical signal redirecting component 34 is also shown to specifically include: a rotating member 41 and a first redirecting member 42 .

[0100] The rotating member 41 is controlled to rotate. Figure 4A In the example, a one-dimensional rotation in the transverse plane (schematically indicated by the arrow in the figure) is shown, so that the horizontal field of view (relative to the vertical field of view) can be scanned. It is understood that although the above example shows that the vertical field of view scanning is achieved by the light emitters arranged in the column direction, and the horizontal field of view scanning is achieved by the one-dimensional rotation of the rotating member in the transverse direction, it is not limited to this. In other specific examples, the placement angle of the light detection device can also be changed, for example, compared to Figure 4A The optical transmitter is rotated 90 degrees to realize, for example, vertical field scanning by one-dimensional rotation of the rotating member, and horizontal field scanning by changing the light emitter from "columns" to "rows".

[0101] Exemplarily, the rotating member 41 can be mounted outside the motor's shaft so as to rotate with it when the motor drives the shaft. The rotating member 41 includes at least one reflective surface for both the transmitted and received signal optical paths. When there is only one reflective surface, the transmitted and received signal optical paths can share this reflective surface; however, when there are multiple reflective surfaces, the transmitted and received signal optical paths may not share the same reflective surface of the rotating member 41. In the example of FIG4A , the rotating member 41 is exemplarily shown as a rectangular body, with two opposing side surfaces 411 and 412 serving as reflective surfaces. When the rotating member 41 rotates to a predetermined position, such as the position shown in the figure, one reflective surface 411 deflects the transmitted signal onto the window 31. The transmitted signal then passes through the window 31 and is emitted into the environment outside the optical detection device for detection. If the transmitted signal encounters an obstacle, an echo signal is generated. The echo signal passes through the window 31 and reaches the reflective surface 411. After being deflected by the reflective surface 411, it reaches the detector 33.

[0102] The first redirecting member 42 is located in the optical path of the transmitting signal and the optical path of the receiving signal, and is configured to output the transmitting signal to the rotating member 41 and has a passage portion for the echo signal to pass through. Figure 4A In this example, the first redirecting member 42 can be implemented as a reflector, which can have a reflective surface 421. In the optical path of the transmitted signal, the reflective surface 421 is used to reflect the transmission signal emitted by the light emitting end 32 to the rotating member 41. When the rotating member 41 is located at, for example Figure 4A When the reflective surface 411 or 412 is in the middle position, the reflective surface 411 or 412 can receive the transmitted signal and deflect it to the window, and then emit it to the outside.

[0103] exist Figure 4A In this example, the through portion is shown as a gap 43 located on both sides of the first redirecting member 42. The gap 43 can be formed between the first redirecting member 42 and the inner wall of the housing of the light detection device or between the first redirecting member 42 and other parts (such as a bracket, etc.) provided in the housing. Figure 4A In the exemplary structure, in the optical path of the received signal, the echo signal is reflected by a reflective surface 411 of the rotating member 41 and transmitted to the first redirecting member 42 , passing through the gap 43 beside the first redirecting member 42 and being received by the optical detection end 33 .

[0104] See also Figure 4A 、 Figure 4B and Figure 4C , Figure 4C exhibit Figure 4A or Figure 4B A schematic diagram of the side structure of the light detection device. Specifically, Figure 4C It is from Figure 4A The schematic diagram of the structure presented in the downward viewing angle of window 31. Figure 4A In FIG, the structure between the light emitting end 32, the light detecting end 33, the rotating member 41 and the first redirecting member 42 can be more clearly seen. Figure 4C The window 31, first lens 35, and second lens 36 are omitted, and portions of the upper and lower housings are shown for reference. The light emitting end 32 is shown as including a light emitter array 321, and the light detecting end 33 as including a light detector array 331, to establish detection channels for transmitting and receiving optical signals.

[0105] The rotating member 41 can rotate continuously to transmit the transmission signal and receive the echo signal at different times, or it can rotate back and forth to transmit the transmission signal and receive the echo signal at different times. It can be understood that the rotation speed of the rotating member 41, the number of reflecting surfaces, and the speed of switching the light emission of adjacent lasers will affect the frame rate of radar point cloud detection, and various factors need to be coordinated to achieve detection at a preset frame rate. When the detection frame rate is fixed, the larger the number of reflecting surfaces, the smaller the required rotation speed can be. It can be seen that the rotation speed of the rotating member 41 and the number of reflecting surfaces can be set according to actual detection needs. The number of reflecting surfaces will also be related to the structure of the rotating member 41, and can be at least two, such as 2, 3, 4 or more surfaces. In a specific example, the rotating member 41 can be a prism. The cross-section of the rotating member 41 can be axisymmetric or center-symmetric to achieve uniform time transmission and reception of optical signals. For example, with Figure 4A For example, if the cross section of the rotating member 41 is a rectangular prism, the two opposite surfaces thereof can be reflective surfaces. Alternatively, if the cross section of the rotating member 41 is a square prism, all four sides thereof can be reflective surfaces. Alternatively, Figure 4B In the illustrated embodiment, the rotating member 41B is a prism with an equilateral triangular cross-section. Each of its three side surfaces can serve as a reflective surface. During rotation, the three reflective surfaces can be used in turn to transmit optical signals, eliminating any side surfaces that are not used for optical signal transmission. It should be noted that in other examples, the rotating member 41 can also be implemented as a prism with a more polygonal cross-section (e.g., a pentagonal prism, a hexagonal prism, etc.), and the above example is not limiting.

[0106] It is understandable that the size, structure and shape of the first redirecting member may affect the detection performance of the light detection end for the echo signal. Figure 4B The structure in the embodiment provides multiple modification examples to help further improve the performance of the light detection device.

[0107] like Figure 5 , which shows a schematic diagram of the top perspective structure of the light detection device in the first variant example of the present application.

[0108] exist Figure 5In the example, the main difference compared to the previous embodiment is that the positions between the light emitting end 52 and the light detecting end 53 are interchanged, and the first redirecting member is changed into two spaced sub-redirecting members 54 and 55. There is a gap between the two sub-redirecting members 54 and 55 as a passing portion for passing the transmitted signal and reflecting it to the outside of the window 51 through the rotating member 57. Correspondingly, optionally, the first lens 56 may correspond to the size of the gap. The surfaces of the two sub-redirecting members 54 and 55 relative to the side of the rotating member 57 are reflective surfaces, which are used to reflect the echo signal that enters the window 51 and passes through the rotating member 57 to the light detecting end 53 through the second lens 58. Optionally, the two sub-redirecting members 54 and 55 may be parallel. Further optionally, the two sub-redirecting members 54 and 55 may be located in the same plane and arranged with two sides aligned along a straight line, for example Figure 5 As shown in .

