An adaptive emission system for laser radar

Abstract

The present invention discloses an adaptive emission system for a laser radar, comprising: a laser emission array, wherein each laser in the laser emission array is individually addressable and can form at least one light-emitting area of ​​a preset pattern through adaptive, independent, and parallel control; at least one of the light-emitting power, number of light-emitting points, and light-emitting position of the light-emitting area varies under different emission modes; a first optical element group for collimating and adjusting the light emitted by the laser emission array, and for adjusting the convergence of the light by area; a reflector for reflecting the light adjusted by the first optical element group to change the propagation direction of the light emitted by the light-emitting area; and a second optical element group for refracting the light reflected by the reflector to the corresponding detection angle area according to the light-emitting area. This system solves the problem of the mutual constraint between the detection range and power consumption of the laser emitter, effectively reduces the heat dissipation pressure of the device, simplifies the method of adjusting the field of view angle, and improves the reliability and stability of the entire system.

Description

Technical Field

[0001] This invention relates to the field of laser technology, and more particularly to an adaptive emission system for lidar. Background Art

[0002] A LiDAR (Light Detection and Ranging) system consists of a laser emitting system and a detection and receiving system. The emitted laser beam is reflected after encountering a target and received by the detection system. By measuring the round-trip time of the laser, the distance between the target and the radar can be measured (time-of-flight method). After scanning and detecting the entire target area, three-dimensional imaging can be achieved. As a commonly used ranging sensor, LiDAR has advantages such as long detection range, high detection accuracy, strong anti-interference capability, small size, and light weight, and is widely used in intelligent robots, drones, and autonomous driving.

[0003] Currently, in practical applications, the distances at which targets are detected vary from near to medium and long ranges. Near ranges can be less than 1 meter, while medium and long ranges can reach 10 meters, tens of meters, or even hundreds of meters. For different detection distances, if a light source with the same emission mode (including but not limited to emission power, number of emission points, and emission area) is used, a large portion of energy will inevitably be wasted during near-range detection to ensure a sufficiently long detection distance. Furthermore, to minimize the cost of LiDAR, the driving method is generally continuous wave (CW) or high-frequency pulse (MHz) current and voltage drive. Therefore, under high duty cycle conditions, the more emission points there are, the greater the power consumption and heat dissipation pressure. In addition, adjusting the field of view of the laser emitter currently requires mechanical rotation of optical components, making the adjustment process cumbersome. Summary of the Invention

[0004] This invention provides an adaptive emission system for lidar to solve the problem of the mutual constraint between the detection range and power consumption of the laser emitter, while effectively reducing the heat dissipation pressure of the device and simplifying the field of view adjustment method, thereby improving the reliability and stability of the entire system.

[0005] This invention provides an adaptive emission system for lidar, comprising:

[0006] A laser emitting array, wherein each laser in the laser emitting array can be individually addressed, and can form at least one preset mode of emitting area after adaptive independent parallel control; wherein, at least one of the emitting power, number of emitting points and emitting position of the emitting area is different in different emitting modes;

[0007] The first optical element group is used to collimate and adjust the light emitted by the laser emission array, and to adjust the convergence by region.

[0008] A reflector, used to reflect light that has been adjusted by the first optical element group, so as to change the propagation direction of the light emitted from the light-emitting area;

[0009] The second optical element group is used to refract the light reflected by the mirror to the corresponding detection angle region according to the light-emitting area.

[0010] Optionally, there are multiple light-emitting areas, and at least one of the light-emitting areas includes a main light-emitting area; the light emitted by the main light-emitting area is reflected by the reflector and propagates along a direction close to the perpendicular to the second optical element group, and after being adjusted by the second optical element group, it is used to form the main detection light.

[0011] Optionally, the light-emitting area further includes at least an auxiliary light-emitting area. The light emitted by the auxiliary light-emitting area is reflected by the reflector and propagates in a direction deviating from the direction perpendicular to the second optical element group. After being adjusted by the second optical element group, it is used to form a blind zone detection light.

