Method for detecting a laser radar and laser radar

Abstract

A detection method of a laser radar and the laser radar, the laser radar comprising a plurality of light emitting units and a plurality of calibration detection units, the plurality of calibration detection units and the plurality of light emitting units corresponding one by one; the detection method comprising: performing a constant value acquisition operation to obtain constant value acquisition data, the constant value acquisition operation comprising: performing acquisition by the plurality of light emitting units and the plurality of calibration detection units to obtain the constant value acquisition data; performing at least one interpolation acquisition operation to obtain interpolation acquisition data; obtaining the point cloud map according to the constant value acquisition data and the interpolation acquisition data. The constant value acquisition data and the interpolation acquisition data are spliced, which can expand the line number and improve the resolution without increasing the complexity of the light machine.

Description

TECHNICAL FIELD

[0001] The present application relates to laser detection, in particular to a detection method of a laser radar and a laser radar. BACKGROUND

[0002] The laser radar is a commonly used ranging sensor, which has the characteristics of long detection distance, high resolution, small environmental interference, etc., and is widely used in intelligent robots, unmanned aerial vehicles, unmanned driving and other fields. The working principle of the laser radar is to use the time taken by laser to go back and forth between the radar and the target, or the frequency shift generated by the frequency-modulated continuous light going back and forth between the radar and the target to evaluate the distance or speed of the target and other information.

[0003] In the laser radar, the number of lines is an important indicator to measure the performance of the radar. With the same vertical field of view (VFOV), more lines provide stronger spatial resolution and better imaging effect to a certain extent.

[0004] However, the existing method for increasing the number of lines of the laser radar will greatly increase the hardware cost or increase the complexity of the optical machine, which will cause the overall cost of the laser radar to increase and the reliability to decrease. SUMMARY

[0005] The problem solved by the present application is how to control the cost without increasing the complexity of the optical machine while increasing the number of lines of the laser radar.

[0006] To solve the above problems, the present application provides a detection method of a laser radar, the laser radar comprising a plurality of light emitting units and a plurality of calibration detection units, the plurality of calibration detection units and the plurality of light emitting units corresponding one by one, the detection method comprising:

[0007] The detection method comprises: performing a constant value acquisition operation to obtain constant value acquisition data, the constant value acquisition operation comprising: acquiring through the plurality of light emitting units and the plurality of calibration detection units to obtain the constant value acquisition data; performing at least one interpolation acquisition operation to obtain interpolation acquisition data; and obtaining the point cloud map according to the constant value acquisition data and the interpolation acquisition data.

[0008] Optionally, the interpolation acquisition operation comprises: determining a plurality of interpolation detection units, the plurality of interpolation detection units corresponding one by one to the plurality of calibration detection units; and acquiring through the plurality of light emitting units and the plurality of interpolation detection units to obtain the interpolation acquisition data.

[0009] Optionally, each of the calibration detection units comprises a plurality of detectors, and each of the interpolation detection units comprises a plurality of detectors; the plurality of detectors in the interpolation detection unit are partially different from the plurality of detectors in the corresponding calibration detection unit.

[0010] Optionally, the laser radar comprises: a plurality of detectors arranged in an array to form a detection array; distances between the interpolation detection units and the corresponding calibration detection units in a row direction or a column direction of the detection array are all less than distances between adjacent calibration detection units in the corresponding direction; or distances between the interpolation detection units and the corresponding calibration detection units in the row direction or the column direction of the detection array are all less than sizes of the calibration detection units in the corresponding direction.

[0011] Optionally, the step of performing at least one interpolation acquisition operation to obtain interpolation acquisition data comprises: performing a row-column interpolation acquisition operation to obtain row-column interpolation acquisition data, the interpolation acquisition data comprising the row-column interpolation acquisition data; wherein the row-column interpolation acquisition operation comprises: determining a plurality of row-column interpolation detection units, the row-column interpolation detection units being directed in a direction parallel to one of the row direction or the column direction of the detection array to the corresponding calibration detection unit; and performing acquisition by the plurality of light emitting units and the plurality of row-column interpolation detection units to obtain the row-column interpolation acquisition data.

[0012] Optionally, the step of performing at least one interpolation acquisition operation to obtain interpolation acquisition data further comprises: performing a diagonal interpolation acquisition operation to obtain diagonal interpolation acquisition data, the interpolation acquisition data further comprising the diagonal interpolation acquisition data; wherein the diagonal interpolation acquisition operation comprises: determining a plurality of diagonal interpolation detection units, the diagonal interpolation detection units being directed in a direction intersecting both the row direction and the column direction to the corresponding calibration detection unit; and performing acquisition by the plurality of light emitting units and the plurality of diagonal interpolation detection units to obtain the diagonal interpolation acquisition data.

[0013] Optionally, the detectors are independently addressable and independently controllable detectors.

[0014] Optionally, in the step of performing acquisition by the plurality of light emitting units and the plurality of calibration detection units to obtain calibration acquisition data, the light emitting units are calibration light emitting units; the step of performing interpolation acquisition operation further comprises: based on the plurality of interpolation detection units, determining a plurality of interpolation light emitting units, the plurality of interpolation light emitting units corresponding one-to-one to the calibration light emitting units; and performing acquisition by the plurality of interpolation light emitting units and the plurality of interpolation detection units to obtain the interpolation acquisition data.

[0015] Optionally, each of the calibration light emitting units comprises a plurality of emitters, and each of the interpolation light emitting units comprises a plurality of emitters; the plurality of emitters in the interpolation light emitting units are partially different from the plurality of emitters in the corresponding calibration light emitting units.

[0016] Optionally, the emitters are independently addressable and independently controllable emitters.

[0017] Optionally, the laser radar further comprises a scanning device, which is adapted to deflect the light generated by the light emitting units to a detection angle by rotating or swinging; the fixed value collection operation further comprises: determining the detection angle before the collection by the plurality of light emitting units and the plurality of fixed value detection units to obtain the fixed value collection data corresponding to the detection angle; the interpolation collection operation further comprises: determining the detection angle before the collection by the plurality of light emitting units and the plurality of interpolation detection units to obtain the interpolation collection data corresponding to the detection angle.

[0018] Optionally, the rotation axis is parallel to one of the row direction and the column direction of the detection array; the detection method comprises: a fixed value scanning process, which comprises: at the ith detection angle, performing the fixed value collection operation; at the (i+1)th detection angle, performing the row-column interpolation collection operation, wherein the direction in which the row-column interpolation detection unit in the row-column interpolation collection operation points to the corresponding fixed value detection unit is parallel to the rotation axis.

[0019] Optionally, the detection method further comprises: at least one interpolation scanning process, which is located between two adjacent fixed value scanning processes; the interpolation scanning operation comprises: at the ith detection angle, performing the row-column interpolation collection operation, wherein the direction in which the row-column interpolation detection unit in the row-column interpolation collection operation points to the corresponding fixed value detection unit is perpendicular to the direction of the rotation axis; at the (i+1)th detection angle, performing the oblique interpolation collection operation.

[0020] Optionally, the detection method comprises: a first constant value scanning process, a first interpolation scanning process, a second constant value scanning process and a second interpolation scanning process; wherein the first constant value scanning process comprises: at the ith detection angle, performing the constant value acquisition operation; at the (i+1)th detection angle, performing the row-column interpolation acquisition operation; the first interpolation scanning process comprises: at the ith detection angle, performing the row-column interpolation acquisition operation; at the (i+1)th detection angle, performing the oblique interpolation acquisition operation; the second constant value scanning process comprises: at the ith detection angle, performing the row-column interpolation acquisition operation; at the (i+1)th detection angle, performing the constant value acquisition operation; the second interpolation scanning process comprises: at the ith detection angle, performing the oblique interpolation acquisition operation; at the (i+1)th detection angle, performing the row-column interpolation acquisition operation; and in the second constant value scanning process, the direction of the row-column interpolation detection unit corresponding to the calibrated detection unit at the ith detection angle in the row-column interpolation acquisition operation is the same as the direction of the row-column interpolation detection unit corresponding to the calibrated detection unit at the (i+1)th detection angle in the row-column interpolation acquisition operation in the first constant value scanning process; in the second interpolation scanning process, the direction of the row-column interpolation detection unit corresponding to the calibrated detection unit at the (i+1)th detection angle in the row-column interpolation acquisition operation is the same as the direction of the row-column interpolation detection unit corresponding to the calibrated detection unit at the ith detection angle in the row-column interpolation acquisition operation in the first interpolation scanning process; and in the second interpolation scanning process, the direction of the oblique interpolation detection unit corresponding to the calibrated detection unit at the ith detection angle in the oblique interpolation acquisition operation is the same as the direction of the oblique interpolation detection unit corresponding to the calibrated detection unit at the (i+1)th detection angle in the oblique interpolation acquisition operation in the first interpolation scanning process.

[0021] Correspondingly, the application also provides a laser radar, comprising: a plurality of light emitting units and a plurality of calibrated detection units, the plurality of calibrated detection units and the plurality of light emitting units corresponding one by one; a detection processing device, which is suitable for implementing the detection method of the application.

[0022] In addition, the application also provides a laser radar, comprising: a plurality of light emitting units and a plurality of calibrated detection units, the plurality of calibrated detection units and the plurality of light emitting units corresponding one by one; an acquisition module, which is suitable for performing a constant value acquisition operation to obtain constant value acquisition data, the constant value acquisition operation comprising: performing acquisition through the plurality of light emitting units and the plurality of calibrated detection units to obtain the constant value acquisition data; and is also suitable for performing at least one interpolation acquisition operation to obtain interpolation acquisition data; a processing module, which is suitable for obtaining the point cloud image according to the constant value acquisition data and the interpolation acquisition data.

[0023] Optionally, the acquisition module comprises: a constant value acquisition unit and an interpolation acquisition unit, the constant value acquisition unit is suitable for constant value acquisition operation, and the interpolation acquisition unit is suitable for interpolation acquisition operation; the interpolation acquisition unit comprises: a detection selector and a processor; the detection selector is suitable for determining a plurality of interpolation detection units, the plurality of interpolation detection units correspond to the plurality of calibration detection units one by one; and the processor is suitable for acquisition through the plurality of light emitting units and the plurality of interpolation detection units to obtain the interpolation acquisition data.

[0024] Optionally, each of the calibration detection units comprises a plurality of detectors, and each of the interpolation detection units comprises a plurality of detectors; the plurality of detectors in the interpolation detection unit are partially different from the plurality of detectors in the corresponding calibration detection unit.

[0025] Optionally, the laser radar comprises: a plurality of detectors arranged in an array to form a detection array; along a row direction or a column direction of the detection array, distances between the interpolation detection units and the corresponding calibration detection units are all less than distances between adjacent calibration detection units in the corresponding direction; or, along the row direction or the column direction of the detection array, distances between the interpolation detection units and the corresponding calibration detection units are all less than sizes of the calibration detection units in the corresponding direction.

[0026] Optionally, the interpolation acquisition unit is suitable for row-column interpolation acquisition operation to obtain row-column interpolation acquisition data, the interpolation acquisition data comprises the row-column interpolation acquisition data; the detection selector comprises: a row-column selection element, the row-column selection element is suitable for determining a plurality of row-column interpolation detection units, and directions of the row-column interpolation detection units to the corresponding calibration detection units are parallel to one of the row direction or the column direction of the detection array; and the processor acquires through the plurality of light emitting units and the plurality of row-column interpolation detection units to obtain the row-column interpolation acquisition data.

[0027] Optionally, the interpolation acquisition unit is suitable for diagonal interpolation acquisition operation to obtain diagonal interpolation acquisition data, the interpolation acquisition data further comprises the diagonal interpolation acquisition data; the detection selector comprises: a diagonal selection element, the diagonal selection element is suitable for determining a plurality of diagonal interpolation detection units, and directions of the diagonal interpolation detection units to the corresponding calibration detection units are all intersected with the row direction and the column direction; and the processor acquires through the plurality of light emitting units and the plurality of diagonal interpolation detection units to obtain the diagonal interpolation acquisition data.

[0028] Optionally, the detector comprises: a single-photon avalanche diode.

[0029] Optionally, the light-emitting unit used by the fixed-value acquisition unit in the process of fixed-value acquisition operation is a calibration light-emitting unit; the interpolation acquisition unit further comprises a light-emitting selector, which is suitable for determining a plurality of interpolation light-emitting units based on the plurality of interpolation detection units, and the plurality of interpolation light-emitting units correspond one-to-one to the calibration light-emitting units; the processor acquires the interpolation acquisition data through the plurality of interpolation light-emitting units and the plurality of interpolation detection units.