[0109] like Figure 6 , which shows a schematic diagram of the top perspective structure of the light detection device in the second variant example of the present application.

[0110] exist Figure 6 In the example, compared to Figure 4B The main difference between the embodiments is that the light emitting end 62 and the light detecting end 63 share a transceiver lens 64, which is disposed in the overlapping optical path between the transmitting signal and the receiving signal, between the rotating member 65 and the first redirecting member 66. Alternatively, the transceiver lens 64 may be, for example, a plano-convex lens, with its convex surface facing the rotating member 65.

[0111] When an echo signal enters the viewing window 61 and travels from the rotating member 65 to the transceiver lens 64, the transceiver lens 64 converges the echo signal and transmits it through the gap to the optical detection end 63, improving the efficiency of echo signal detection. When the transmission signal emitted by the optical transmitting end 62 is reflected from the first redirecting member 66 along the optical path of the transmission signal to the transceiver lens 64, it is not converged because it enters the transceiver lens 64 in the reverse direction and is reflected by the rotating member 65 to be transmitted out of the viewing window 61. With this architecture, the transmission and reception can share the same transceiver lens 64 (or lens group), thereby reducing the number of lenses (or lens groups).

[0112] In some embodiments, the circuit board carrying the light emitter array at the light detection end can be flexible and can be bent into a curved surface, and the formed recess corresponds to the first redirecting member so that the light output axis of each light emitter in the light emitter array is concentrated to point to the first redirecting member.

[0113] It will be appreciated that, because the optical paths of the transmitted and received signals may overlap between the rotating element and the first redirecting element, the echo signal and the transmitted signal will pass through the first redirecting element from different directions along the two optical paths. Therefore, the first redirecting element can either form a reflective surface to reflect one of the echo signal and the transmitted signal, or a passage portion to pass the other.

[0114] In each optical path architecture, the size of the first redirecting element needs to be appropriately set by weighing multiple factors. Figure 4B In the optical path architecture shown, if the size of the first redirecting element 42 is too large, it may hinder the reception of too many echo signals, thereby reducing the signal-to-noise ratio. If it is too small, it will affect the reflection of the transmitted signal, because the outgoing light beam itself also has a certain divergence angle. Therefore, it is necessary to consider the relationship between the divergence angle of the transmitted signal and the amount of the echo signal passing through the passage portion (affecting the signal-to-noise ratio of the echo signal), and weigh the relationship to achieve a preset optimization goal, deflecting as many transmitted signals as possible to the rotating mirror and then deflecting the rotating mirror to the external obstacle, and at the same time, blocking as little echo signals reflected by the obstacle as possible, so that as many echo signals as possible can be received by the optical detection end, and then used to calculate the distance and reflectivity information, and can be used to further generate a point cloud map. Therefore, the size of the first redirecting element 42 is proportional to the divergence angle of the outgoing light beam at the first redirecting element 42. For example, for Figure 5 In the optical path architecture shown, if the size of the first redirecting element (54 and 55) is too small, it may not be sufficient to deflect the echo signal, thereby reducing the signal-to-noise ratio. If it is too large, it will affect the emission of the transmitted signal, because the emitted light beam itself also has a certain divergence angle. Therefore, in different optical path architectures, it is necessary to consider the relationship between the emission amount of the transmitted signal and the passing amount of the echo signal (affecting the signal-to-noise ratio of the echo signal), and weigh them to achieve a preset optimized ratio, so as to comprehensively achieve the goal of measuring farther and having a lower signal-to-noise ratio with a relatively small overall size. In addition, the structural setting of the first redirecting element will also have an impact on stray light. The following examples will illustrate the possible deformation of the first redirecting element.

[0115] In the above embodiments, light signals are transmitted through gaps formed on the sides or in the center of the first redirecting element. However, light signals are not limited to gaps and can also be transmitted through transparent materials such as glass. Based on this concept, in some embodiments of the present application, a first redirecting element composed of different translucent and reflective components can also be provided.

[0116] like Figure 7 As shown, a planar schematic diagram of the first redirecting member in the third variant example of the present application is shown.

[0117] exist Figure 7The side of the first redirecting member 70 shown in FIG4 corresponds to the reflective surface 421 in FIG4 . In this example, the first redirecting member 70 includes a first region 71 for outputting the transmitted signal toward the rotating member, and a second region 72, outside the first region 71, for transmitting the echo signal. For example, the first region 71 may be coated with a reflective material, while the second region 72 may be made of a translucent material (e.g., glass). In this example, the second region 72 may surround the first region 71 and be fixed to form the first redirecting member 70. This first redirecting member 70 facilitates efficient transmission of the echo signal and the transmitted signal, improving the detection performance of the optical detection device.

[0118] In addition, the structure of the end surface of the first redirecting member will also affect the detection performance of the light detection device. Figure 8 FIG. 1 shows a partial structural diagram of the first redirecting member and the rotating member in one embodiment of the present application. In this example, the cross-section of the first redirecting member 81 is rectangular, and the convex corner at one end 821 of the first redirecting member 81 near the rotating member 82 will hinder the transmission of the echo signal W to the optical detection end; in addition, Figure 8 The other end 822 of the first redirecting member 80, which is farther from the rotating member 82, may reflect light from the end surface that is illuminated by the transmitted signal. For example, in the figure, transmitted signal Y1 is normally reflected by the first redirecting member 80 and transmitted along the first optical path, while transmitted signal Y2 is reflected by the other end surface 822 of the rotating member 82 into the second optical path (as indicated by the rightward dashed arrow in the figure). Once reflected into the second optical path, it will reach the light detection end along the second optical path, causing interference. The term "approaching" or "moving away" refers to approaching or moving away from a fixed point on the rotating member 82, such as the axis of the rotating member 82.

[0119] like Figure 9 As shown, it is a schematic structural diagram of the first redirecting member in the fourth variant example of the present application.