[0012] Optionally, the first optical component group includes:

[0013] A collimating lens is used to collimate and adjust the light emitted by the laser emission array to form parallel light, and to perform the first area-by-area convergence adjustment.

[0014] The first lens group is used to converge parallel light after passing through the collimating lens and to perform a second area-by-area convergence adjustment.

[0015] Optionally, the second optical element group includes:

[0016] A zoom lens is used to adjust the convergence point of light emitted from each light-emitting area after passing through a reflector.

[0017] A wide-angle lens is used to refract light from different light-emitting areas to different detection angle regions, so that the light from different light-emitting areas has different directions.

[0018] Optionally, after passing through the zoom lens, the light from all the light-emitting areas converges to a single point; or, at least some of the light-emitting areas have different convergence points, and all the convergence points are located on the central axis of the wide-angle lens.

[0019] Optionally, the laser includes a vertical-cavity surface-emitting laser.

[0020] Optionally, the vertical cavity surface-emitting laser contains at least two active layers to increase the luminous power per unit area, and the vertical cavity surface-emitting laser is back-emitting.

[0021] Optionally, the laser emitting array is disposed on a PCB circuit board; the PCB circuit board further includes multiple row control pads and multiple column control pads; each row of lasers in the laser emitting array is connected to a row control pad, and each column of lasers in the laser emitting array is connected to a column control pad.

[0022] Optionally, the PCB circuit board is also connected to a driver chip, which is used to adjust the number of lasers in the main light-emitting area according to the detection distance.

[0023] The technical solution provided by this invention, through matrix addressing, allows for independent parallel control of any emitting point in a laser emitting array. This enables the adaptive formation of at least one preset emitting region based on one or more real-time conditions. Power is supplied to the chip via an external or internal driver board, along with synchronous pulse signal excitation. Through customized optical design and adaptive partitioning control of the laser emitting array, the beams emitted from different emitting regions are collimated or focused to specific distances, achieving specific detection angles and distances to meet the requirements of various application scenarios. This solves the problem of the mutual constraint between detection distance and power consumption in laser emitters, effectively reduces the heat dissipation pressure of the device, simplifies the field-of-view adjustment method, and improves the overall system reliability and stability.

[0024] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a side view of an adaptive emission system for lidar provided in an embodiment of the present invention;

[0027] Figure 2 This is a schematic diagram of a laser emitting array provided in an embodiment of the present invention;

[0028] Figure 3 This is a schematic diagram of another laser emitting array provided in an embodiment of the present invention;

[0029] Figure 4This is a schematic diagram of another laser emitting array provided in an embodiment of the present invention;

[0030] Figure 5 This is a schematic diagram of the structure of a laser emitter provided in an embodiment of the present invention;

[0031] Figure 6 yes Figure 5 Enlarged view of a portion of the structure shown. Detailed Implementation

[0032] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0033] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0034] This invention provides an adaptive emission system for lidar. Figure 1 This is a side view of an adaptive emission system for lidar provided in an embodiment of the present invention, with reference to... Figure 1 The adaptive emission system used for lidar includes:

[0035] Laser emitter 1 includes a laser emission array; each laser in the laser emission array can be individually addressed to form a light-emitting area with at least one preset emission mode after adaptive independent parallel control; wherein, at least one of the light-emitting power, number of light-emitting points and light-emitting position of the light-emitting area is different in different emission modes.

[0036] The first optical element group 20 is used to collimate and adjust the light emitted by the laser emission array 10, and to adjust the convergence by region.

[0037] The reflector 30 is used to reflect the light after it has been adjusted by the first optical element group 20, so as to change the propagation direction of the light emitted from the light-emitting area.

[0038] The second optical element group 40 is used to refract the light reflected by the reflector 30 to the corresponding detection angle area according to the light-emitting area.