[0030] Optionally, each calibration light-emitting unit comprises a plurality of emitters, and each interpolation light-emitting unit comprises a plurality of emitters; the plurality of emitters in the interpolation light-emitting unit are partially different from the plurality of emitters in the corresponding calibration light-emitting unit.

[0031] Optionally, the emitter comprises a vertical-cavity surface-emitting emitter.

[0032] Optionally, the laser radar further comprises a scanning device, which is suitable for deflecting the light generated by the light-emitting unit to a detection angle around a rotation axis through rotation or oscillation; the fixed-value acquisition unit is further suitable for determining the detection angle, and the fixed-value acquisition data correspond to the detection angle; the interpolation acquisition unit is further suitable for determining the detection angle, and the interpolation acquisition data correspond to the detection angle.

[0033] Optionally, the rotation axis is parallel to one of the row direction or the column direction of the detection array; the scanning process of the scanning device comprises a fixed-value scanning process; the fixed-value scanning process comprises: at the ith detection angle, the fixed-value acquisition unit performs fixed-value acquisition operation; at the (i+1)th detection angle, the interpolation acquisition unit performs row-column interpolation acquisition operation, and the direction in which the row-column interpolation detection unit in the row-column interpolation acquisition operation points to the corresponding calibration detection unit is parallel to the direction of the rotation axis.

[0034] Optionally, the scanning process of the scanning device further comprises an interpolation scanning process, which is located between two adjacent fixed-value scanning processes; the interpolation scanning process comprises: at the ith detection angle, the interpolation acquisition unit performs row-column interpolation acquisition operation, and the direction in which the row-column interpolation detection unit in the row-column interpolation acquisition operation points to the corresponding calibration detection unit is perpendicular to the direction of the rotation axis; at the (i+1)th detection angle, the interpolation acquisition unit performs diagonal interpolation acquisition operation.

[0035] Optionally, the scanning process of the scanning device comprises: a first fixed-value scanning process, a first interpolation scanning process, a second fixed-value scanning process and a second interpolation scanning process; wherein the first fixed-value scanning process comprises: at the i-th detection angle, the fixed-value acquisition unit performs the fixed-value acquisition operation; at the (i+1)-th detection angle, the interpolation acquisition unit performs the row-column interpolation acquisition operation; the first interpolation scanning process comprises: at the i-th detection angle, the interpolation acquisition unit performs the row-column interpolation acquisition operation; at the (i+1)-th detection angle, the interpolation acquisition unit performs the diagonal interpolation acquisition operation; the second fixed-value scanning process comprises: at the i-th detection angle, the interpolation acquisition unit performs the row-column interpolation acquisition operation; at the (i+1)-th detection angle, the fixed-value acquisition unit performs the fixed-value acquisition operation; the second interpolation scanning process comprises: at the i-th detection angle, the interpolation acquisition unit performs the diagonal interpolation acquisition operation; at the (i+1)-th detection angle, the interpolation acquisition unit performs the row-column interpolation acquisition operation; and in the second fixed-value scanning process, the direction of the row-column interpolation acquisition unit corresponding to the fixed-value acquisition unit at the i-th detection angle is the same as the direction of the row-column interpolation acquisition unit corresponding to the fixed-value acquisition unit at the (i+1)-th detection angle in the first fixed-value scanning process; in the second interpolation scanning process, the direction of the row-column interpolation acquisition unit corresponding to the fixed-value acquisition unit at the (i+1)-th detection angle is the same as the direction of the row-column interpolation acquisition unit corresponding to the fixed-value acquisition unit at the i-th detection angle in the first interpolation scanning process; and in the second interpolation scanning process, the direction of the diagonal interpolation acquisition unit corresponding to the fixed-value acquisition unit at the i-th detection angle is the same as the direction of the diagonal interpolation acquisition unit corresponding to the fixed-value acquisition unit at the (i+1)-th detection angle in the first interpolation scanning process.

[0036] Compared with the prior art, the technical scheme of the present application has the following advantages:

[0037] In the technical scheme of the present application, in addition to the fixed-value acquisition operation to obtain fixed-value acquisition data, at least one interpolation acquisition operation is performed to obtain interpolation acquisition data, and the final point cloud image is generated based on the fixed-value acquisition data and the interpolation acquisition data. The performance of the at least one interpolation acquisition operation can obtain data other than the fixed-value acquisition data, and the point cloud image obtained by splicing the fixed-value acquisition data and the interpolation acquisition data will have higher line density. Moreover, by increasing the number of acquisition operations to increase the line density, the hardware cost does not need to be increased, and the optical-mechanical complexity will not be increased, which can effectively control the cost and ensure the reliability.

[0038] In an alternative of the present application, the step of the interpolation acquisition operation further comprises: determining a plurality of interpolation light emitting units based on the plurality of interpolation detection units, the plurality of interpolation light emitting units corresponding to the calibration light emitting units one by one; and acquiring the interpolation acquisition data through the plurality of interpolation light emitting units and the plurality of interpolation detection units. The interpolation light emitting units are determined based on the interpolation detection units, so that the center positions of the light emitting units are translated synchronously with the detection units in each interpolation acquisition operation, so as to ensure that the receiving field of view of the interpolation detection units and the center of the echo light spot correspond to each other, and to ensure the detection efficiency and the long-distance measurement capability. BRIEF DESCRIPTION OF DRAWINGS

[0039] Figure 1 is a structural schematic diagram of an embodiment of the laser radar of the present application;

[0040] Figure 2 is Figure 1 is a structural schematic diagram of a detection array in a detection module in the laser radar embodiment shown in the figure;

[0041] Figure 3 is Figure 1 is a structural schematic diagram of a transmission array in a transmission module in the laser radar embodiment shown in the figure;

[0042] Figure 4 is Figure 1 is a flowchart of a detection method implemented by the detection processing device in the laser radar embodiment shown in the figure;

[0043] Figure 5 is Figure 1 is a schematic diagram of the optical sensitive position of the calibration detection unit in the laser radar embodiment shown in the figure;

[0044] Figure 6 is Figure 1 is an optical path schematic diagram of the receiving field of view of the detection unit in the laser radar embodiment shown in the figure;

[0045] Figure 7 is Figure 4 is a flowchart of a step of one interpolation acquisition operation of the detection method implemented by the detection processing device in the laser radar embodiment shown in the figure;

[0046] Figure 8 is Figure 4 is a flowchart of a step of at least one interpolation acquisition operation of the detection method implemented by the detection processing device in the laser radar embodiment shown in the figure;

[0047] Figure 9 is Figure 4The diagram illustrates the row and column interpolation acquisition operation of the detection method implemented by the detection processing device in the lidar embodiment shown, where the direction of the row and column interpolation detection unit pointing to the corresponding calibration detection unit is parallel to the row direction of the detection array.

[0048] Figure 10 yes Figure 4 The diagram illustrates the row and column interpolation acquisition operation of the detection method implemented by the detection processing device in the lidar embodiment shown, where the direction in which the row and column interpolation detection unit points to the corresponding calibration detection unit is parallel to the column direction of the detection array.

[0049] Figure 11 yes Figure 4 A schematic diagram of the oblique interpolation detection unit and the corresponding calibration detection unit in the oblique interpolation acquisition operation of the detection method implemented by the detection processing device in the lidar embodiment shown;

[0050] Figure 12 yes Figure 4 The diagram shows a schematic of the detection method implemented by the detection processing device in the lidar embodiment, which uses an interpolation light-emitting unit for data acquisition.

[0051] Figure 13 This is a schematic diagram of the detection array in the detection method implemented by the detection processing device in another embodiment of the lidar of the present invention;

[0052] Figure 14 This is a schematic diagram of the detection array during the first fixed-value scanning process of the detection method implemented by the detection processing device in another embodiment of the lidar of the present invention;

[0053] Figure 15 yes Figure 14 A schematic diagram of the detection array during the first interpolation scanning process of the detection method implemented by the detection processing device in the lidar embodiment shown;

[0054] Figure 16 yes Figure 14 A schematic diagram of the detection array during the second fixed-value scanning process of the detection method implemented by the detection processing device in the lidar embodiment shown;

[0055] Figure 17 yes Figure 14 A schematic diagram of the detection array during the second interpolation scanning process of the detection method implemented by the detection processing device in the lidar embodiment shown;

[0056] Figure 18 This is a schematic diagram of another embodiment of the lidar of the present invention. Detailed Implementation

[0057] As can be known from the background art, in the prior art, when the number of laser radar lines is increased, the hardware cost is often increased or the optical mechanical complexity is increased.

[0058] One method for increasing the number of laser radar lines is to increase the number of transmitters and receivers in the design stage, for example, 64 transmitters and 64 receivers are used in a 64-line laser radar.

[0059] Another method is to divide the original 1-line laser into multiple lines in the optical path of the laser radar. This method requires the addition of a light splitting device in the optical path design of the laser radar, thereby increasing the optical mechanical complexity. On the other hand, this method increases the number of lines of the laser radar, which challenges the remote measurement capability and heat dissipation capability of the laser radar.

[0060] Therefore, the existing method for increasing the number of laser radar lines has problems such as increased hardware cost and increased optical mechanical complexity.

[0061] To solve the technical problem, the present application provides a detection method for a laser radar, which comprises a plurality of light emitting units and a plurality of calibration detection units, and the plurality of calibration detection units and the plurality of light emitting units correspond one-to-one. The detection method comprises: performing a constant value acquisition operation to obtain constant value acquisition data, the constant value acquisition operation comprising: acquiring the constant value acquisition data by the plurality of light emitting units and the plurality of calibration detection units; performing at least one interpolation acquisition operation to obtain interpolation acquisition data; and obtaining the point cloud map according to the constant value acquisition data and the interpolation acquisition data.

[0062] In the technical solution of the present application, the at least one interpolation acquisition operation can obtain data other than the constant value acquisition data. The point cloud map obtained by splicing the constant value acquisition data and the interpolation acquisition data has a higher line density. Moreover, by increasing the number of acquisition operations to increase the line density, the hardware cost is not increased and the optical mechanical complexity is not increased, thereby effectively controlling the cost and ensuring the reliability.

[0063] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0064] Reference Figure 1 shows a structural schematic diagram of an embodiment of the laser radar of the present application.

[0065] As Figure 1As shown, the laser radar comprises a plurality of light emitting units 111 and a plurality of detecting units 121, the plurality of detecting units 121 and the plurality of light emitting units 111 correspond one-to-one.

[0066] Specifically, as shown in the figure, Figure 1 As shown, the transmitting module 110 of the laser radar comprises a plurality of light emitting units 111, and the detecting module 120 of the laser radar comprises a plurality of detecting units 121, the plurality of detecting units 121 correspond to the plurality of light emitting units 111 one-to-one.

[0067] The transmitting module 110 of the laser radar is adapted to generate detecting light, and the transmitting module 110 comprises a plurality of light emitting units 111, each of which generates a line of detecting light. The detecting light generated by each light emitting unit 111 covers a certain field of view range in the far field, that is, each light emitting unit 111 corresponds to a transmitting field of view in the far field.

[0068] The detecting module 120 of the laser radar is adapted to receive echo light formed after the detecting light is reflected. The detecting module 120 comprises a plurality of detecting units 121. Each detecting unit 121 can receive echo light within a certain field of view range in the far field, that is, each detecting unit 121 corresponds to a receiving field of view in the far field.

[0069] The plurality of detecting units 121 and the plurality of light emitting units 111 correspond one-to-one, that is, in the laser radar, the transmitting field of view of the light emitting unit in the far field is the same as the receiving field of view of the corresponding detecting unit in the far field to form a physical channel, that is, in the far field position, the field of view of the light emitting unit and the corresponding detecting unit is the same, so the detecting light emitted by the light emitting unit is reflected to form echo light which is received by the corresponding receiving unit.

[0070] Specifically, as shown in the figure, Figure 1 8 physical channels in the transmitting module 110 and the detecting module 120 of the laser radar are shown, that is, 8 light emitting units 111 in the transmitting module 110, which are respectively the 1st, 2nd, 3rd, …, 8th light emitting units, and 8 detecting units 121 in the detecting module 120, which are respectively the 1st, 2nd, 3rd, …, 8th detecting units. The detecting light generated by the light emitting unit 111i of the ith channel is reflected by the obstacle outside the radar to form echo light, which is received by the detecting unit 121i of the ith channel.