[0120] Figure 9 The first redirecting member 90 in the example is Figure 8 Improved on the example.

[0121] exist Figure 9 In the embodiment, optionally, Figure 8 The first redirecting member 90 is located at one end close to the rotating member (i.e. Figure 8 The corner of the upper and middle end is cut off so that the end surface 91 of the end is configured to be parallel to the axial direction of the optical path segment of the optical path for receiving signals between the rotating member and the first redirecting member.

[0122] exist Figure 9 In the embodiment, optionally, the first redirecting member 90 is moved away from one end of the rotating member (ie Figure 9At least a portion of the end surface of the middle and lower end (of the optical path) is configured as a first reflecting surface 92, and a first preset angle is formed between the first reflecting surface 92 and the axis of the first optical path segment leading to the first redirecting member 90 in the optical path of the transmitted signal, such as the angle β shown in the figure, which can be a right angle or an obtuse angle, so that the incident light signal cannot enter the optical path of the received signal after reflection, that is, deviates from the optical path of the received signal and does not interfere with the light detection end.

[0123] In addition, for the first redirecting element having a transparent portion, it is possible that the transmitted signal may pass through it and be further reflected to cause interference.

[0124] like Figure 10 As shown, a schematic diagram of the top structure of the light detection device in one embodiment of the present application is shown. Figure 4B 9 . To reduce interference caused by the transmitted signal passing through it, the light detection device in this example further includes a light shielding member 101 disposed along the propagation path of the transmitted signal passing through the first redirecting member 90. In some examples, the light shielding member 101 may be integral with the first redirecting member 90, for example, comprising a light-absorbing material coated on the surface of the first redirecting member 90.

[0125] like Figure 11A , which shows a schematic diagram of a top perspective structure of a light detection device in another specific embodiment of the present application.

[0126] In this example, the bottom plate 1100 of the housing of the light detection device 110 is shown, as well as components located on the bottom plate 1100, such as a window 1101, a light emitting end 1102, a light detecting end 1103, a rotating member 1104, a first redirecting member 1105, a second redirecting member 1106, a third redirecting member 1107, a first housing 1108, a second housing 1109, a third housing 1110, a first lens 1111, and a second lens 1112. The black dashed line shows the path of the outgoing light beam: it is emitted from the emitter (array) 1102, deflected by the reflector 1106, deflected again by 1105, hits the rotating mirror 1104, and then deflected and emitted to the outside world.

[0127] The thick arrow with a gray background shows the incident path of the echo reflected by the obstacle in the field of view directly in front of the product. It first hits the rotating mirror 1104, is deflected, passes through the side of 1105, is deflected by the lens (group) 1112 and the reflector 1107, and finally is incident on the detector (array) 1103.

[0128] Since the edges of the window (such as Figure 4A and Figure 11AThe left edge of the window 1101 in the image, or the leftmost angle of the detection field of the optical detection device, may be incident with strong light (especially when encountering an obstacle with high reflectivity). If it enters the optical path of the received signal, it will also cause strong light interference to the optical detection end. Therefore, in some examples, such as Figure 11B As shown, the vertical direction of the second lens 1112B may not be along the vertical direction of the horizontal plane (i.e., the height direction), but may be at a certain angle relative to the vertical direction (tilted downward), such as a value between 3° and 6° and between 6° and 9°, so that the stray light incident at the edge of the field of view angle can be deflected to a position deviating from the light detector array on the light detection end 1103 after passing through the tilted lens 1112B and the reflector 1107B, such as hitting the side wall of 1110 as shown by the shading arrow in the figure, thereby improving the field of view stray light.

[0129] Optionally, at least one second redirecting member 1106, such as a reflector, may be provided in the optical path of the transmitted signal to form a folded optical path of the transmitted signal. Accordingly, the position of the light emitting end 1102 may be adjusted, for example Figure 11A Located on the left sidewall, its transmitted signal is reflected by the second redirecting element 1106 toward the first redirecting element 1105. Similarly, at least one third redirecting element 1107, such as a reflector, can be optionally positioned in the optical path of the received signal to form a curved optical path for the received signal, allowing the position of the light detector 1103 to be varied, for example, positioned near the rear wall of the light detection device in the figure. The positions of the light transmitter 1102 and the light detector 1103 are variable and can be set at desired locations to accommodate the spatial layout requirements within the light detection device. Furthermore, the light transmitter 1102 and the light detector 1103 can be positioned farther apart to reduce the potential for crosstalk.

[0130] exist Figure 11A In the figure, the optical path of the transmitting signal is shown by the dotted arrow, and the optical path of the receiving signal is shown by the shaded arrow.

[0131] Exemplarily, the first redirecting member 1105 may be enclosed in a first housing 1108, which extends along the optical path of the transmitted signal toward the light transmitting end 1102. A light-transmitting portion (an opening, or a window for a light-transmitting member, etc.) may be provided on the side of the first housing 1108 corresponding to the second lens 1112. Within the coverage area of ​​the first housing 1108, the transmitted signal and the echo signal are effectively isolated, thereby reducing crosstalk between the transmitted and echo signals. Alternatively, the first housing 1108 may be implemented as a sleeve, which may be rigid.

[0132] To reduce interference from echo signals in the optical path between the light emitting end 1102 and the first redirecting element 1105, a second housing 1109 can be positioned in this optical path. The light emitting end 1102 corresponds to one end of the second housing 1109. The second housing 1109 extends along the optical path of the transmitted signal toward the first redirecting element 1105 and forms a light output port at its other end. Optionally, a first lens 1111 can be positioned at the light output port of the second housing 1109. Optionally, the second housing 1109 can be implemented as a sleeve, which can be rigid.

[0133] Further optionally, when the first housing 1108 is present, the optical output port end of the second housing 1109 may be connected to the extended end of the first housing 1108 to minimize crosstalk.

[0134] Similarly, a third housing 1110 can optionally be configured for the optical path corresponding to the received signal. The optical detection end 1103 can correspond to one end of the third housing 1110. The third housing 1110 extends along the optical path of the received signal toward the first redirecting member 1105 and forms an optical input port at the other end for receiving the echo signal. Optionally, the third housing 1110 can be implemented as a sleeve, which can be rigid.

[0135] For example, the first housing 1108 , the second housing 1109 and the third housing 1110 may be fixed to the housing of the light detection device or to a bracket mounted on the housing by means of screw locking, bonding or snapping.