[0039] Specifically, Figure 2 This is a schematic diagram of a laser emitting array provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of another laser emitting array provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of another laser emitting array provided in an embodiment of the present invention, for reference. Figures 2-4 The laser emitting array is integrated into the light-emitting chip. The laser emitting array has multiple lasers 11 arranged in an array. Each laser 11 corresponds to a light-emitting aperture on the light-emitting chip. The lasers 11 in the laser emitting array can be arranged in a hexagonal close-packed configuration (e.g.,...). Figure 2 and Figure 3 It can also be arranged in a square (e.g.) Figure 4 The design is customized to meet specific requirements. Each laser 11 has an independent electrical connection, enabling independent parallel control. In other words, the light-emitting apertures in the light-emitting chip 100 can be controlled in zones according to actual needs. At least one of the following is different: luminous power, number of light-emitting points, and light-emitting position in different luminous areas. Using a two-dimensional matrix addressable method, pixel-level control of the light source can be achieved through chip circuit design. (Reference) Figure 2 The luminescent area 101 can be divided in a way that expands outward from the center; or it can be divided in a ring shape. (See reference) Figure 3 and Figure 4 The light-emitting area 101 can be divided into triangles and / or quadrilaterals. (See reference) Figure 3 Different luminescent regions 101 may have partial overlap. (See reference) Figure 4 Different light-emitting regions 101 can be completely separated.

[0040] At least a subset of lasers 11 is configured to emit multi-pulse sequences in parallel according to an emission mode. One or more processors may be electrically coupled to the laser emission array in the radar system. The processors are configured to generate emission modes based on one or more real-time conditions to control the laser emission array 10 to emit light according to the generated emission modes. In one embodiment of this method, the processor may also be electrically coupled to an array of photoelectric sensors in the radar system. Each photoelectric sensor in the subset of photoelectric sensors is configured to detect light pulses returning from the three-dimensional environment and generate an output signal representing the light energy associated with at least a subset of the light pulses. The processor generates a corresponding emission mode based on the output signal to control the laser emission array 10 to emit light according to the generated emission mode. In one embodiment of this method, the vehicle's speed may also be acquired. The processor is configured to determine the vehicle's braking distance based on the vehicle's speed, thereby determining the detection distance, and then generate an emission mode with corresponding light energy based on the detection distance to control the laser emission array 10 to emit light according to the generated emission mode. For example, at a close distance, such as 3m away, the required power is 5mW, and only one light-emitting aperture needs to be lit; at a long distance, such as 10m away, the required optical power is 30mW, and six light-emitting apertures need to be lit. Therefore, the optical system needs to ensure that the beams of the six light-emitting apertures are aligned to the same position at a distance of 10m.

[0041] In other words, when the detection distance is far enough, more light-emitting holes are lit to ensure the light emission power; when the detection distance is far enough, fewer light-emitting holes are lit to reduce energy waste, lower power consumption, and thus improve the problem of high heat dissipation pressure.

[0042] Furthermore, through the adjustment of the optical path by the first optical element group 20, the reflector 30, and the second optical element group 40, light can be refracted to the corresponding detection angle region according to the different light-emitting areas. The first optical element group 20 is used to collimate and adjust the light emitted by the laser emitting array 10, as well as to adjust its convergence by region; the reflector 30 is used to reflect the light adjusted by the first optical element group 20 to change the propagation direction of the light emitted from the light-emitting area; the second optical element group 40 is used to refract the light reflected by the reflector 30 to the corresponding detection angle region according to the light-emitting area. For example, three light-emitting areas are formed according to real-time conditions: a first light-emitting area, a second light-emitting area, and a third light-emitting area; the first, second, and third light-emitting areas are located at different positions within the light-emitting chip 100. (Reference) Figure 1Light rays L1, L2, and L3 are emitted by lasers 11 in the first, second, and third light-emitting regions, respectively. The light emitted from the first light-emitting region, after adjustment by the first optical element group 20, the reflector 30, and the second optical element, has a detection angle range of -10° to 10°. The light emitted from the second light-emitting region, after adjustment by the first optical element group 20, the reflector 30, and the second optical element, has a detection angle range of 10° to 30° and -10° to -30°. The light emitted from the third light-emitting region, after adjustment by the first optical element group 20, the reflector 30, and the second optical element, has a detection angle range of 30° to 70° and -30° to -70°. The number of light-emitting regions and the corresponding detection angle ranges can be set according to actual needs. This embodiment of the invention allows for the selection of the appropriate light-emitting region to be illuminated based on the detection angle, eliminating the need to adjust the optical elements and simplifying the method of adjusting the detection angle.