[0071] The light emitting unit 111i and the detecting unit 121i correspond to form the ith channel; the light emitting unit 111(i+1) and the detecting unit 121(i+1) correspond to form the (i+1)th channel.

[0072] In some embodiments of the present invention, specifically, each detection unit 121 includes: a plurality of detectors 121s. Specifically, as shown... Figure 1 As shown, the lidar includes: a plurality of detectors 121s, which are arranged in an array to form a detection array; each detection unit 121 includes a plurality of detectors 121s.

[0073] In some embodiments of the present invention, each detector 121s is an independently addressable and independently controlled detector, that is, each detector 121s can be powered on and independently led out (e.g. Figure 2 As shown in the middle circle 1213, a single detector signal is read by powering on only the detector or by reading only the detector on a specific address line. In some embodiments of the present invention, the detector 1213 may include a single-photon avalanche diode (SPAD).

[0074] In some embodiments of the present invention, such as Figure 1 As shown, the light-emitting unit 111 includes multiple transmitters. Specifically, the lidar includes multiple transmitters 111v, which are arranged in an array to form a detection array; each light-emitting unit 111 includes multiple transmitters 111v.

[0075] In some embodiments of the present invention, each transmitter 111v is an independently addressed and independently controlled transmitter, that is, each transmitter 111v can be powered on independently. Specifically, as shown in the figure... Figure 3 As shown, the plurality of transmitters 111v are arranged in an array to form a transmission array, with a minimum unit shown in circle 1113. By applying different voltages to the connection lines A1-A3 and P1-P6, different transmitters 111v can be selected, enabling independent addressing and control of the transmitters 111v. Specifically, in some embodiments of the present invention, the transmitter 111v includes a vertical-cavity surface-emitting laser (VCSEL).

[0076] It should be noted that configuring the light-emitting unit to include multiple emitters is only one example. In other embodiments of the present invention, the light-emitting unit can also be an independent laser, such as a side-emitting laser (EEL).

[0077] It should also be noted that the LiDAR's transmitting unit emits detection light, and the detection unit determined after calibration (adjustment) is called the calibration detection unit. At this time, the calibration detection unit and the emitting unit correspond to the same field of view in the far field. The emitting unit corresponding to the calibration detection unit is also the calibration emitting unit. The calibration (adjustment) process is also the process of far field of view matching. Figure 1The light emitting units 111 and the detection units 121 in the laser radar shown are the calibration light emitting units and the calibration detection units of the laser radar. Therefore, each calibration light emitting unit includes a plurality of emitters, and each calibration detection unit includes a plurality of detectors.

[0078] In addition, Figure 1 Only one column of light emitting units and one column of detection units are shown, and the emission module and the receiving module of the laser radar each include a plurality of columns of light emitting units and a plurality of columns of detection units. Moreover Figure 1 The number of light emitting units included in each column of light emitting units of the emission module shown is also greater than 8, and the number of detection units included in each column of detection units is also greater than 8. Therefore Figure 1 A part of the emission array and the detection array of the laser radar is shown.

[0079] In addition, in some embodiments of the present application, the laser radar further includes a scanning device (not shown in the figure) adapted to deflect the light generated by the light emitting units to a detection angle by rotating or oscillating. Specifically, the laser radar can be a mechanical laser radar in which a receiving and transmitting device is driven to rotate as a whole by a motor, a rotating mirror laser radar, or a micro-mirror laser radar. Therefore, the scanning device can be a whole rotating mechanism with a motor, or a rotating mirror or a micro-mirror.

[0080] Continuing to refer to Figure 1 The laser radar further includes a detection processing device 130 adapted to implement the detection method of the present application.

[0081] With reference to Figure 4 A flowchart of the detection method implemented by the detection processing device in the laser radar embodiment shown is shown. Figure 1 A flowchart of the detection method implemented by the detection processing device in the laser radar embodiment shown is shown.

[0082] The detection method includes: performing step S110 to perform a constant value collection operation to obtain constant value collection data, the constant value collection operation including: collecting by the plurality of light emitting units and the plurality of calibration detection units to obtain the constant value collection data; performing step S120 to perform at least one interpolation collection operation to obtain interpolation collection data; and finally performing step S130 to obtain the point cloud map according to the constant value collection data and the interpolation collection data.

[0083] The at least one interpolation collection operation can obtain data other than the constant value collection data, and the point cloud map obtained by splicing the constant value collection data and the interpolation collection data will inevitably have a higher line density. Moreover, by increasing the number of collection operations to increase the line density, the hardware cost does not need to be increased, and the complexity of the optical and mechanical system will not be increased, so that the cost can be effectively controlled and the reliability can be ensured.

[0084] Execute step S110 to perform a fixed value acquisition operation.

[0085] Specifically, in some embodiments of the present invention, step S110 is performed to perform a fixed value acquisition operation to obtain fixed value acquisition data. The fixed value acquisition operation includes: acquiring the fixed value acquisition data through the plurality of light-emitting units and the plurality of calibration detection units.

[0086] Data acquisition via the plurality of light-emitting units and the plurality of calibration and detection units refers to data acquisition achieved by transmitting and receiving optical signals through the light-emitting units and the calibration and detection units.

[0087] It should be noted that the detection unit determined after the lidar calibration is the calibration detection unit. Therefore, in the step S110, which is the process of performing the fixed value acquisition operation, the step of acquiring fixed value acquisition data through the multiple light-emitting units and the multiple calibration detection units is the step of acquiring fixed value acquisition data. The light-emitting unit is the calibration light-emitting unit.

[0088] Specifically, such as Figure 5 As shown, the optical sensitivity position (i.e., the center position) of the calibration detection unit 121i of the i-th channel is (x... i y i ); combined Figure 6 As shown, the angle of the field of view corresponding to the calibration detection unit 121i of the i-th channel is... ( Figure 6 As shown by the dashed line 602), where θ i φ is the vertical field of view, φ is the horizontal field of view, and f is the focal length of optical system 601. From Figure 6 As can be seen from this, the receiving field of view and the center position of the light spot correspond to each other, that is, box 603 is the position corresponding to the calibration detection unit 121i of the i-th channel.

[0089] It should be noted that in some embodiments of the present invention, the lidar has a scanning device. Therefore, the fixed value acquisition operation further includes: before acquiring fixed value acquisition data through the plurality of light-emitting units and the plurality of calibration detection units, determining the detection angle, wherein the fixed value acquisition data corresponds to the detection angle.

[0090] like Figure 4 As shown, step S120 is executed to perform at least one interpolation acquisition operation.

[0091] It should be noted that the order of performing step S110, which involves setting the value, and performing step S120, which involves performing at least one interpolation acquisition operation, is not limited.

[0092] Reference Figure 7 , showed Figure 4A flowchart of the interpolation collection operation step in the detection method implemented by the detection processing device in the laser radar embodiment shown in

[0093] As shown in Figure 7 , in some embodiments of the present application, the interpolation collection operation includes: performing step S120a, determining a plurality of interpolation detection units, the plurality of interpolation detection units corresponding one-to-one to the plurality of calibration detection units; and then performing step S120b, collecting through the plurality of light-emitting units and the plurality of interpolation detection units to obtain the interpolation collection data.

[0094] The step of determining the plurality of interpolation detection units is suitable for determining the positions of the detection units receiving light signals in the interpolation collection operation, thereby expanding the beam and resolution without additionally increasing the complexity of the optical machine.

[0095] Among them, the plurality of interpolation detection units correspond one-to-one to the plurality of calibration detection units, and the plurality of calibration detection units (i.e. Figure 2 the detection unit 121 in the plurality of calibration detection units) and the plurality of light-emitting units 111 correspond one-to-one to form physical channels, so the plurality of interpolation detection units and the plurality of light-emitting units 111 correspond one-to-one to form channels in the interpolation collection operation. Therefore, in the step of performing step S120b, collecting through the plurality of light-emitting units and the plurality of interpolation detection units to obtain the interpolation collection data, the detection light generated by the light-emitting unit 111i of the ith channel is reflected by the external obstacle of the radar to form echo light, and the echo light is received by the interpolation detection unit of the ith channel.

[0096] It should be noted that in some embodiments of the present application, the laser radar has a scanning device, and therefore, as shown in Figure 7 , the interpolation collection operation further includes: before performing step S120b, collecting through the plurality of light-emitting units and the plurality of interpolation detection units to obtain the interpolation collection data, performing step S120c, determining a detection angle, the interpolation collection data corresponding to the detection angle.

[0097] In combination with reference to Figure 8 , it is shown that Figure 4 a flowchart of the interpolation collection operation step in the detection method implemented by the detection processing device in the laser radar embodiment shown in

[0098] As mentioned above, in the laser radar, the plurality of detectors 121s are arranged in an array to form a detection array; therefore, in some embodiments of the present application, the step of performing at least one interpolation acquisition operation to obtain interpolation acquisition data includes: performing step S120xy, performing a row-column interpolation acquisition operation to obtain row-column interpolation acquisition data, wherein the interpolation acquisition data includes the row-column interpolation acquisition data; wherein the row-column interpolation acquisition operation includes: performing step 121xy, determining a plurality of row-column interpolation detection units, wherein the row-column interpolation detection unit is directed in a direction parallel to one of the row direction or the column direction of the corresponding calibration detection unit; performing step 122xy, collecting through the plurality of light emitting units and the plurality of row-column interpolation detection units to obtain the row-column interpolation acquisition data.

[0099] With reference to Figure 9 , a schematic diagram of the row-column interpolation acquisition operation is shown, wherein the row-column interpolation detection unit is directed in a direction parallel to the row direction of the corresponding calibration detection unit.

[0100] In the step of determining the row-column interpolation detection unit 122ix, the row-column interpolation detection unit 122ix is directed in a direction parallel to the row direction of the corresponding calibration detection unit (shown by the dashed box in FIG. 12B). Figure 9

[0101] Therefore, the row-column interpolation detection unit 122ix is horizontally translated by Δx relative to the calibration detection unit 121i (as shown in FIG. 12A), that is, the corresponding detector is powered on or read, and the angle of the field of view corresponding to the interpolation detection unit 121ix of the i-th channel is Figure 5

[0102] With reference to Figure 10 , a schematic diagram of the row-column interpolation acquisition operation is shown, wherein the row-column interpolation detection unit is directed in a direction parallel to the column direction of the corresponding calibration detection unit.

[0103] In the step of determining the row-column interpolation detection unit 122iy, the row-column interpolation detection unit 122iy is directed in a direction parallel to the column direction of the corresponding calibration detection unit (shown by the dashed box in FIG. 12C). Figure 10

[0104] Therefore, the row-column interpolation detection unit 122iy is vertically translated by Δy relative to the calibration detection unit 121i (as shown in FIG. 12A), that is, the corresponding detector is powered on or read, and the angle of the field of view corresponding to the interpolation detection unit 121ix of the i-th channel is Figure 5

[0105] ​​​​With reference to Figure 8 , the step of performing step S120, the interpolation acquisition operation at least once to obtain interpolation acquisition data, further comprises: performing step S120d, performing a diagonal interpolation acquisition operation to obtain diagonal interpolation acquisition data, the interpolation acquisition data also includes the diagonal interpolation acquisition data; wherein the diagonal interpolation acquisition operation comprises: performing step S121d, determining a plurality of diagonal interpolation detection units, the diagonal interpolation detection unit points to the direction of the corresponding calibration detection unit and intersects with the row direction and the column direction; performing step S122d, collecting through the plurality of light emitting units and the plurality of diagonal interpolation detection units to obtain the diagonal interpolation acquisition data.

[0106] With reference to Figure 11 , the diagonal interpolation acquisition operation is shown in the schematic diagram of the diagonal interpolation detection unit and the corresponding calibration detection unit.

[0107] In the step of determining the diagonal interpolation detection unit 122ixy, the diagonal interpolation detection unit 122ixy points to the direction of the corresponding calibration detection unit (shown in the dashed box in FIG. Figure 11 ) and intersects with the row direction and the column direction.

[0108] Therefore, the diagonal interpolation detection unit 122ixy is horizontally translated by Δx and vertically translated by Δy relative to the calibration detection unit 121i (as shown in FIG. Figure 5 ), that is, the corresponding field of view of the diagonal interpolation detection unit 122ixy of the i-th channel has an angle of

[0109] It should be noted that, as shown in FIG. Figure 5 and Figures 9-11 , in some embodiments of the present application, the distance between the interpolation detection unit and the corresponding calibration detection unit along the row direction or the column direction of the detection array is less than the distance between adjacent calibration detection units in the corresponding direction.