[0136] It should be noted that although the first sleeve 1108, the second sleeve 1109 and the third sleeve 1110 are shown in the embodiment, in actual examples, any one or more of them can be selected for use in combination, rather than being limited to the above embodiment.

[0137] Alternatively, a blocking portion 1113 may be provided between the optical path of the transmitted signal and the optical path of the received signal to reduce crosstalk. The blocking portion 1113 may be, for example, a zigzag portion, the surface of which may be a pointed convex surface, such as shown, or a curved surface or a flat surface, with no structural limitations. The zigzag portion may obstruct the direct transmission path between the light emitting end and the light detecting end, thereby reducing crosstalk. In some optional examples, the surface of the second housing 1110 may also be provided with a recessed portion that complements the zigzag portion, thereby further increasing the obstruction effect on the incoming light signal.

[0138] As in the previous embodiment, multiple detection channels are formed between the light emitter array and the light detector array. During a single optical signal transmission and reception, multiple light emitters in the light emitter array are activated to emit light, and multiple light detectors in the light detector array are activated to detect light, forming multiple detection channels. During this process, crosstalk may occur between the detection channels operating together.

[0139] In order to reduce the crosstalk between detection channels, in some embodiments, each row or column of light emitters can be divided into multiple light emitter groups (Banks), and each light emitter group can correspond to a detection channel. During a signal transmission process, when the light emitter array is working, light emitters are selected from each light emitter group to emit light. In this way, the isolation space between light emitters of different detection channels that are activated to work in the same signal transmission process can be increased, that is, the space occupied by the unactivated light emitters between the two activated light emitters, thereby reducing crosstalk. Similarly, the light detector array can also be divided into light detector groups. During a signal transmission process, light detectors are selected from each light detector group corresponding to different detection channels for activation, which can also form an isolation space between light detectors of different detection channels that are activated to work in the same signal transmission process, thereby reducing crosstalk.

[0140] Optionally, the aforementioned grouping of the light emitter array and individually selecting light emitters to activate during a signal transmission process, and the grouping of the light detector array and individually selecting light emitters to activate during a signal transmission process, can be performed either separately or together. When performed together, crosstalk between multiple detection channels (especially adjacent detection channels) operating together during a signal transmission process can be more effectively reduced.

[0141] To simplify the description, the following only illustrates the division of the light emitter array into light emitter groups. Figure 12A As shown, the display is based on Figure 3B This diagram illustrates the structure of light emitter groups based on an example structure. In this example, eight light emitters arranged consecutively in columns form a unit. Two units in a column, or 16 light emitters, form a light emitter group, resulting in a total of eight light emitter groups, Bank 0 through Bank 7. During the transmission and reception of an optical signal, one light emitter in each bank can be activated. Therefore, eight light emitters emit light during a single signal transmission, as indicated by the diagonal lines in the diagram.

[0142] It can be seen that by grouping the light emitters and selecting the light emitters to emit light respectively, the more light emitters each light emitter group contains, the larger the isolation space between the activated light emitters.

[0143] It should be noted that Figure 12AThe division of light emitter groups is only an example and is not exclusive. For example, a bank could consist of eight light emitters arranged continuously in a column, or three or more light emitters in a column, or a bank could consist of a variable number of light emitters arranged discretely, such as in different rows or positions. This is not a limitation.

[0144] For example, adjacent light emitter rows or light emitter groups within a light emitter column can also be staggered in the extension direction. For example, in the diagram, where each unit is a bank, adjacent banks are staggered in the column direction. This example is similar to the staggered arrangement of light emitters within adjacent light emitter columns or rows in terms of increasing resolution.

[0145] In some examples, the signal transmission process for activating each light emitter in each light emitter group and / or each light detector in each light detector group is different. Specifically, during one signal transmission process, a1 in Bank 0 is activated, b1 in Bank 1 is activated, and each of the other banks selects a light emitter to activate. During the next signal transmission process, a2 in Bank 0 is activated, b3 in Bank 1 is activated, and so on. Each of the other banks selects a different light emitter to activate. This process continues until all light emitters in each bank have been activated, and then activation is resumed in rotation.

[0146] Similarly, the individual photodetectors in each photodetector group can be activated alternately during different signal transmission processes. For example, in photodetector group Bank 9, photodetectors i2 and a1 form a detection channel, and i1 and a2 form a detection channel. In Bank 10, photodetectors j1 and b1 form a detection channel, and j2 and b2 form a detection channel. When a1 and b1 are activated during a signal transmission process, i2 and j1 are also activated, and so on.

[0147] like Figure 12A The diagram shows eight banks, each with 16 phototransmitters, for a total of 128 phototransmitters. If one phototransmitter and one photodetector form a detection channel, there are 128 detection channels, or "128 lines." During each signal transmission process, eight of the 128 detection channels operate together, and all detection channels are traversed after 16 signal transmissions. Each phototransmitter can utilize, for example, a VCSEL laser, achieving an extremely high vertical resolution of approximately 0.2°.

[0148] In specific application scenarios, the light detection device can be implemented as a laser radar applied to a moving vehicle (such as a car). Typically, in the field of laser radar, each frame of detection will produce a detection result (such as a point cloud image), which covers the entire horizontal and vertical field of view.

[0149] For example, in a road driving scenario, obstacles might be people or vehicles on the road, which are crucial for autonomous driving. Among the lidar's detection channels, the center detection channels have a greater field of view of people or vehicles on the road; detection channels closer to the edges are further away from these road obstacles. It can be understood that light emitters in the center region of the light emitter array belong to the center detection channels, while light emitters at the edge regions of the light emitter array belong to the edge detection channels.

[0150] To improve the effectiveness of close-range obstacle detection, the LiDAR can emit additional light for close-range detection (e.g., 3 meters) in addition to distance measurement (e.g., 150 meters) during a single detection (e.g., detection within a horizontal field of view). The distance and close-range detection results are combined to produce the detection result. In a specific example, close-range and distance detection can be achieved through different time-of-flight windows. The time-of-flight window refers to a flight time range, which is calculated as τ = 2 × d / c, where τ is the flight time from the light transmitter sending the transmission signal to the receipt of the echo signal, d is the obstacle distance, c is the speed of light, and 2 times d represents the round-trip distance between the transmission signal and the echo signal. For example, to detect an object at a distance of 150 meters, the system is limited to receiving only echo signals obtained within a preset flight time range possible within the 150-meter distance. Echo signals exceeding this preset flight time range are excluded.