[0043] The adaptive emission system for lidar provided in this invention, through matrix addressing, allows for independent parallel control of any emitting point in the laser emission array. This enables the adaptive formation of at least one preset emission zone based on one or more real-time conditions. Power is supplied to the chip via an external or internal driver board, along with a synchronous pulse signal for excitation. Through customized optical design and adaptive zone control of the laser emission array, the beams emitted from different emission zones are collimated or focused to specific distances, achieving specific detection angles and distances to meet the requirements of various application scenarios. This solves the problem of the mutual constraint between detection distance and power consumption in laser emitters, effectively reduces the heat dissipation pressure of the device, simplifies the field-of-view adjustment method, and improves the overall system reliability and stability.

[0044] Optional, see reference Figure 1 When there are multiple light-emitting areas, the light-emitting areas include at least one main light-emitting area; the light emitted by the main light-emitting area is reflected by the reflector 30 and propagates along a direction close to the perpendicular to the second optical element group 40, and after being adjusted by the second optical element group 40, it is used to form the main detection light.

[0045] The light-emitting area also includes at least an auxiliary light-emitting area. The light emitted by the auxiliary light-emitting area is reflected by the reflector 30 and propagates in a direction that deviates from the direction perpendicular to the second optical element group 40. After being adjusted by the second optical element group 40, it is used to form a blind zone detection light.

[0046] For example, the detection angle of light emitted in the direction Y perpendicular to the second optical element group 40 is defined as 0°. The detection angle range of the first light-emitting area is -10° to 10°. It propagates closer to the direction perpendicular to the second optical element group 40 and is used as the main light-emitting area. The light emitted from it is reflected by the reflector 30 and propagates along the direction close to the direction perpendicular to the second optical element group 40. After being adjusted by the second optical element group 40, it forms the main detection light. The light emitted from the second light-emitting area, after being adjusted by the first optical element group 20, the reflector 30, and the second optical element, has a detection angle range of 10° to 30° and -10° to -30°. Compared to the first light-emitting area, the light emitted from the second light-emitting area, after being reflected by the reflector 30, propagates along a direction deviating from the direction perpendicular to the second optical element group 40. Therefore, the second light-emitting area is used as the auxiliary light-emitting area. The light emitted from it, after being adjusted by the second optical element group 40, is used to form the blind zone detection light. The light emitted from the third emitting area, after being adjusted by the first optical element group 20, the reflector 30, and the second optical element, has a detection angle range of 30° to 70° and -30° to -70°. Compared to the second emitting area, the light emitted from the third emitting area, after being reflected by the reflector 30, deviates more from the direction perpendicular to the second optical element group 40. Therefore, the second emitting area can be used as an auxiliary emitting area, and its emitted light, after being adjusted by the second optical element group 40, can further increase the detection range of the blind zone detection light. When only -10° to 10° is needed, only the laser 11 in the first emitting area can be lit. When it is necessary to expand the detection range, both the second and third emitting areas can be lit.

[0047] Optional, please continue to refer to Figure 1 The first optical component group includes:

[0048] Collimating lens 21 is used to collimate and adjust the light emitted by the laser emitting array 10 to form parallel light, and to perform the first area-by-area convergence adjustment.

[0049] The first lens group 22 is used to converge the parallel light after passing through the collimating lens 21, and to perform a second area-by-area convergence adjustment.