[0110] As shown in FIG. Figure 5 and Figure 9 , the distance between the row-column interpolation detection unit 122ix and the corresponding calibration detection unit along the row direction of the detection array is less than the distance between adjacent calibration detection units in the row direction, that is, the row-column interpolation detection unit 122ix is located between the two adjacent calibration detection units in the row direction.

[0111] As shown in FIG. Figure 5 and Figure 10As shown in the figure, along the column direction of the detection array, the distance between the row-column interpolation detection unit 122iy and the corresponding calibration detection unit is less than the distance between adjacent calibration detection units in the column direction, that is, the row-column interpolation detection unit 122iy is located between two adjacent calibration detection units in the column direction.

[0112] Specifically, as shown in the figure, Figure 5 and Figure 11 As shown in the figure, along the row direction of the detection array, the distance between the diagonal interpolation detection unit 122ixy and the corresponding calibration detection unit is less than the distance between adjacent calibration detection units in the row direction, that is, the diagonal interpolation detection unit 122ixy is located between two adjacent calibration detection units in the row direction; and along the column direction of the detection array, the distance between the diagonal interpolation detection unit 122ixy and the corresponding calibration detection unit is less than the distance between adjacent calibration detection units in the column direction, that is, the diagonal interpolation detection unit 122ixy is located between two adjacent calibration detection units in the column direction.

[0113] It should be further noted that in some embodiments of the present application, the receiving module of the laser radar includes a plurality of rows and a plurality of columns of detection units. However, this is only an example, and in some embodiments of the present application, the receiving module of the laser radar can only include one column of detection units or one row of detection units.

[0114] In some embodiments of the present application, when the receiving module of the laser radar only includes one column of detection units or one row of detection units, along the row direction or the column direction of the detection array, the distance between the interpolation detection unit and the corresponding calibration detection unit is less than the size of the calibration detection unit in the corresponding direction.

[0115] Specifically, when the receiving module of the laser radar only includes one column of detection units, along the row direction of the detection array, the distance between the interpolation detection unit, including at least one of the row-column interpolation unit and the diagonal interpolation unit, and the corresponding calibration detection unit is less than the size of the calibration detection unit in the row direction, that is, the optical sensitive position (i.e. the center position) of the interpolation detection unit is located within the range of the calibration detection unit in the row direction.

[0116] When the receiving module of the laser radar only includes one row of detection units, along the column direction of the detection array, the distance between the interpolation detection unit, including at least one of the row-column interpolation unit and the diagonal interpolation unit, and the corresponding calibration detection unit is less than the size of the calibration detection unit in the column direction, that is, the optical sensitive position (i.e. the center position) of the interpolation detection unit is located within the range of the calibration detection unit in the column direction.

[0117] The field of view of the detection unit corresponds to the center position of the light spot. When the receiving module of the laser radar comprises multiple rows and multiple columns of detection units, the interpolation detection unit is located between two adjacent calibration detection units in the corresponding direction, and thus the field of view corresponding to the interpolation detection unit is located between the fields of view corresponding to the two adjacent calibration detection units in the corresponding direction. Therefore, the included angle between the field of view corresponding to the interpolation detection unit and the field of view corresponding to the adjacent calibration detection unit is necessarily smaller than the included angle between the fields of view corresponding to the two adjacent calibration detection units. It can be seen that the interpolation acquisition operation can effectively improve the resolution without increasing the complexity of the optical machine.

[0118] Therefore, the distance between the interpolation detection unit and the corresponding calibration detection unit can be set according to the resolution of the laser radar. Specifically, Figure 5 and Figures 9-10 In the embodiment shown, the distance Δx between the interpolation detection unit and the corresponding calibration detection unit in the row direction of the detection array is: The distance Δy between the interpolation detection unit and the corresponding calibration detection unit in the column direction of the detection array is:

[0119] When the receiving module of the laser radar can also comprise only one column of detection units or one row of detection units, the optical sensitive position (i.e., the center position) of the interpolation detection unit is located in the range in the corresponding direction of the calibration detection unit, the field of view corresponding to the interpolation detection unit partially overlaps the field of view of the calibration detection unit in the corresponding direction, and the other part extends beyond the calibration detection unit in the corresponding direction. Therefore, the included angle between the field of view corresponding to the interpolation detection unit and the field of view corresponding to the adjacent calibration detection unit is necessarily smaller than the included angle between the fields of view corresponding to the two adjacent calibration detection units, and it can be seen that the interpolation acquisition operation can effectively improve the resolution without increasing the complexity of the optical machine.

[0120] Therefore, in the step of the interpolation acquisition operation, the distance between the interpolation detection unit and the corresponding calibration detection unit in at least one of the row direction or the column direction of the detection unit is such that the difference between the field of view angle corresponding to the interpolation detection unit and the field of view angle corresponding to the corresponding calibration detection unit is smaller than the resolution of the laser radar calibration (i.e., the resolution of the radar without interpolation acquisition operation).

[0121] It should be further noted that in some embodiments of the present application, each interpolation detection unit comprises multiple detectors, and the multiple detectors in the interpolation detection unit are partially different from the multiple detectors in the corresponding calibration detection unit.

[0122] With reference to the above description, it should be understood that the present application is not limited to the above-mentioned embodiments, and the specific implementation manners of the present application can be variously changed. Figure 7In some embodiments of the present invention, one interpolation acquisition operation further includes: executing step S120d, determining multiple interpolation light-emitting units based on the multiple interpolation detection units, wherein the multiple interpolation light-emitting units correspond one-to-one with the calibration light-emitting units; executing step S120b, in the step of acquiring the interpolation acquisition data through the multiple light-emitting units and the multiple interpolation detection units, the interpolation acquisition data is acquired through the multiple interpolation light-emitting units and the multiple interpolation detection units.

[0123] Based on the interpolation detection unit, the interpolation light emission unit is determined, and the center position of the light emission unit is synchronously translated with the detection unit during each interpolation acquisition operation to ensure that the receiving field of view of the interpolation light emission unit corresponds to the center of the echo light spot, so as to ensure detection efficiency and distance measurement capability.

[0124] like Figure 12 As shown, in the interpolation acquisition operation performed by the multiple interpolation light-emitting units and the multiple interpolation detection units, the position of the echo light spot on the detection array can be synchronously shifted with the detection unit, which can ensure the distance measurement capability and detection efficiency.

[0125] It should be noted that the lidar includes: multiple transmitters, each calibration light-emitting unit includes multiple transmitters, and each interpolation light-emitting unit includes multiple transmitters; the multiple transmitters in the interpolation light-emitting unit are not the same as the multiple transmitters in the corresponding calibration light-emitting unit.

[0126] Execute step S130 to obtain the point cloud map based on the fixed value acquisition data and the interpolation acquisition data.

[0127] Specifically, the point cloud map is obtained based on the sum of the fixed-value acquisition data obtained from the fixed-value acquisition operation and the interpolation acquisition data obtained from each interpolation acquisition operation.

[0128] In some embodiments of the present invention, the lidar further includes: a scanning device, wherein the fixed-value acquisition data corresponds to the detection angle, and the interpolated acquisition data corresponds to the detection angle; therefore, a point cloud map is obtained based on the fixed-value acquisition data and the interpolated acquisition data under all detection angles.

[0129] It should be noted that for lidar with scanning devices, different acquisition operations can be used at different angles during the scanning process of the same frame, and different acquisition operations can be used during the scanning process of different frames. By merging the results of multiple scans, multi-frame stitching can be achieved, thereby multiplying the beam and improving the resolution without increasing the optical and mechanical complexity.

[0130] refer to Figure 13Fig. 4 shows a schematic diagram of the detection array in the detection method implemented by the detection processing device in another embodiment of the laser radar.

[0131] It should be noted that, Figure 13 Only the schematic positions of the four detection units in the laser radar are shown, and the number of the detection units in the laser radar is not limited to four, and can be other numbers. The black solid dot in the figure represents the optical sensitive position (i.e. the center position) of each detection unit. The coordinates marked in the figure are the coordinates of the optical sensitive position of the uppermost detection unit in the shown column of four detection units.

[0132] In some embodiments of the present application, the laser radar has a scanning device, and the rotation axis of the scanning device is parallel to the column direction of the detection array. In other embodiments of the present application, the rotation axis of the scanning device can also be parallel to the row direction of the detection array, and the present application does not limit this.

[0133] As Figure 13 shown, the detection method comprises a constant value scanning process, which comprises: performing a constant value acquisition operation at the (m-1)th detection angle; and performing a row-column interpolation acquisition operation at the mth detection angle, wherein the direction in which the row-column interpolation detection unit in the row-column interpolation acquisition operation points to the corresponding calibration detection unit is parallel to the rotation axis.

[0134] Specifically, the detection method comprises performing a constant value scanning process at the nth frame. Therefore, at the nth frame, the constant value acquisition operation is performed at the (m-1)th detection angle; and the row-column interpolation acquisition operation is performed at the mth detection angle at the nth frame, wherein the direction in which the row-column interpolation detection unit in the row-column interpolation acquisition operation points to the corresponding calibration detection unit is parallel to the column direction of the detection array.

[0135] As Figure 13 shown in the first row, at the nth frame, the (m-1)th detection angle, the four detection units are calibration detection units, and the coordinates of the optical sensitive position of the uppermost detection unit are (x i , y i ); at the nth frame, the mth detection angle, the four detection units are row-column interpolation detection units, and the line connecting each of the row-column interpolation detection units and the corresponding calibration detection unit is parallel to the column direction of the detection array, wherein the coordinates of the optical sensitive position of the uppermost detection unit are (x i , y i +Δy).

[0136] As Figure 13As shown, in some embodiments of the present invention, the detection method further includes: at least one interpolation scanning process, the interpolation scanning process being located between two adjacent fixed-value scanning processes; the interpolation scanning operation includes: performing a row and column interpolation acquisition operation at the (m-1)th detection angle, wherein the direction in which the row and column interpolation detection unit points to the corresponding calibration detection unit is perpendicular to the direction of the rotation axis; and performing an oblique interpolation acquisition operation at the mth detection angle.

[0137] Specifically, the detection method includes: performing the interpolation scanning process in the (n+1)th frame. Therefore, in the (n+1)th frame, at the (m-1)th detection angle, a row and column interpolation acquisition operation is performed, wherein the direction in which the row and column interpolation detection unit points to the corresponding calibration detection unit is parallel to the row direction of the detection array; in the (n+1)th frame, at the mth detection angle, an oblique interpolation acquisition operation is performed.

[0138] like Figure 13 As shown in the second row, at the (n+1)th frame and the (m-1)th detection angle, the four detection units are row-column interpolation detection units. The line connecting each row-column interpolation detection unit and its corresponding calibration detection unit is parallel to the row direction of the detection array. The coordinates of the optical sensitivity position of the uppermost detection unit are (x... i +Δx, y i ); In the (n+1)th frame, at the m-th detection angle, the four detection units are oblique interpolation detection units, and the coordinates of the optical sensitivity position of the uppermost detection unit are (x i +Δx, y i +Δy).

[0139] Inserting an interpolation scanning process between adjacent fixed-value scanning processes allows the row and column interpolation detection units and the oblique interpolation detection units to fill the gaps between adjacent calibration detection units, thereby uniformly expanding the line bundle and improving resolution.

[0140] It should be noted that, in order to reduce the difficulty of detector control and the difficulty of reading the detector array, the calibration detector unit and the row and column interpolation detector unit in the fixed value scanning process of the nth frame are arranged in a regular dot matrix with the row and column interpolation detector unit and the oblique interpolation detector unit in the interpolation scanning process of the (n+1)th frame.

[0141] Specifically, in some embodiments of the present application, in the interpolation scanning process of the (n+1)th frame, the distance between the oblique interpolation detection unit determined by the oblique interpolation acquisition operation and the corresponding calibration detection unit is equal to the distance between the row-column interpolation detection unit in the row-column interpolation acquisition operation at the (m-1)th detection angle and the corresponding calibration detection unit in the interpolation scanning process of the (n+1)th frame; along the parallel rotation axis direction (i.e. the column direction of the detection array), in the interpolation scanning process of the (n+1)th frame, the distance between the oblique interpolation detection unit determined by the oblique interpolation acquisition operation and the corresponding calibration detection unit is equal to the distance between the row-column interpolation detection unit in the row-column interpolation acquisition operation at the mth detection angle and the corresponding calibration detection unit in the interpolation scanning process of the nth frame.