[0151] In a possible example, the distance corresponding to the far-distance measurement action may be 100 meters to 150 meters, or 150 meters to 200 meters, or 200 meters to 250 meters; the distance corresponding to the near-distance measurement action may be 3 meters to 5 meters, 5 meters to 10 meters, and so on.

[0152] In a possible example, partially or fully overlapping detection channels can be used between near and far detection actions. For example, light emitters in the middle area of ​​the light emitter array in the first direction can be used for far distance measurement of 250 meters and near distance measurement of 3 meters. In a scenario where far detection is primarily used and near detection is secondary, the frequency of actions and detection channel resources in each detection can be tilted towards far detection, for example, performing one near detection action after every four far detection actions.

[0153] In a possible example, when measuring close distances, fewer light emitters are used, and the number of detection channels is also reduced accordingly. For example, to limit the selection of channels close to the center area in 8 banks for close distance measurement, you can select a portion of <128, such as 40 light emitters. If each light emitter corresponds to a detection channel, then 40 detection channels are formed, and the 40 detection channels are polled in turn to perform close distance measurement. Optionally, the close distance measurement action and the far distance measurement action also differ in the way the channels are polled. For example, during the signal transmission process of each far distance measurement action, multiple BANKs in the middle area (such as Figure 12A BANK2, 3, 4, 5) in the middle area selects one channel of the light transmitter to work together; in the signal transmission process of each proximity action, only one channel in one BANK is selected from the multiple BANKs in the middle area to work.

[0154] In a possible example, the detection distance corresponding to the distance measurement action is different, such as 150 meters and 250 meters. If the activated light emitter is closer to the center of the light emitter array, the corresponding expected detection distance is longer, that is, the expected detection time window is larger. For example, Figure 3B The light transmitter in the middle of the middle area in the vertical direction provides a 250-meter ranging window (window τ = 2×d / c), and the maximum detection range is expected to be 250 meters; the light transmitter at the relative edge provides a 150-meter ranging window, and the maximum detection range is expected to be 150 meters.

[0155] The above methods for activating light emitters are merely examples and do not limit their implementation possibilities. For example, in other examples, multiple light emitters corresponding to a vertical field of view (e.g., in the same row) may be configured, but these multiple light emitters do not emit light simultaneously (e.g., in a round-robin fashion), thereby increasing their lifespan and reliability.

[0156] In some embodiments, by configuring the drive mode of the light emitter array and the corresponding driver circuit, each light emitter can be individually controlled. Thus, the light emitters can be cycled, illuminated together, or illuminated in any other combination. For example, the light emitters in the light emitter array can be cycled in any order, interval, or signal characteristic (e.g., one or more combinations of wavelength, pulse width, number of pulses, pulse peak value, and inter-pulse time interval), thereby achieving flexible electronic scanning (e-scanning).

[0157] In some examples, to reduce crosstalk between detection channels, the signal characteristics of optical signals transmitted in different detection channels operating during the same signal transmission process are different. The optical signal transmitted in each detection channel includes a transmitted signal and a corresponding echo signal. The optical detection device may also include a control module configured to determine the detection channel to which a signal belongs based on the signal characteristics.

[0158] Specifically, the light detector at the optical detection end converts the received light signal into an electrical signal, which, after undergoing certain signal processing (e.g., filtering and analog-to-digital conversion), is then transmitted to a control module. The control module determines whether the signal characteristics of the echo signal match those of the emission signal from the light emitter in the corresponding detection channel. If a match is found, the echo signal is used to calculate the detection results for the corresponding detection channel, such as the distance to the target object. In specific embodiments, the control module can be implemented, for example, by a microcontroller unit (MCU), a field-programmable gate array (FPGA), or a system-on-chip (SoC).

[0159] In some examples, each optical transmitter is activated by a drive signal from a driver circuit, and the drive signal can be generated by the driver circuit of the optical transmitter. Optionally, the drive signal can include one or more pulsed electrical signals (e.g., a periodic pulse signal), and the emission signal of the optical transmitter also correspondingly includes one or more pulsed optical signals. In corresponding examples, the dimensions of the signal characteristics can include: one or more combinations of wavelength, pulse width, number of pulses, pulse peak value, and inter-pulse time interval.

[0160] The principles of signal characteristics in various dimensions are explained through examples.

[0161] In the example using wavelength as a signal characteristic, the wavelengths of the signals emitted by each optical transmitter group are not exactly the same. Furthermore, the optical transmitters operating in the same signal transmission process may emit signals at different wavelengths. For example, in the same round, BANK0, BANK1, BANK2, and BANK3 each have an optical transmitter transmitting signals. BANK0 is configured to emit optical signals with a wavelength of λ0, and BANK1 through BANK3 are configured to emit optical signals with wavelengths of λ1 through λ3, respectively. λ0 ≠ λ1 ≠ λ2 ≠ λ3. Thus, in each round, an optical transmitter is selected from each of the four banks to transmit optical signals. In any given round, the wavelengths of the signals emitted by the four optical transmitters are all different.

[0162] Furthermore, in the optical detector array, an optical detector group corresponding to the optical emitter group is provided, and a filtering unit can be set upstream of the optical path of each optical detector in each optical detector group. Each of the filtering units can be configured to allow only the echo signal of the wavelength corresponding to the current detection channel to pass through, thereby filtering out the echo signals of other detection channels and ambient light interference.

[0163] As another example, assume that the light emitter array is divided into n light emitter groups. Each light emitter group transmits signals with different wavelengths, ranging from λ1 to λn. Thus, the light emitter array is suitable for transmitting up to n transmission signals simultaneously. When light emitters are selected and activated in any number of the n light emitter groups, the multiple light emitters transmitting simultaneously can emit signal beams of different wavelengths. When n light emitter groups are selected and activated simultaneously, during a single light signal transmission and reception, each light emitter group selects a light emitter to transmit a signal for detection. The transmission signal beam is emitted through the transmitting lens and reflected by the target object to form an echo signal. The wavelength of each echo signal is the same as the corresponding incident transmission signal, also ranging from λ1 to λn. The n echo signals return to the light detection device through the window and are sent to the light detector array through the receiving lens. In the optical detector array, n optical detector groups can be provided corresponding to n optical transmitter groups. A filter unit can be set in front of each optical detector in each optical detector group. Each filter unit can be configured to allow only echo signals of the wavelength corresponding to the detection channel to pass through. During the transmission of one optical signal, one optical detector in a optical detector group is selected to be activated, so that n echo signals can be detected separately by the n optical detectors, while echo signals of other wavelengths will not be detected, thereby reducing interference.