[0050] Specifically, the laser collimating lens 21 is used in various optical systems to collimate the optical path, transforming a diverging optical path into a parallel optical path. By combining it with different optical elements, the collimation of the meter beam in different measurement processes can be optimized. The collimating lens 21 is used in the beam transmission system to maintain the collimation of the beam between the laser 11 and the first lens group 22. By reducing the beam divergence angle, the convergence of the optical path can be adjusted according to the emitting region. After passing through the collimating lens 21, the light emitted from different emitting regions converges within their respective propagation ranges. The first lens group 22 may include multiple positive lenses. Positive lenses are lenses that are thicker in the center and thinner at the edges. Positive lenses are classified into biconvex, plano-convex, and concave-convex (or positive meniscus) forms. Positive lenses have the function of converging light rays and are therefore also called converging lenses. Thicker positive lenses have functions such as focusing and converging. The first lens group 22 can converge the parallel light after passing through the collimating lens 21, thereby achieving further convergence adjustment by region.

[0051] Optional, please continue to refer to Figure 1 The second optical element group 40 includes:

[0052] Zoom lens 41 is used to adjust the convergence point of the light emitted from each light-emitting area after passing through mirror 30.

[0053] Wide-angle lens 42 is used to refract light from different light-emitting areas to different detection angle areas so that the light from different light-emitting areas has different directions.

[0054] Specifically, the zoom lens 41 can change its focal length within a certain range to obtain different widths of field of view. The zoom lens 41 may include a retractable lens barrel and at least two lenses coated with anti-reflective coatings. The lenses are embedded within the retractable lens barrel, and the distance between the lenses can be adjusted accordingly when the retractable lens barrel extends or retracts. The distance between the lenses is adjusted by extending or retracting the retractable lens barrel. By changing the focal length of the zoom lens 41, the spatial distribution of the laser intensity detected by the lidar is altered. The wide-angle lens 42 can refract light from different emitting areas to different detection angle regions, thereby giving the light from different emitting areas different directional ranges. By configuring the wide-angle lens 42, the FOV of the adaptive transmitter can reach over 120°, enabling short-range blind spot radar.

[0055] The zoom lens 41 is used to adjust the convergence point of the light emitted from each light-emitting area after passing through the reflector 30. After passing through the zoom lens 41, the light from all the light-emitting areas can converge to a single point; or, at least some of the light-emitting areas can have different convergence points, and all the convergence points are located on the central axis of the wide-angle lens 42. This can be understood as the zoom lens 41 adjusting, on the one hand, to converge the light from all the light-emitting areas to a single point, thereby increasing the power density and enabling detection at greater distances; on the other hand, it separates the convergence points of different light-emitting areas, allowing the light to achieve the maximum field of view (FOV) upon emission.

[0056] Optionally, the laser 11 can be a vertical-cavity surface-emitting laser (VCSEL). VCSELs have unparalleled mass production advantages compared to edge-emitting lasers (EELs), and their circular spot size is more conducive to optical shaping. The wavelength is mainly concentrated in the 800-1000nm near-infrared atmospheric window band. In one embodiment of the present invention, the VCSEL 11 is a back-emitting laser 11 containing at least two active layers. The multi-junction active layers can significantly increase the power density of the laser 11, thereby enabling detection at greater distances.

[0057] Figure 5 This is a schematic diagram of the structure of a laser emitter provided in an embodiment of the present invention; Figure 6 yes Figure 5 Enlarged view of a portion of the structure shown, for reference. Figure 5 and Figure 6 Optionally, the laser emitting array 10 is disposed on the PCB circuit board 200; the PCB circuit board 200 also includes multiple row control pads 210 and multiple column control pads 220; each row of lasers 11 in the laser emitting array 10 is connected to a row control pad 210, and each column of lasers 11 in the laser emitting array 10 is connected to a column control pad 220.

[0058] Specifically, the LED chip 100 is packaged using a surface mount technology (SMT) method. A high-precision SMT machine is used to mount the LED chip 100 onto the PCB circuit board 200, and the positive and negative terminals of the chip are bonded to corresponding pads on the PCB circuit board 200 using gold wire bonding. This can be used in conjunction with fully automated active alignment equipment to achieve high-precision, real-time monitoring of product performance and fully automated production, significantly reducing costs.