[0142] It should be noted that in some other embodiments of the present application, the traversal of the detectors in the detection array can be achieved by cooperation of different acquisition operations and different scanning processes.

[0143] Reference Figures 14 to 17 Fig. 6 shows a schematic diagram of the detection array in the detection method implemented by the detection processing device in another embodiment of the present application.

[0144] In some embodiments of the present application, the detection method comprises a first constant scanning process, a first interpolation scanning process, a second constant scanning process and a second interpolation scanning process; wherein, as shown in the bth frame in Fig. 4, Figure 14 The first constant scanning process comprises: performing the constant acquisition operation at the (a-1)th detection angle; and performing the row-column interpolation acquisition operation at the ath detection angle; as shown in the bth frame in Fig. 4, Figure 15 The first interpolation scanning process comprises: performing the row-column interpolation acquisition operation at the (a-1)th detection angle; and performing the oblique interpolation acquisition operation at the ath detection angle; as shown in the (b+1)th frame in Fig. 4, Figure 16 The second constant scanning process comprises: performing the row-column interpolation acquisition operation at the (a-1)th detection angle; and performing the constant acquisition operation at the ath detection angle; as shown in the (b+2)th frame in Fig. 4, Figure 17As shown in the (b+3)th frame, the second interpolation scanning process comprises: performing a diagonal interpolation acquisition operation at the (a-1)th detection angle; and performing a row-column interpolation acquisition operation at the ath detection angle; and in the row-column interpolation acquisition operation at the (a-1)th detection angle in the second interpolation scanning process, the row-column interpolation detection unit points to the same direction of the corresponding calibration detection unit as the direction of the row-column interpolation detection unit pointing to the corresponding calibration detection unit in the row-column interpolation acquisition operation at the ath detection angle in the first interpolation scanning process; in the row-column interpolation acquisition operation at the ath detection angle in the second interpolation scanning process, the row-column interpolation detection unit points to the same direction of the corresponding calibration detection unit as the direction of the row-column interpolation detection unit pointing to the corresponding calibration detection unit in the diagonal interpolation acquisition operation at the (a-1)th detection angle in the first interpolation scanning process; and in the diagonal interpolation acquisition operation at the (a-1)th detection angle in the second interpolation scanning process, the diagonal interpolation detection unit points to the same direction of the corresponding calibration detection unit as the direction of the diagonal interpolation detection unit pointing to the corresponding calibration detection unit in the diagonal interpolation acquisition operation at the ath detection angle in the first interpolation scanning process.

[0145] Different scanning processes and different acquisition operations in different scanning processes can make the calibration detection unit and the interpolation detection unit traverse each detector in the detection array, and can maximize the extension of the beam and improve the resolution without increasing the complexity of the optical machine.

[0146] In order to realize the traversal of each detector in the detection array, in order to expand the line number as evenly as possible and improve the resolution, the calibration detection units and the interpolation detection units in the first constant value scanning process, the first interpolation scanning process, the second constant value scanning process and the second interpolation scanning process form a regular dot array. Specifically, in the row-column interpolation acquisition operation at the (a-1)th detection angle in the second constant value scanning process, the direction and distance of the row-column interpolation detection unit pointing to the corresponding calibration detection unit are the same as the direction and distance of the row-column interpolation detection unit pointing to the corresponding calibration detection unit in the row-column interpolation acquisition operation at the ath detection angle in the first constant value scanning process; in the row-column interpolation acquisition operation at the ath detection angle in the second interpolation scanning process, the direction and distance of the row-column interpolation detection unit pointing to the corresponding calibration detection unit are the same as the direction and distance of the row-column interpolation detection unit pointing to the corresponding calibration detection unit in the row-column interpolation acquisition operation at the (a-1)th detection angle in the first interpolation scanning process; in the oblique interpolation acquisition operation at the (a-1)th detection angle in the second interpolation scanning process, the direction and distance of the oblique interpolation detection unit pointing to the corresponding calibration detection unit are the same as the direction and distance of the oblique interpolation detection unit pointing to the corresponding calibration detection unit in the oblique interpolation acquisition operation at the ath detection angle in the first interpolation scanning process.

[0147] In addition, the application further provides a laser radar. The laser radar comprises: a plurality of light emitting units and a plurality of calibration detection units, the plurality of calibration detection units and the plurality of light emitting units correspond one by one; an acquisition module, the acquisition module is suitable for performing constant value acquisition operation to obtain constant value acquisition data, the constant value acquisition operation comprises: performing acquisition through the plurality of light emitting units and the plurality of calibration detection units to obtain the constant value acquisition data; and is also suitable for performing at least one interpolation acquisition operation to obtain interpolation acquisition data; a processing module, the processing module is suitable for obtaining the point cloud diagram according to the constant value acquisition data and the interpolation acquisition data.

[0148] Reference Figure 15 , a structural schematic diagram of an embodiment of the laser radar of the application is shown.

[0149] As Figure 18 shown, the laser radar comprises a plurality of light emitting units 211 and a plurality of detection units 221, the plurality of detection units 221 and the plurality of light emitting units 211 correspond one by one.

[0150] Specifically, as Figure 18As shown, the emission module 210 of the laser radar comprises a plurality of light emitting units 211, and the detection module 220 of the laser radar comprises a plurality of detection units 221 corresponding to the light emitting units 211.

[0151] The emission module 210 of the laser radar is adapted to generate detection light, and the emission module 210 comprises a plurality of light emitting units 211, each of which generates a line of detection light. The detection light generated by each light emitting unit 211 covers a certain field of view range in the far field, i.e., each light emitting unit 111 corresponds to an emission field of view in the far field.

[0152] The detection module 220 of the laser radar is adapted to receive echo light formed after the detection light is reflected. The detection module 220 comprises a plurality of detection units 221. Each detection unit 221 can receive echo light within a certain field of view range in the far field, i.e., each detection unit 221 corresponds to a receiving field of view in the far field.

[0153] The plurality of detection units 221 and the plurality of light emitting units 211 correspond to each other, i.e., in the laser radar, the emission field of view of the light emitting unit in the far field is the same as the receiving field of view of the corresponding detection unit in the far field to form a physical channel, that is, at the far field position, the field of view of the light emitting unit and the corresponding detection unit is the same, so the detection light emitted by the light emitting unit is reflected to form echo light which is received by the corresponding receiving unit.

[0154] Specifically, as shown in FIG. 1, the laser radar comprises an emission module 210 and a detection module 220. Figure 18 Eight physical channels in the emission module 210 and the detection module 220 of the laser radar are shown, i.e., eight light emitting units 211 in the emission module 210, which are respectively the first, second, third, …, and eighth light emitting units, and eight detection units 221 in the detection module 120, which are respectively the first, second, third, …, and eighth detection units. The light emitting unit 211i of the ith channel generates detection light which is reflected by an external obstacle of the laser radar to form echo light, and the echo light is received by the detection unit 221i of the ith channel.

[0155] The light emitting unit 211i and the detection unit 221i correspond to each other to form the ith channel, and the light emitting unit 211(i+1) and the detection unit 221(i+1) correspond to each other to form the (i+1)th channel.

[0156] In some embodiments of the present application, specifically, each detection unit 221 comprises a plurality of detectors 221s. Specifically, as shown in FIG. 2, each detection unit 221 comprises a plurality of detectors 221s. Figure 18As shown, the laser radar comprises a plurality of detectors 221s arranged in an array to form a detection array; each of the detection units 221 comprises a plurality of the detectors 221s.

[0157] In some embodiments of the present application, each of the detectors 221s is an independently addressable and independently controllable detector, that is, each of the detectors 221s can be powered on and independently extracted (such as Figure 2 As shown in the middle circle 1213, a single detector signal can be read by powering on or reading only the detectors on a specific address line. In some embodiments of the present application, the detectors 221s can comprise single-photon avalanche diodes (SPADs).

[0158] In some embodiments of the present application, as shown in Figure 18 The light-emitting unit 211 comprises a plurality of emitters. Specifically, the laser radar comprises a plurality of emitters 211v arranged in an array to form a detection array; each of the light-emitting units 211 comprises a plurality of the emitters 211v.

[0159] In some embodiments of the present application, each of the emitters 211v is an independently addressable and independently controllable emitter, that is, each of the emitters 211v can be powered on. Specifically, as shown in Figure 3 The plurality of emitters 211v are arranged in an array to form an emission array, and a minimum unit is shown in the circle 1113. Different emitters 211v are selected by applying different voltages to the connection lines A1-A3 and P1-P6 to achieve independent addressing and independent control of the emitters 211v. Specifically, in some embodiments of the present application, the emitters 211v comprise vertical cavity surface emitting lasers (VCSELs).

[0160] It should be noted that the light-emitting unit configured by a plurality of emitters is only an example. In other embodiments of the present application, the light-emitting unit can also be an independent laser, such as an edge-emitting laser (EEL).

[0161] It should also be noted that the emission unit of the laser radar emits detection light, and the detection unit determined after calibration (adjustment) is a calibrated detection unit. At this time, the calibrated detection unit and the light-emitting unit correspond to the same field of view range in the far field, and the light-emitting unit corresponding to the calibrated detection unit is a calibrated light-emitting unit. The process of calibration (adjustment) is also the process of matching the field of view in the far field. Figure 18The light emitting units 211 and the detection units 221 in the laser radar shown are the calibration light emitting units and the calibration detection units of the laser radar. Therefore, each calibration light emitting unit includes a plurality of emitters, and each calibration detection unit includes a plurality of detectors.

[0162] In addition, Figure 18 Only one column of light emitting units and one column of detection units are shown, and the emission module and the receiving module of the laser radar each include a plurality of columns of light emitting units and a plurality of columns of detection units. Moreover Figure 18 The number of light emitting units included in each column of light emitting units of the emission module shown is also greater than 8, and the number of detection units included in each column of detection units is also greater than 8. Therefore Figure 18 Part of the emission array and the detection array of the laser radar is shown.

[0163] In addition, in some embodiments of the present application, the laser radar further includes a scanning device (not shown in the figure), which is suitable for deflecting the light generated by the light emitting units to the detection angle by rotating or oscillating. Specifically, the laser radar can be a mechanical laser radar in which the whole receiving and transmitting device is rotated by a motor, a rotating mirror laser radar, or a micro-mirror laser radar, and therefore the scanning device can be a whole rotating mechanism with a motor, or a rotating mirror or a micro-mirror.

[0164] Continuing to refer to Figure 18 , the laser radar further includes a collection module 230 for performing a collection operation and a processing module 240 for processing data.

[0165] As Figure 18 shown, in some embodiments of the present application, the collection module 230 includes a fixed value collection unit 231, which is suitable for performing a fixed value collection operation.

[0166] The fixed value collection unit 231 is suitable for performing a fixed value collection operation, that is, suitable for performing collection by the plurality of light emitting units and the plurality of calibration detection units to obtain the fixed value collection data. Among them, the collection by the plurality of light emitting units and the plurality of calibration detection units refers to the data collection achieved by the transmission and reception of optical signals by the light emitting units and the calibration detection units.

[0167] It should be noted that the detection units determined after the calibration of the laser radar are calibration detection units, and therefore the light emitting units during the fixed value collection operation performed by the fixed value collection unit 231 are calibration light emitting units.

[0168] Specifically, as Figure 5 shown, the optical sensitive position (i.e., the coordinates of the center position are (x i , yi ); combined Figure 6 As shown, the angle of the field of view corresponding to the calibration detection unit 121i of the i-th channel is... ( Figure 6 As shown by the dashed line 602), where θ i φ is the vertical field of view, φ is the horizontal field of view, and f is the focal length of optical system 601. From Figure 6 As can be seen from this, the receiving field of view and the center position of the light spot correspond to each other, that is, box 603 is the position corresponding to the calibration detection unit 121i of the i-th channel.

[0169] It should be noted that in some embodiments of the present invention, the lidar has a scanning device. Therefore, after the scanning device determines the detection angle, the fixed value acquisition unit 231 performs a fixed value acquisition operation, and the fixed value acquisition data obtained by the fixed value acquisition unit 231 corresponds to the detection angle.