[0164] In the example of using pulse width as a signal characteristic, each transmission signal can contain multiple pulses, and the ratio of these pulse widths can be configured to be different, such as 2:3:1:..., as the signal characteristic of this transmission signal (which can be encoded to obtain signal characteristic encoding). During the same signal transmission process, the pulse width ratios of the transmission signals of different detection channels working together are different. As an example, this can be achieved by having different pulse width ratios for different banks, for example Figure 12BAs shown, the multiple consecutive pulses contained in the transmission signal of each optical transmitter in BANK0 have a pulse width ratio of 1:2:1:..., while the multiple pulses contained in the transmission signal of each optical transmitter in BANK1 have a pulse width ratio of 1:2:3:...; the pulse width ratios of the other banks are also different. Therefore, during the same signal transmission process, the pulse width ratios of the transmission signals of optical transmitters selected from different banks vary, resulting in different pulse width ratios of the echo signals generated by each bank. By determining whether the pulse width ratio of the echo signal is the same as the pulse width ratio of the transmission signal of the corresponding detection channel, it can be determined whether the echo signal belongs to the corresponding detection channel. If the pulse width ratio of the echo signal is different from the pulse width ratio of the transmission signal of the corresponding detection channel, it is filtered out as an interference signal. Thus, using different pulse widths as signal characteristics, the echo signals of different detection channels can be distinguished.

[0165] In the example of using the inter-pulse time interval as a signal feature, during the same signal transmission process, the ratio of the inter-pulse time intervals of the transmission signals of different detection channels working together is different. As an example, this can be achieved by having different ratios of the inter-pulse time intervals of the transmission signals of different banks. For example Figure 12C As shown, the pulse time interval ratio of multiple consecutive pulses contained in the transmission signal of the optical transmitter in BANK0 is 2:3:1:..., and the pulse time interval ratio of multiple consecutive pulses contained in the transmission signal of the optical transmitter in BANK1 is 2:2:3.... As a result, the pulse time interval ratios of the echo signals generated by each are also different. By determining whether the pulse time interval ratio of the echo signal matches the pulse time interval ratio of the transmission signal of the detection channel, the echo signals belonging to different detection channels can be distinguished.

[0166] In an example using pulse count as a signal characteristic, during the same signal transmission process, the transmitted signals of different detection channels operating together may contain different numbers of pulses. For example, the transmitted signals of optical transmitters in different banks may contain different numbers of pulses, and thus the number of pulses in the echo signals generated by each bank may also differ. By determining whether the number of pulses in the echo signal matches the number of pulses in the transmitted signal of the corresponding detection channel, the echo signals belonging to different detection channels can be distinguished.

[0167] In the example of using pulse peak value (corresponding to light intensity peak value or peak value converted into electrical signal) as the signal feature, during the same signal transmission process, the peak intensity ratios of multiple pulses contained in the emission signals of different detection channels working together are different. As an example, this is achieved by having different pulse peak intensity ratios of multiple pulses contained in the emission signals of light transmitters in different banks. For example, the pulse peak ratios of multiple pulses contained in the emission signal of the light transmitter in BANK0 are X:Y:Z:..., and the pulse peaks of one or more pulses contained in the emission signal of the light transmitter in BANK1 are all W:X:Y.... As a result, the pulse peak ratios of the echo signals generated by each are also different. By judging whether the pulse peak intensity ratio of the echo signal is consistent with the pulse peak intensity ratio of the emission signal of this detection channel, the echo signals of different detection channels can be distinguished.

[0168] In addition, the above signal characteristics may also be combined to generate signal characteristics of optical signals of different detection channels.

[0169] It should be noted that the above ratios, such as the pulse width ratio, the inter-pulse time interval ratio, and the pulse peak intensity ratio, are integer ratios for illustration only. In practical applications, the above ratios can be any values.

[0170] It can be understood that in one or more of the various embodiments of distinguishing the detection channels to which they belong by signal characteristics, the light detection device can be a lidar, which can poll and freely select any laser or any combination of lasers (possibly by addressing the lasers) to achieve high-degree-of-freedom detection scanning, thereby achieving at least multiple purposes.

[0171] On the one hand, it is possible to freely select detection targets and areas. Specifically, when the light detection device is a laser radar, it can be mounted on, for example, a moving vehicle (such as an intelligent driving vehicle, etc.) and move along for detection. If a specific target object or area of ​​interest is identified based on the point cloud data of a certain scan, the next time a scan is required, free addressing can be used to select only to open / scan this specific target object or area of ​​interest, which can be applied, for example, to encrypted scanning of specific targets or areas of interest.

[0172] On the other hand, crosstalk in the detection channels can be reduced. Figure 12A In the embodiment, lasers with as large a physical distance as possible are selected to emit light in the same signal transmission process, which greatly reduces the crosstalk of the detection channel. Compared with current lidar products, it can achieve a better signal-to-noise ratio and detection effect.

[0173] On the other hand, it can also reduce the number of detections required to collect point cloud data, thereby reducing the overall power consumption of the optical detection device. This is because with the technological trend of increasing wire harness volume, larger wire harnesses consume more energy, which can cause additional heat dissipation and reliability issues.

[0174] In some embodiments, the light emitter can utilize a vertical-cavity surface-emitting laser (VCSEL), which offers the advantage of a spatially symmetrical distribution of divergence angles. To address the large scattering angles of VCSELs, a single large-aperture lens is typically used to collimate the entire VCSEL, potentially increasing the effective light-emitting surface and reducing power density. To address this, a separate or directly imprinted micro-lens array (MLA) can be added to the VCSEL's light-emitting surface.