[0059] After both the row control pad 210 and the column control pad connected to the laser 11 receive electrical signals, the laser 11 is driven to emit light. By controlling the conduction timing of the row control pad 210 and the column control pad 220, each laser 11 can be lit individually, and multiple lasers 11 can be lit simultaneously. That is, the PCB circuit board 200 can provide power excitation for the light-emitting chip 100 on the one hand, and realize zoned and single-aperture control on the other hand.

[0060] In addition, for better heat dissipation and structural stability, the PCB circuit board 200 can be made of ceramic materials, such as aluminum nitride (AlN) or aluminum oxide (Al2O3), to ensure the reliability of the module. The light-emitting chip 100 can be fixed to the substrate with an adhesive; the adhesive can be silver paste or gold solder.

[0061] Optionally, the PCB circuit board 200 is also connected to a driver chip, which is used to adjust the position of the main light-emitting area and / or the number of lasers 11 according to the detection distance. The processor in the above embodiment can be integrated into the driver chip.

[0062] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. An adaptive emission system for lidar, characterized in that, include: A laser emitting array, wherein each laser in the laser emitting array can be individually addressed, and can form at least one light-emitting area with a preset emission mode after adaptive independent parallel control; wherein, at least one of the light-emitting power, number of light-emitting points and light-emitting position of the light-emitting area is different in different emission modes; The first optical element group is used to collimate and adjust the light emitted by the laser emission array, and to adjust the convergence by region. A reflector, used to reflect light that has been adjusted by the first optical element group, so as to change the propagation direction of the light emitted from the light-emitting area; The second optical element group is used to refract the light reflected by the mirror to the corresponding detection angle area according to the light-emitting area; The first optical element group includes: A collimating lens is used to collimate and adjust the light emitted by the laser emission array to form parallel light, and to perform the first area-by-area convergence adjustment. The first lens group is used to converge the parallel light after passing through the collimating lens and to perform a second area-by-area convergence adjustment. The second optical element group includes: A zoom lens, which is used to adjust the convergence point of the light emitted from each of the light-emitting areas after passing through the reflector; A wide-angle lens is used to refract light from different light-emitting areas to different detection angle regions, so that the light from different light-emitting areas has different directions. After passing through the zoom lens, the light from all the light-emitting areas converges to a single point; or, at least some of the light-emitting areas have different convergence points, and all the convergence points are located on the central axis of the wide-angle lens.

2. The adaptive emission system for lidar according to claim 1, characterized in that, When there are multiple light-emitting areas, at least one of the light-emitting areas is a main light-emitting area; the light emitted by the main light-emitting area is reflected by the reflector and propagates along a direction close to the perpendicular to the second optical element group, and after being adjusted by the second optical element group, it is used to form the main detection light.

3. The adaptive emission system for lidar according to claim 2, characterized in that, The light-emitting area further includes at least one auxiliary light-emitting area. The light emitted by the auxiliary light-emitting area is reflected by the reflector and propagates in a direction that deviates from the direction perpendicular to the second optical element group. After being adjusted by the second optical element group, it is used to form a blind zone detection light.

4. The adaptive emission system for lidar according to claim 1, characterized in that, The laser includes a vertical cavity surface-emitting laser.

5. The adaptive emission system for lidar according to claim 4, characterized in that, The vertical cavity surface-emitting laser contains at least two active layers to increase the luminous power per unit area, and the vertical cavity surface-emitting laser is back-emitting.

6. The adaptive emission system for lidar according to claim 2, characterized in that, The laser emitting array is mounted on a PCB circuit board; the PCB circuit board also includes multiple row control pads and multiple column control pads; each row of lasers in the laser emitting array is connected to a row control pad, and each column of lasers in the laser emitting array is connected to a column control pad.

7. The adaptive emission system for lidar according to claim 6, characterized in that, The PCB circuit board is also connected to a driver chip, which is used to adjust the position of the main light-emitting area and / or the number of lasers according to the detection distance.

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