[0170] In some embodiments of the present invention, the acquisition module 230 further includes: an interpolation acquisition unit 232, which is adapted to perform interpolation acquisition operations; the interpolation acquisition unit 232 includes: a detector selector 232a and a processor 232b; the detector selector 232a is adapted to determine a plurality of interpolation detectors, which correspond one-to-one with the plurality of calibration detectors; the processor 232b is adapted to acquire the interpolation acquisition data through the plurality of light-emitting units and the plurality of interpolation detectors.

[0171] The detector selector 232a is suitable for determining the position of the detector unit that receives the optical signal during the interpolation acquisition operation, thereby expanding the beam and resolution without increasing the optical-mechanical complexity.

[0172] Among them, the plurality of interpolation detection units correspond one-to-one with the plurality of calibration detection units, and the plurality of calibration detection units (i.e. Figure 18 The detection unit 221 and the plurality of light-emitting units 211 are in one-to-one correspondence to form a physical channel. Therefore, the plurality of interpolation detection units and the plurality of light-emitting units 211 are in one-to-one correspondence to form a channel in the interpolation acquisition operation. That is, the processor 232b performs the interpolation acquisition operation through the physical channel formed by the plurality of light-emitting units and the plurality of interpolation detection units to obtain the interpolation acquisition data. That is, the detection light generated by the light-emitting unit 111i of the i-th channel is reflected by the external obstacle of the radar to form an echo light, and the echo light is received by the interpolation detection unit of the i-th channel.

[0173] It should be noted that in some embodiments of the present invention, the lidar has a scanning device. Therefore, after the scanning device determines the detection angle, the interpolation acquisition unit 232 performs an interpolation acquisition operation, and the interpolation acquisition data obtained by the interpolation acquisition unit 232 corresponds to the detection angle.

[0174] In some embodiments of the present invention, the interpolation acquisition unit 232 is adapted to perform row and column interpolation acquisition operations to obtain row and column interpolation acquisition data, the interpolation acquisition data including the row and column interpolation acquisition data; the detector selector 232a includes: a row and column selection element 232a1, the row and column selection element 232a1 being adapted to determine a plurality of row and column interpolation detection units, the direction in which the row and column interpolation detection units point to their corresponding calibration detection units being parallel to one of the row direction or column direction of the detection array; the processor 232b acquires the row and column interpolation acquisition data through the plurality of light-emitting units and the plurality of row and column interpolation detection units.

[0175] Reference Figure 9 The diagram illustrates that, during the row and column interpolation acquisition operation, the direction in which the row and column interpolation detection unit points to the corresponding calibration detection unit is parallel to the row direction of the detection array.

[0176] The row and column selection element 232a1 determines the row and column interpolation detection unit 122ix to point to the corresponding calibration detection unit ( Figure 9 The direction of the row interpolation detection unit 122ix (shown in the dashed box) is parallel to the row direction of the detection array. Therefore, the row and column interpolation detection unit 122ix is ​​relative to the calibration detection unit 121i (as shown in the dashed box). Figure 5 As shown in the diagram, a horizontal translation Δx is performed, i.e., powering on or reading the detector at the corresponding position. Then, the angle of the field of view corresponding to the interpolation detection unit 121ix of the i-th channel is...

[0177] Reference Figure 10 This diagram illustrates a row-column interpolation acquisition operation where the direction in which the row-column interpolation detection unit points to the corresponding calibration detection unit is parallel to the column direction of the detection array.

[0178] The row and column selection element 232a1 determines the row and column interpolation detection unit 122iy, which points to the corresponding calibration detection unit. Figure 10 The direction of the row and column interpolation detection unit 122iy (shown in the dashed box) is parallel to the column direction of the detection array. Therefore, the row and column interpolation detection unit 122iy is relative to the calibration detection unit 121i (as shown in the dashed box). Figure 5 As shown in the diagram, a vertical translation Δy is performed, i.e., powering on or reading the detector at the corresponding position. Then, the angle of the field of view corresponding to the interpolation detection unit 121ix of the i-th channel is...

[0179] In some embodiments of the present application, the interpolation acquisition unit 232 is further adapted to perform a diagonal interpolation acquisition operation to obtain diagonal interpolation acquisition data, and the interpolation acquisition data further comprises the diagonal interpolation acquisition data; the probe selector comprises a diagonal selection element 232a2 adapted to determine a plurality of diagonal interpolation probe units, the diagonal interpolation probe units are directed to a direction intersecting both the row direction and the column direction of the corresponding calibration probe unit; the processor 232b performs acquisition through the plurality of light emitting units and the plurality of diagonal interpolation probe units to obtain the diagonal interpolation acquisition data.

[0180] With reference to Figure 11 , a schematic diagram of the diagonal interpolation probe unit and the corresponding calibration probe unit in the diagonal interpolation acquisition operation is shown.

[0181] The diagonal interpolation probe unit 122ixy determined by the diagonal selection element 232a2 is directed to a direction intersecting both the row direction and the column direction of the corresponding calibration probe unit (shown in the dashed box in Figure 11 Therefore, the diagonal interpolation probe unit 122ixy is horizontally translated by Δx and vertically translated by Δy relative to the calibration probe unit 121i (as shown in Figure 5 ), i.e., the corresponding field of view of the diagonal interpolation probe unit 122ixy of the i-th channel has an angle of

[0182] It should be noted that, as shown in Figure 5 and Figures 9-11 , in some embodiments of the present application, the distance between the interpolation probe unit and the corresponding calibration probe unit along the row direction or the column direction of the probe array is less than the distance between adjacent calibration probe units in the corresponding direction.

[0183] As shown in Figure 5 and Figure 9 , the distance between the row-column interpolation probe unit 122ix and the corresponding calibration probe unit along the row direction of the probe array is less than the distance between adjacent calibration probe units in the row direction, i.e., the row-column interpolation probe unit 122ix is located between two adjacent calibration probe units in the row direction.

[0184] As shown in Figure 5 and Figure 10 , the distance between the row-column interpolation probe unit 122iy and the corresponding calibration probe unit along the column direction of the probe array is less than the distance between adjacent calibration probe units in the column direction, i.e., the row-column interpolation probe unit 122iy is located between two adjacent calibration probe units in the column direction.

[0185] Specifically, as shown in Figure 5 and Figure 11 In the row direction of the detection array, the distance between the oblique interpolation detection unit 122ixy and the corresponding calibration detection unit is less than the distance between adjacent calibration detection units in the row direction, i.e. the oblique interpolation detection unit 122ixy is located between two adjacent calibration detection units in the row direction; and in the column direction of the detection array, the distance between the oblique interpolation detection unit 122ixy and the corresponding calibration detection unit is less than the distance between adjacent calibration detection units in the column direction, i.e. the oblique interpolation detection unit 122ixy is located between two adjacent calibration detection units in the column direction.

[0186] It should be further noted that in some embodiments of the present application, the receiving module of the laser radar includes multiple rows and multiple columns of detection units. However, this is only an example, and in some embodiments of the present application, the receiving module of the laser radar can only include one column of detection units or one row of detection units.

[0187] In some embodiments of the present application, when the receiving module of the laser radar includes only one column of detection units or one row of detection units, the distance between the interpolation detection unit and the corresponding calibration detection unit in the row direction or column direction of the detection array is less than the size of the calibration detection unit in the corresponding direction.

[0188] Specifically, when the receiving module of the laser radar includes only one column of detection units, the distance between the interpolation detection unit, including at least one of the row-column interpolation unit and the oblique interpolation unit, and the corresponding calibration detection unit in the row direction of the detection array is less than the size of the calibration detection unit in the row direction, i.e. the optical sensitive position (i.e. the center position) of the interpolation detection unit is located within the range of the calibration detection unit in the row direction.

[0189] When the receiving module of the laser radar includes only one row of detection units, the distance between the interpolation detection unit, including at least one of the row-column interpolation unit and the oblique interpolation unit, and the corresponding calibration detection unit in the column direction of the detection array is less than the size of the calibration detection unit in the column direction, i.e. the optical sensitive position (i.e. the center position) of the interpolation detection unit is located within the range of the calibration detection unit in the column direction.

[0190] The field of view of the probe unit corresponds to the center position of the light spot. When the receiving module of the laser radar comprises multiple rows and multiple columns of probe units, the interpolation probe unit is located between two adjacent calibration probe units in the corresponding direction, and thus the field of view corresponding to the interpolation probe unit is located between the fields of view corresponding to the two adjacent calibration probe units in the corresponding direction. Therefore, the included angle between the field of view corresponding to the interpolation probe unit and the field of view corresponding to the adjacent calibration probe unit is necessarily smaller than the included angle between the fields of view corresponding to the two adjacent calibration probe units. It can be seen that the interpolation acquisition operation can effectively improve the resolution without increasing the complexity of the optical machine.

[0191] Therefore, the selection element, including at least one of the row and column selection element 232a1 and the diagonal selection element 232a2, can set the distance between the interpolation probe unit and the corresponding calibration probe unit according to the resolution of the laser radar. Specifically, Figure 5 and Figures 9-10 In the embodiment shown, the distance Δx between the interpolation probe unit and the corresponding calibration probe unit in the row direction of the probe array is: The distance Δy between the interpolation probe unit and the corresponding calibration probe unit in the column direction of the probe array is:

[0192] When the receiving module of the laser radar can also only comprise one column of probe units or one row of probe units, the optical sensitive position (i.e., the center position) of the interpolation probe unit is located within the range in the corresponding direction of the calibration probe unit, the field of view corresponding to the interpolation probe unit partially overlaps the field of view of the calibration probe unit in the corresponding direction, and the other part extends beyond the calibration probe unit in the corresponding direction. Therefore, the included angle between the field of view corresponding to the interpolation probe unit and the field of view corresponding to the adjacent calibration probe unit is necessarily smaller than the included angle between the fields of view corresponding to the two adjacent calibration probe units assuming that the field of view angle range of the two adjacent calibration probe units is set. It can be seen that the interpolation acquisition operation can effectively improve the resolution without increasing the complexity of the optical machine.

[0193] Therefore, the selection element, including at least one of the row and column selection element 232a1 and the diagonal selection element 232a2, is determined in at least one of the row direction or the column direction of the probe unit. The distance between the interpolation probe unit and the corresponding calibration probe unit is such that the difference between the field of view angle corresponding to the interpolation probe unit and the field of view angle corresponding to the corresponding calibration probe unit is smaller than the resolution of the laser radar (i.e., the resolution of the radar without interpolation acquisition operation).

[0194] It should be noted that in some embodiments of the present application, each interpolation detection unit includes a plurality of detectors, and the plurality of detectors in the interpolation detection unit are partially different from the plurality of detectors in the corresponding calibration detection unit.

[0195] With reference to Figure 18 , in some embodiments of the present application, the interpolation acquisition unit 232 further includes a light emission selector 232c, which is suitable for determining a plurality of interpolation light emission units corresponding to the calibration light emission units based on the plurality of interpolation detection units; the processor 232b acquires the interpolation acquisition data through the plurality of interpolation light emission units and the plurality of interpolation detection units.

[0196] The light emission selector 232c determines the interpolation light emission units based on the interpolation detection units, so that the center positions of the light emission units are synchronously translated with the detection units in each interpolation acquisition operation, to ensure that the receiving field of view of the interpolation light emission units and the center of the echo light spot correspond, so as to ensure the detection efficiency and the long-distance measurement capability.

[0197] As Figure 12 shown, in the interpolation acquisition operation of acquiring through the plurality of interpolation light emission units and the plurality of interpolation detection units, the positions of the echo light spots on the detection array can be synchronously translated with the detection units, which can ensure the long-distance measurement capability and the detection efficiency.

[0198] It should be noted that the laser radar includes a plurality of emitters, each calibration light emission unit includes a plurality of emitters, and each interpolation light emission unit includes a plurality of emitters; the plurality of emitters in the interpolation light emission unit are partially different from the plurality of emitters in the corresponding calibration light emission unit.

[0199] With reference to Figure 18 , the laser radar further includes a processing module 240 for processing data.

[0200] Specifically, the processing module 240 obtains the point cloud map according to the sum of the calibration acquisition data obtained by the calibration acquisition operation and the interpolation acquisition data obtained by each interpolation acquisition operation.

[0201] In some embodiments of the present application, the laser radar further includes a scanning device, the calibration acquisition data corresponds to the detection angle, and the interpolation acquisition data corresponds to the detection angle; therefore, the processing module 240 obtains the point cloud map based on the calibration acquisition data and the interpolation acquisition data under all detection angles.