[0175] A vertical cavity surface laser emitter (VCSEL) includes a plurality of light-emitting units (such as light-emitting points), and each microlens unit in the microlens array corresponds to a light-emitting unit one by one and is arranged in a shape-matched manner. In order to avoid gaps between the microlens units and the occurrence of light leakage that cannot be collimated, which will affect the power density of the vertical cavity surface laser emitter, in an optional example, the plurality of light-emitting units are arranged in a polygonal shape, and each of the microlens units has a corresponding polygonal shape and is spliced ​​together. The polygon can be a shape with more than three sides, such as a triangle, a parallelogram, a rectangle, a square, a regular pentagon or other pentagons, a regular hexagon or other hexagons, or other shapes with more sides.

[0176] like Figure 13A FIG2 is a schematic diagram showing the structure of a microlens array in one embodiment of the present application. In this example, each light-emitting unit 131A is arranged in a rectangular shape, and each corresponding microlens unit 132A is square. Each microlens unit 132A is joined edge to edge to form a microlens array with essentially no gaps.

[0177] like Figure 13B FIG2 shows a schematic diagram of the structure of a microlens array in another embodiment of the present application. In this example, each light-emitting unit 131B is arranged in a regular hexagon, and each corresponding microlens unit 132B is a corresponding regular hexagon. Each microlens unit 132B is joined edge-to-edge to form a substantially gapless microlens array, presenting the honeycomb shape shown. In an alternative example, the size of the regular hexagonal microlens units is set so that the diameter of their inscribed circle is equal to the center-to-center distance between adjacent light-emitting units, achieving a dense distribution.

[0178] In an alternative embodiment, the microlens can be designed to have a plano-convex (i.e., one side convex and the other flat) shape based on the collimation requirements, with the convex side being either spherical or aspherical. In an alternative embodiment, the flat and / or convex sides of the MLA can be coated with an anti-reflection coating at the VCSEL wavelength to improve transmittance.

[0179] In some examples, the microlens array can be imprinted on the light-emitting surface of the light emitter through a semiconductor process. When the light emitter is a back-side illumination (BSI) VSCEL, the process difficulty of imprinting the microlens array is reduced. Specifically, the light emission direction of each light-emitting unit in the VSCEL is from the active area to the substrate, that is, the light is emitted from one side of the substrate. The individual microlenses can be directly processed on the surface of the substrate to form a microlens array. Compared with installing a separate microlens array that precisely corresponds to each light-emitting unit, the process difficulty is greatly reduced.

[0180] In some examples, the shape of the window can also be set to be more conducive to collecting echo signals. Figure 14A and Figure 14B Figure 14 shows a top-down perspective structural diagram of a window structure depicting a light detection device in one embodiment of the present application. The window 140 is configured as a curved surface and may include a first portion 141 and a second portion 142. The first portion 141 is the area through which the transmitted signal and the echo signal pass, while the second portion 142 is the area through which the transmitted signal and the echo signal do not pass. The second portion 142 may be of any shape. This not only increases the field of view (FOV) of the light detection device, but also provides a certain degree of centering and focusing effect on the received echo signals, thereby improving the quality of the echo signals and enhancing detection performance. The rotating member 143 depicted in Figure 14 is merely for reference in the current placement of the light detection device.

[0181] exist Figure 2A 、 Figure 3A 、 Figure 4A 、 Figure 4B 、 Figure 5 In the optical detection device of the embodiment, the rotating member is located on the relatively left side of the optical detection device, i.e., near the left side of the viewing window. Echo signals incident from the right side of the viewing window may experience greater losses during transmission to the optical detection end than echo signals incident from the left side. Therefore, compensation calculations can be performed on the echo signals of the detection channel corresponding to the right side of the viewing window. Specifically, the compensation calculations can be performed by a control module (e.g., implemented in an FPGA, SoC, etc.) within the optical detection device.

[0182] In the embodiment of the present application, a driving vehicle may be provided, which includes the light detection device in the above embodiment. In a specific example, the driving vehicle may be implemented as a vehicle, such as an electric or gasoline-powered car, which may be a non-automatic driving, semi-automatic driving (assisted), or unmanned car. The light detection device may be implemented as a mechanical laser radar, specifically a forward-looking laser radar, that is, as in the above embodiment (for example Figure 2A 、 Figure 3A 、 Figure 4A 、 Figure 4B 、 Figure 5 ) is set on the vehicle with its window facing forward for detection operations.

[0183] In an optional embodiment, the light detection device can be installed at the front of the vehicle, for example, at the front end. The light detection device can be installed in a concealed manner, for example, embedded in the vehicle's shell, mounted within or next to the headlights, on the vehicle logo, or on the bumper. Because the light detection device no longer requires stacked transceiver and transmitter modules, its height can be significantly reduced, allowing for greater flexibility in fitting within the vehicle's installation space. The overlapping of the light and receiver paths can significantly eliminate the problem of close-range blind spots. Furthermore, the optional embodiments described in the various aforementioned embodiments can be combined to further enhance detection performance.

[0184] The above embodiments are merely illustrative of the principles and effects of this application and are not intended to limit this application. Anyone skilled in the art may modify or alter the above embodiments without departing from the spirit and scope of this application. Therefore, all equivalent modifications or alterations made by one of ordinary skill in the art without departing from the spirit and technical concepts disclosed in this application shall be covered by the claims of this application.

Claims

1. A light detection device, characterized in that: include: Windows; The optical transmitter includes an optical transmitter array configured to output a transmission signal; The light emitter array includes N columns of light emitters staggered from each other, each column of light emitters extending along a first direction, N>1; The optical detection end includes: an optical detector array configured to detect an echo signal reflected by the transmitted signal after encountering an obstacle; the optical detector array includes M mutually staggered columns of optical detectors, each column of optical detectors extending along the first direction, where M>1; the optical emitter array and the optical detector array constitute a plurality of detection channels to form a scan of a field of view in the first direction, each detection channel including at least one optical emitter and at least one optical detector, and each detection channel corresponds to a field of view in the first direction; and an optical signal redirecting component configured to deflect the transmitted signal by moving so that the transmitted signal is emitted from the window of the optical detection device to scan the field of view in the second direction, and redirect the echo signal so that the echo signal is transmitted to the optical detection end; The optical signal redirecting assembly includes: a first redirecting member located in an optical path of a transmitting signal and an optical path of a receiving signal, configured to output one of the transmitting signal and the echo signal, and having a passage portion for the other of the echo signal and the transmitting signal to pass through; The optical path of the transmission signal and the optical path of the echo signal overlap at least between the window and the optical signal redirecting component.

2. The light detection device according to claim 1, wherein The light emitters in the light emitter array are vertical cavity surface laser emitters; a micro lens array for collimating emission signals is provided.

3. The light detection device according to claim 2, wherein: Each of the light emitters includes a plurality of light emitting units, and the microlens units in the microlens array correspond to the light emitting units in a one-to-one manner and are arranged in a shape-matched manner.

4. The light detection device according to claim 2, wherein: The microlens array is disposed separately from the light emitter, or is printed on the light emitting surface of the light emitter.

5. The light detection device according to claim 2, wherein: The light emitter is a back-light-emitting semiconductor structure, and the microlens array is printed on the surface of the substrate of the semiconductor structure.

6. The light detection device according to claim 2, wherein: During a signal transmission process from sending an emission signal to detecting a corresponding echo signal, multiple optical signal transmission and detection channels in working state are formed between the multiple activated optical emitters in the optical emitter array and the multiple activated optical detectors in the optical detector array; the optical emitter array includes multiple optical emitter groups and / or the optical detector array includes multiple optical detector groups; the activated optical emitters belong to different optical emitter groups and / or the activated optical detectors belong to different optical detector groups.

7. The light detection device according to claim 6, characterized in that The light emitters in each light emitter group and / or the light detectors in each light detector group are activated in turn during multiple signal transmission processes.

8. The light detection device according to claim 7, wherein: After the light detection device performs the distance measurement action during a preset number of signal transmission processes, it performs the proximity measurement action during the next signal transmission process.

9. The light detection device according to claim 8, characterized in that A first number of light emitters in a middle area of ​​the light emitter array in the first direction are activated in the far-sensing action, and a second number of light emitters are activated in the near-sensing action; the first number is greater than the second number.

10. The light detection device according to claim 8, wherein There are multiple detection distances corresponding to the distance measurement action; wherein, the closer the position of the activated light emitter is to the center in the light emitter array, the longer the corresponding expected detection distance is.

11. The light detection device according to claim 8, wherein The signal characteristics of the optical signals transmitted in the various detection channels operating in the same signal transmission process are different.

12. The light detection device according to claim 11, wherein The emission signal includes one or more pulse signals; the dimensions of the signal characteristics include: one or more combinations of wavelength, pulse width, number of pulses, pulse peak value and time interval between pulses.

13. The light detection device according to claim 1, wherein The light emitter array and the light detector array are cooperatively configured to achieve a beam volume of more than 32 lines.

14. The light detection device according to claim 1, wherein The optical signal redirection component includes: A rotating member, which moves in a controlled manner and includes at least one reflecting surface, adapted to receive echo signals and / or output transmission signals, wherein the movement of the rotating member includes: rotation or reciprocating motion; One or more optical surfaces are configured to achieve one or more light redirection effects among reflection, refraction, convergence or diffusion, wherein the one or more optical surfaces are disposed on the rotating member and move with the rotating member.

15. The light detection device according to claim 14, wherein: The through portion includes: one or more gaps formed on the side and / or the middle of the first redirecting member.

16. The light detection device according to claim 14, wherein: The first redirecting element includes a first region for outputting the transmission signal to the rotating element, and a second region outside the first region for transmitting the echo signal.

17. The light detection device according to claim 16, wherein: include: The light shielding element is arranged on a propagation path of the transmission signal passing through the first redirecting element.

18. The light detection device according to claim 14, wherein: At least a portion of the end surface of the first redirecting member at one end away from the rotating member is configured as a first reflecting surface; a first preset angle is configured between the first reflecting surface and the axis of the first optical path segment leading to the first redirecting member in the optical path of the transmitting signal, so as to deviate the optical signal transmitted along the first optical path segment from the optical path of the receiving signal; and / or, at least a portion of the end surface of the first redirecting member at one end away from the rotating member is configured as a second reflecting surface; a second preset angle is configured between the second reflecting surface and the axis of the second optical path segment in the optical path of the receiving signal starting from the first redirecting member, so as to deviate the optical signal transmitted along the second optical path segment from the optical path of the transmitting signal.

19. The light detection device according to claim 14, wherein The end surface of the first redirecting member at one end close to the rotating member is configured to be parallel to the axial direction of the optical path segment of the optical path for receiving signals between the rotating member and the first redirecting member.

20. The light detection device according to claim 14, wherein The rotating member includes more than two reflecting surfaces.

21. The light detection device according to claim 14, wherein The first redirecting member is encapsulated in a first housing, and the first housing extends along the optical path of the transmitted signal toward the light emitting end.

22. The light detection device according to claim 14, wherein The size of the first redirecting element is proportional to the divergence angle of the outgoing light beam and inversely proportional to the cross section of the return light beam.

23. The light detection device according to claim 14, wherein It includes a transceiver lens, which is arranged between the rotating member and the first redirecting member, and is used to converge the echo signal from one side of the rotating member and transmit it to the passing part of the first redirecting member, and to allow the transmission signal from one side of the first redirecting member to pass through.

24. The light detection device according to claim 14, wherein The light emitting end corresponds to one end of the second sleeve; the second sleeve extends along the optical path of the transmitted signal toward the first redirecting member and forms a light output port at the other end; And / or, the light detection end corresponds to one end of the third sleeve; the third sleeve extends along the optical path of the received signal toward the first redirecting member and forms a light input port at the other end.

25. The light detection device according to claim 14, wherein include: The second lens is arranged in the optical path of the received signal and is located between the light detection end and the first redirecting element.

26. The light detection device according to claim 25, characterized in that The second lens is vertically arranged in a direction with a preset deflection angle relative to the longitudinal direction of the light detection device, so as to deflect the light incident at the edge viewing angle to deviate from the light detector array.

27. The light detection device according to claim 14, wherein The optical detection device includes: a control module for performing compensation processing on the echo signal received by the optical transmission detection channel corresponding to the corresponding field angle away from the rotating member.

28. The light detection device according to claim 1, wherein The light detection device is a forward laser radar, and M=N>32.

29. A traveling vehicle, characterized in that: include: A light detection device as claimed in any one of claims 1 to 28.

30. The vehicle according to claim 29, wherein: The traveling vehicle is a vehicle, and the light detection device is a forward laser radar installed at the front of the vehicle.

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