[0202] It should be noted that for lidar with scanning devices, different acquisition operations can be used at different angles during the scanning process of the same frame, and different acquisition operations can be used during the scanning process of different frames. By merging the results of multiple scans, multi-frame stitching can be achieved, thereby multiplying the beam and improving the resolution without increasing the optical and mechanical complexity.

[0203] refer to Figure 13 The diagram shows a detection unit with different acquisition operations used in different frame scanning processes in another embodiment of the lidar of the present invention.

[0204] It should be noted that, Figure 13 Only the schematic positions of four detection units in the lidar are shown. The number of detection units in the lidar is not limited to four and can be other numbers. The solid black dot in the figure represents the optical sensitivity position (i.e., the center position) of each detection unit. The coordinates marked in the figure are the coordinates of the optical sensitivity position of the topmost detection unit in the column of four detection units shown.

[0205] In some embodiments of the present invention, the lidar has a scanning device, and the axis of rotation of the scanning device is parallel to the column direction of the detection array. In other embodiments of the present invention, the axis of rotation of the scanning device may also be parallel to the row direction of the detection array, and the present invention is not limited thereto.

[0206] The scanning process of the scanning device includes: a fixed-value scanning process; the fixed-value scanning process includes: at the i-th detection angle, the fixed-value acquisition unit performs a fixed-value acquisition operation; at the i+1-th detection angle, the interpolation acquisition unit performs a row and column interpolation acquisition operation, wherein the direction in which the row and column interpolation detection unit points to the corresponding calibration detection unit is parallel to the direction of the rotating axis.

[0207] Specifically, the scanning process of the scanning device includes: performing a fixed-value scanning process in the nth frame. Therefore, in the nth frame, at the (m-1)th detection angle, the fixed-value acquisition unit 231 performs a fixed-value acquisition operation; in the nth frame, at the mth detection angle, the interpolation acquisition unit 232 performs a row-column interpolation acquisition operation, wherein the direction in which the row-column interpolation detection unit points to the corresponding calibration detection unit is parallel to the column direction of the detection array.

[0208] like Figure 13 As shown in the first row, at the nth frame and the (m-1)th detection angle, the four detection units are calibration detection units, with the coordinates of the optical sensitivity position of the uppermost detection unit being (x... i y i);in the n-th frame, in the m-th detection angle, the four detection units are row-column interpolation detection units, each of the row-column interpolation detection units is parallel to the connecting line of the corresponding calibration detection unit in the column direction of the detection array, wherein the coordinates of the optical sensitive position of the uppermost detection unit are (x i , y i + Δx, y i ).

[0209] In some embodiments of the present application, the scanning process of the scanning device further comprises an interpolation scanning process between two adjacent constant value scanning processes; the interpolation scanning process comprises: in the i-th detection angle, the interpolation acquisition unit performs a row-column interpolation acquisition operation, and the row-column interpolation detection unit in the row-column interpolation acquisition operation is perpendicular to the direction of the corresponding calibration detection unit in the rotation axis direction; in the i+1-th detection angle, the interpolation acquisition unit performs an oblique interpolation acquisition operation.

[0210] Specifically, the scanning process of the scanning device comprises: performing the interpolation scanning process in the (n+1)-th frame. Therefore, in the (n+1)-th frame, in the (m-1)-th detection angle, the interpolation acquisition unit 232 performs a row-column interpolation acquisition operation, and the row-column interpolation detection unit in the row-column interpolation acquisition operation is parallel to the connecting line of the corresponding calibration detection unit in the row direction of the detection array; in the (n+1)-th frame, in the m-th detection angle, the interpolation acquisition unit 232 performs an oblique interpolation acquisition operation.

[0211] As shown in the second row in the Figure 13 , in the (n+1)-th frame, in the (m-1)-th detection angle, the four detection units are row-column interpolation detection units, each of the row-column interpolation detection units is parallel to the connecting line of the corresponding calibration detection unit in the row direction of the detection array, wherein the coordinates of the optical sensitive position of the uppermost detection unit are (x i + Δx, y i ); in the (n+1)-th frame, in the m-th detection angle, the four detection units are oblique interpolation detection units, wherein the coordinates of the optical sensitive position of the uppermost detection unit are (x i + Δx, y i + Δy).

[0212] Inserting the interpolation scanning process between the adjacent constant value scanning processes can fill the row-column interpolation detection units and the oblique interpolation detection units between the adjacent calibration detection units, thereby uniformly expanding the beam and improving the resolution.

[0213] It should be noted that, in order to reduce the difficulty of the detector control and the reading difficulty of the detection array, the calibrated detection unit in the fixed value scanning process of the n-th frame and the row-column interpolation detection unit are regularly arranged with the row-column interpolation detection unit and the oblique interpolation detection unit in the interpolation scanning process of the (n+1)-th frame.

[0214] Specifically, in some embodiments of the present application, in the interpolation scanning process of the (n+1)-th frame, the distance between the oblique interpolation detection unit determined by the oblique interpolation acquisition operation of the interpolation acquisition unit 232 and the corresponding calibrated detection unit is equal to the distance between the row-column interpolation detection unit in the row-column interpolation acquisition operation of the (m-1)-th detection angle and the corresponding calibrated detection unit in the interpolation scanning process of the (n+1)-th frame along the vertical rotation axis direction (i.e., the row direction of the detection array); in the interpolation scanning process of the (n+1)-th frame, the distance between the oblique interpolation detection unit determined by the oblique interpolation acquisition operation of the interpolation acquisition unit 232 and the corresponding calibrated detection unit is equal to the distance between the row-column interpolation detection unit in the row-column interpolation acquisition operation of the m-th detection angle and the corresponding calibrated detection unit in the fixed value scanning process of the n-th frame along the parallel rotation axis direction (i.e., the column direction of the detection array).

[0215] It should be noted that, in some embodiments of the present application, the traversal of the detectors in the detection array can be achieved by cooperation of different acquisition operations and different scanning processes.

[0216] Reference Figure 14 shows the schematic diagram of the detection units in different acquisition operations in different frame scanning processes of another embodiment of the laser radar.

[0217] The scanning process of the scanning device includes a first fixed value scanning process, a first interpolation scanning process, a second fixed value scanning process and a second interpolation scanning process; wherein, as shown in the b-th frame in Figure 14 , the first fixed value scanning process includes: performing the fixed value acquisition operation at the (a-1)-th detection angle; performing the row-column interpolation acquisition operation at the a-th detection angle; as shown in the (b+1)-th frame in Figure 18 , the first interpolation scanning process includes: performing the row-column interpolation acquisition operation at the (a-1)-th detection angle; performing the oblique interpolation acquisition operation at the a-th detection angle; as shown in the (b+2)-th frame in Figure 16 , the second fixed value scanning process includes: performing the row-column interpolation acquisition operation at the (a-1)-th detection angle; performing the fixed value acquisition operation at the a-th detection angle; as shown in the (b+3)-th frame in Figure 17As shown in the (b+3)th frame, the second interpolation scanning process comprises: performing a diagonal interpolation acquisition operation at the (a-1)th detection angle; and performing a row-column interpolation acquisition operation at the ath detection angle; and in the row-column interpolation acquisition operation at the (a-1)th detection angle in the second interpolation scanning process, the row-column interpolation detection unit points to the same direction of the corresponding calibration detection unit as the direction of the row-column interpolation detection unit pointing to the corresponding calibration detection unit in the row-column interpolation acquisition operation at the ath detection angle in the first interpolation scanning process; in the row-column interpolation acquisition operation at the ath detection angle in the second interpolation scanning process, the row-column interpolation detection unit points to the same direction of the corresponding calibration detection unit as the direction of the row-column interpolation detection unit pointing to the corresponding calibration detection unit in the row-column interpolation acquisition operation at the (a-1)th detection angle in the first interpolation scanning process; and in the diagonal interpolation acquisition operation at the (a-1)th detection angle in the second interpolation scanning process, the diagonal interpolation detection unit points to the same direction of the corresponding calibration detection unit as the direction of the diagonal interpolation detection unit pointing to the corresponding calibration detection unit in the diagonal interpolation acquisition operation at the ath detection angle in the first interpolation scanning process.

[0218] Different scanning processes and different acquisition operations in different scanning processes can make the calibration detection unit and the interpolation detection unit traverse each detector in the detection array, and can maximize the extension of the beam and improve the resolution without increasing the complexity of the optical machine.

[0219] In order to realize the traversal of each detector in the detection array, in order to expand the line number as evenly as possible and improve the resolution, the calibration detection units and the interpolation detection units in the first constant value scanning process, the first interpolation scanning process, the second constant value scanning process and the second interpolation scanning process form a regular dot array. Specifically, in the second constant value scanning process, the direction and distance of the row-column interpolation detection unit pointing to the corresponding calibration detection unit in the row-column interpolation acquisition operation at the (a-1)th detection angle are the same as the direction and distance of the row-column interpolation detection unit pointing to the corresponding calibration detection unit in the row-column interpolation acquisition operation at the ath detection angle in the first constant value scanning process; in the second interpolation scanning process, the direction and distance of the row-column interpolation detection unit pointing to the corresponding calibration detection unit in the row-column interpolation acquisition operation at the ath detection angle are the same as the direction and distance of the row-column interpolation detection unit pointing to the corresponding calibration detection unit in the row-column interpolation acquisition operation at the (a-1)th detection angle in the first interpolation scanning process; in the second interpolation scanning process, the direction and distance of the diagonal interpolation detection unit pointing to the corresponding calibration detection unit in the diagonal interpolation acquisition operation at the (a-1)th detection angle are the same as the direction and distance of the diagonal interpolation detection unit pointing to the corresponding calibration detection unit in the diagonal interpolation acquisition operation at the ath detection angle in the first interpolation scanning process.

[0220] Although the present application is disclosed as above, the present application is not limited to this. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present application, and the protection scope of the present application should be defined by the scope of the claims.

Claims

1. A detection method for lidar, characterized in that, The lidar includes multiple light-emitting units and multiple calibration and detection units, and the multiple calibration and detection units correspond one-to-one with the multiple light-emitting units; The detection method includes: A fixed-value acquisition operation is performed to obtain fixed-value acquisition data, the fixed-value acquisition operation including: acquiring the fixed-value acquisition data through the plurality of light-emitting units and the plurality of calibration detection units; At least one interpolation acquisition operation is performed to obtain interpolation acquisition data, wherein the interpolation acquisition operation includes: determining multiple interpolation detection units; and acquiring the interpolation acquisition data through the multiple light-emitting units and the multiple interpolation detection units. A point cloud map is obtained based on the fixed-value acquisition data and the interpolated acquisition data.

2. The detection method as described in claim 1, characterized in that, Each of the multiple interpolation detection units corresponds one-to-one with the multiple calibration detection units.

3. The detection method as described in claim 2, characterized in that, Each calibration detection unit includes multiple detectors, and each interpolation detection unit includes multiple detectors; The multiple detectors in the interpolation detection unit are partially different from the multiple detectors in the corresponding calibration detection unit.

4. The detection method as described in claim 3, characterized in that, The lidar includes: multiple detectors, which are arranged in an array to form a detection array; Along the row or column direction of the detection array, the distance between the interpolation detection unit and the corresponding calibration detection unit is smaller than the distance between adjacent calibration detection units in the corresponding direction; Alternatively, along the row or column direction of the detection array, the distance between the interpolation detection unit and the corresponding calibration detection unit is smaller than the size of the calibration detection unit in the corresponding direction.

5. The detection method as described in claim 4, characterized in that, The step of performing at least one interpolation acquisition operation to obtain interpolation acquisition data includes: performing row and column interpolation acquisition operations to obtain row and column interpolation acquisition data, wherein the interpolation acquisition data includes the row and column interpolation acquisition data; The row and column interpolation acquisition operation includes: determining multiple row and column interpolation detection units, wherein the direction in which the row and column interpolation detection units point to the corresponding calibration detection units is parallel to one of the row or column directions of the detection array; and acquiring the row and column interpolation acquisition data through the multiple light-emitting units and the multiple row and column interpolation detection units.

6. The detection method as described in claim 4, characterized in that, The step of performing at least one interpolation acquisition operation to obtain interpolation acquisition data further includes: performing a slant interpolation acquisition operation to obtain slant interpolation acquisition data, wherein the interpolation acquisition data further includes the slant interpolation acquisition data; The oblique interpolation acquisition operation includes: determining multiple oblique interpolation detection units, wherein the direction of the oblique interpolation detection unit pointing to the corresponding calibration detection unit intersects both the row direction and the column direction; and acquiring the oblique interpolation acquisition data through the multiple light-emitting units and the multiple oblique interpolation detection units.

7. The detection method as described in claim 3 or 4, characterized in that, The detector is an independently addressable and independently controlled detector.

8. The detection method as described in claim 2, characterized in that, In the step of acquiring fixed-value acquisition data through the plurality of light-emitting units and the plurality of calibration detection units, the light-emitting unit is a calibration light-emitting unit; The interpolation acquisition operation also includes the following steps: Based on the multiple interpolation detection units, multiple interpolation light emission units are determined, and the multiple interpolation light emission units correspond one-to-one with the calibration light emission units; The interpolation acquisition data is obtained by collecting data through the multiple interpolation light-emitting units and the multiple interpolation detection units.

9. The detection method as described in claim 8, characterized in that, Each of the calibration light-emitting units includes multiple emitters, and each of the interpolation light-emitting units includes multiple emitters; The emitters in the interpolation light-emitting unit are not the same as the emitters in the corresponding calibration light-emitting unit.

10. The detection method as described in claim 9, characterized in that, The transmitter is an independently addressable and independently controlled transmitter.

11. The detection method as described in claim 2, characterized in that, The lidar also includes a scanning device, which is adapted to deflect the light generated by the light-emitting unit to the detection angle by rotating or swinging. The fixed-value acquisition operation further includes: before acquiring fixed-value acquisition data through the plurality of light-emitting units and the plurality of calibration detection units, determining the detection angle, wherein the fixed-value acquisition data corresponds to the detection angle; The interpolation acquisition operation further includes: before acquiring the interpolation acquisition data through the plurality of light-emitting units and the plurality of interpolation detection units, determining the detection angle, wherein the interpolation acquisition data corresponds to the detection angle.

12. The detection method as described in claim 11, characterized in that, One of the row or column directions of the rotating parallel detection array; The detection method includes a fixed-value scanning process, which includes: At the i-th detection angle, a fixed value acquisition operation is performed; At the (i+1)th detection angle, a row and column interpolation acquisition operation is performed, wherein the direction in which the row and column interpolation detection unit points to the corresponding calibration detection unit is parallel to the rotation axis.

13. The detection method as described in claim 11 or 12, characterized in that, The detection method further includes: at least one interpolation scanning process, wherein the interpolation scanning process is located between two adjacent fixed-value scanning processes; The interpolation scan operation includes: At the i-th detection angle, a row and column interpolation acquisition operation is performed, wherein the direction in which the row and column interpolation detection unit points to the corresponding calibration detection unit is perpendicular to the direction of the rotation axis. At the (i+1)th detection angle, perform oblique interpolation acquisition.

14. The detection method as described in claim 11, characterized in that, The detection method includes: a first fixed-value scanning process, a first interpolation scanning process, a second fixed-value scanning process, and a second interpolation scanning process; in, The first fixed-value scanning process includes: performing the fixed-value acquisition operation at the i-th detection angle; and performing row and column interpolation acquisition operation at the (i+1)-th detection angle. The first interpolation scanning process includes: performing row and column interpolation acquisition at the i-th detection angle; and performing oblique interpolation acquisition at the (i+1)-th detection angle. The second fixed-value scanning process includes: performing row and column interpolation acquisition operation at the i-th detection angle; and performing the fixed-value acquisition operation at the (i+1)-th detection angle. The second interpolation scanning process includes: performing oblique interpolation acquisition at the i-th detection angle; and performing row and column interpolation acquisition at the (i+1)-th detection angle. Furthermore, during the second fixed-value scanning process, in the row and column interpolation acquisition operation performed at the i-th detection angle, the direction in which the row and column interpolation detection unit points to the corresponding calibration detection unit is the same as the direction in which the row and column interpolation detection unit points to the corresponding calibration detection unit during the row and column interpolation acquisition operation performed at the i+1-th detection angle in the first fixed-value scanning process. During the second interpolation scan, in the row and column interpolation acquisition operation performed at the (i+1)th detection angle, the direction in which the row and column interpolation detection unit points to the corresponding calibration detection unit is the same as the direction in the row and column interpolation acquisition operation performed at the ith detection angle during the first interpolation scan. During the second interpolation scan, in the oblique interpolation acquisition operation performed at the i-th detection angle, the direction in which the oblique interpolation detection unit points to the corresponding calibration detection unit is the same as the direction in which the oblique interpolation detection unit points to the corresponding calibration detection unit during the oblique interpolation acquisition operation performed at the (i+1)-th detection angle in the first interpolation scan.

15. A lidar, characterized in that, include: Multiple light-emitting units and multiple calibration detection units, wherein the multiple calibration detection units and the multiple light-emitting units correspond one-to-one; A detection processing device, which is suitable for implementing the detection method according to any one of claims 1 to 14.

16. A lidar, characterized in that, include: Multiple light-emitting units and multiple calibration detection units, wherein the multiple calibration detection units and the multiple light-emitting units correspond one-to-one; The acquisition module is adapted to perform a fixed-value acquisition operation to obtain fixed-value acquisition data, the fixed-value acquisition operation including: acquiring the fixed-value acquisition data through the plurality of light-emitting units and the plurality of calibration detection units; it is also adapted to perform at least one interpolation acquisition operation to obtain interpolation acquisition data, the acquisition module including: an interpolation acquisition unit, the interpolation acquisition unit being adapted to perform an interpolation acquisition operation, the interpolation acquisition operation including: determining a plurality of interpolation detection units; acquiring the interpolation acquisition data through the plurality of light-emitting units and the plurality of interpolation detection units; The processing module is adapted to obtain a point cloud map based on the fixed-value acquisition data and the interpolation acquisition data.

17. The lidar as described in claim 16, characterized in that, The acquisition module further includes: a fixed-value acquisition unit, which is suitable for performing fixed-value acquisition operations; the interpolation acquisition unit includes: a detector selector and a processor; The detector selector is suitable for determining multiple interpolation detector units, and the multiple interpolation detector units correspond one-to-one with the multiple calibration detector units; The processor is adapted to acquire the interpolated acquisition data by means of the plurality of light-emitting units and the plurality of interpolation detection units.

18. The lidar as described in claim 17, characterized in that, Each calibration detection unit includes multiple detectors, and each interpolation detection unit includes multiple detectors; The multiple detectors in the interpolation detection unit are partially different from the multiple detectors in the corresponding calibration detection unit.

19. The lidar as described in claim 18, characterized in that, The lidar includes: multiple detectors, which are arranged in an array to form a detection array; Along the row or column direction of the detection array, the distance between the interpolation detection unit and the corresponding calibration detection unit is smaller than the distance between adjacent calibration detection units in the corresponding direction; Alternatively, along the row or column direction of the detection array, the distance between the interpolation detection unit and the corresponding calibration detection unit is smaller than the size of the calibration detection unit in the corresponding direction.

20. The lidar as described in claim 19, characterized in that, The interpolation acquisition unit is suitable for performing row and column interpolation acquisition operations to obtain row and column interpolation acquisition data, and the interpolation acquisition data includes the row and column interpolation acquisition data; The detector selector includes a row and column selection element, which is adapted to determine a plurality of row and column interpolation detector units, wherein the direction in which the row and column interpolation detector units point to their corresponding calibration detector units is parallel to one of the row or column directions of the detector array. The processor acquires the row and column interpolation acquisition data through the plurality of light-emitting units and the plurality of row and column interpolation detection units.

21. The lidar as described in claim 19, characterized in that, The interpolation acquisition unit is suitable for performing oblique interpolation acquisition operations to obtain oblique interpolation acquisition data, and the interpolation acquisition data also includes the oblique interpolation acquisition data; The detector selector includes a slant selection element, which is adapted to determine a plurality of slant interpolation detector units, wherein the direction in which the slant interpolation detector unit points to the corresponding calibration detector unit intersects both the row direction and the column direction; The processor acquires the oblique interpolation acquisition data through the plurality of light-emitting units and the plurality of oblique interpolation detection units.

22. The lidar as described in claim 18 or 19, characterized in that, The detector includes a single-photon avalanche diode.

23. The lidar as described in claim 17, characterized in that, The light-emitting unit used in the process of the fixed value acquisition unit to perform the fixed value acquisition operation is the calibration light-emitting unit; The interpolation acquisition unit further includes: a light emission selector, which is adapted to determine multiple interpolation light emission units based on the multiple interpolation detection units, and the multiple interpolation light emission units correspond one-to-one with the calibration light emission units; The processor acquires the interpolated data through the plurality of interpolation light-emitting units and the plurality of interpolation detection units.

24. The lidar as described in claim 23, characterized in that, Each of the calibration light-emitting units includes multiple emitters, and each of the interpolation light-emitting units includes multiple emitters; The emitters in the interpolation light-emitting unit are not the same as the emitters in the corresponding calibration light-emitting unit.

25. The lidar as described in claim 24, characterized in that, The transmitter includes a vertical cavity surface transmitter.

26. The lidar as described in claim 17, characterized in that, The lidar further includes a scanning device, which is adapted to deflect the light generated by the light-emitting unit around the rotation axis to the detection angle by rotating or swinging. The fixed-value acquisition unit is also suitable for determining the detection angle, and the fixed-value acquisition data corresponds to the detection angle; The interpolation acquisition unit is also suitable for determining the detection angle, and the interpolation acquisition data corresponds to the detection angle.

27. The lidar as described in claim 26, characterized in that, The direction of the rotating shaft parallel detection array is either the row direction or the column direction; The scanning process of the scanning device includes: a fixed-value scanning process; The fixed-value scanning process includes: At the i-th detection angle, the fixed-value acquisition unit performs a fixed-value acquisition operation; At the (i+1)th detection angle, the interpolation acquisition unit performs row and column interpolation acquisition operation, and the direction in which the row and column interpolation detection unit points to the corresponding calibration detection unit is parallel to the direction of the rotation axis.

28. The lidar as described in claim 27, characterized in that, The scanning process of the scanning device further includes an interpolation scanning process, which is located between two adjacent fixed-value scanning processes; The interpolation scanning process includes: At the i-th detection angle, the interpolation acquisition unit performs row and column interpolation acquisition operation, and the direction in which the row and column interpolation detection unit points to the corresponding calibration detection unit is perpendicular to the direction of the rotation axis. At the (i+1)th detection angle, the interpolation acquisition unit performs oblique interpolation acquisition.

29. The lidar as described in claim 26, characterized in that, The scanning process of the scanning device includes: a first fixed-value scanning process, a first interpolation scanning process, a second fixed-value scanning process, and a second interpolation scanning process; The first fixed-value scanning process includes: at the i-th detection angle, the fixed-value acquisition unit performs the fixed-value acquisition operation; at the (i+1)-th detection angle, the interpolation acquisition unit performs row and column interpolation acquisition operation. The first interpolation scanning process includes: at the i-th detection angle, the interpolation acquisition unit performs row and column interpolation acquisition operation; at the i+1-th detection angle, the interpolation acquisition unit performs oblique interpolation acquisition operation. The second fixed-value scanning process includes: at the i-th detection angle, the interpolation acquisition unit performs row and column interpolation acquisition operation; at the (i+1)-th detection angle, the fixed-value acquisition unit performs the fixed-value acquisition operation. The second interpolation scanning process includes: at the i-th detection angle, the interpolation acquisition unit performs oblique interpolation acquisition operation; at the i+1-th detection angle, the interpolation acquisition unit performs row and column interpolation acquisition operation. Furthermore, during the second fixed-value scanning process, in the row and column interpolation acquisition operation performed at the i-th detection angle, the direction in which the row and column interpolation detection unit points to the corresponding calibration detection unit is the same as the direction in which the row and column interpolation detection unit points to the corresponding calibration detection unit during the row and column interpolation acquisition operation performed at the i+1-th detection angle in the first fixed-value scanning process. During the second interpolation scan, in the row and column interpolation acquisition operation performed at the (i+1)th detection angle, the direction in which the row and column interpolation detection unit points to the corresponding calibration detection unit is the same as the direction in the row and column interpolation acquisition operation performed at the (i)th detection angle during the first interpolation scan. Similarly, during the second interpolation scan, in the oblique interpolation acquisition operation performed at the (i)th detection angle, the direction in which the oblique interpolation detection unit points to the corresponding calibration detection unit is the same as the direction in the oblique interpolation acquisition operation performed at the (i+1)th detection angle during the first interpolation scan.

Images