Method for detecting a laser radar and laser radar

Abstract

A detection method of a laser radar and the laser radar, the emission module of the laser radar comprises a plurality of emission units, the detection module of the laser radar comprises a plurality of detection units corresponding to the plurality of emission units, the detection unit comprises a plurality of detection groups, the detection method comprises: sampling the signal output by each detection group to obtain the corresponding sampling result of each detection group; and obtaining a point cloud map according to the sampling results corresponding to all detection groups. The technical scheme can realize point cloud encryption without increasing the emission energy of the laser radar, increasing the receiving area of the detector, or changing the optical-mechanical structure of the laser radar.

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 and small environmental interference, 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] The laser radar emits detection light to the three-dimensional space, the detection light is reflected by the target to be detected to form a return signal, and the laser radar receives the return signal to obtain a point cloud map. The point cloud density of the point cloud map is an important index parameter for measuring the performance of the laser radar, and improving the point cloud density helps to accurately identify the target.

[0004] However, the existing point cloud encryption method has the problems of increasing the physical size of the radar, leading to high cost of the laser radar, complex optical-mechanical structure and other problems, thereby making it difficult to encrypt the point cloud of the laser radar, and causing the problem of low point cloud density of the laser radar. SUMMARY

[0005] The problem solved by the present application is to provide a detection method of a laser radar and a laser radar to improve the point cloud density.

[0006] To solve the above problems, the present application provides a detection method of a laser radar, the emission module of the laser radar includes a plurality of emission units, the detection module of the laser radar includes a plurality of detection units, the plurality of detection units correspond one-to-one to the plurality of emission units, the detection unit includes a plurality of detection groups, the detection method includes: sampling the signal output by each detection group to obtain the corresponding sampling result of each detection group; obtaining a point cloud map according to the sampling results corresponding to all detection groups.

[0007] Optionally, it further includes: after obtaining the sampling result corresponding to each detection group, before obtaining the point cloud map, combining the sampling results corresponding to the adjacent detection groups to obtain mixed channel data, the plurality of detection groups belong to different detection units; in the step of obtaining the point cloud map, the point cloud map is obtained based on the mixed channel data.

[0008] Optionally, the detection group includes a plurality of detectors; each detector is an independently addressable and independently controllable detector.

[0009] Optionally, in the step of combining the sampling results corresponding to the adjacent multiple detection groups, the multiple detection groups combined for obtaining the different mixed channel data comprise the same number of detectors.

[0010] Optionally, the detector comprises a single photon avalanche diode.

[0011] Optionally, the step of sampling the signal output by each detection group comprises: histogram sampling the signal output by each detection group, and the obtained sampling result is a histogram corresponding to each detection group; in the step of combining the sampling results corresponding to the adjacent multiple detection groups, the histograms corresponding to each detection group are accumulated.

[0012] Optionally, the detection unit comprises a row of b columns of detectors, where a and b are positive integers, and at least one of a and b is greater than 1; in the step of combining the sampling results corresponding to the adjacent multiple detection groups, the multiple detection groups combined comprise a row of b columns of detectors.

[0013] Optionally, the multiple detection units are arranged along a first direction.

[0014] Optionally, in the step of combining the sampling results corresponding to the adjacent multiple detection groups, the sampling results corresponding to the multiple detection groups adjacent along the first direction are combined.

[0015] Optionally, the laser radar comprises a scanning module, the scanning module causes the detection light generated by the emitting module to rotate around a rotation axis to realize scanning; the first direction corresponds to the direction of the rotation axis.

[0016] Optionally, the laser radar is a whole rotation type laser radar or a rotating mirror type laser radar.

[0017] Optionally, the detection unit comprises multiple rows and multiple columns of detection groups; the step of obtaining the mixed channel data comprises: combining the sampling results corresponding to the adjacent multiple rows of detection groups to obtain row mixed channel data, the multiple rows of detection groups belong to different detection units arranged along a row direction; and combining the sampling results corresponding to the adjacent multiple columns of detection groups to obtain column mixed channel data, the multiple columns of detection groups belong to different detection units arranged along a column direction.

[0018] Optionally, further comprising: combining the sampling results corresponding to the multiple detection groups in the same detection unit to obtain net channel data; and obtaining a point cloud map based on the net channel data and the mixed channel data.

[0019] Correspondingly, the application also provides a laser radar, comprising: a transmitting module, the transmitting module comprising: a plurality of transmitting units; a detecting module, the detecting module comprising: a plurality of detecting units, the plurality of detecting units corresponding to the plurality of transmitting units one by one, the detecting unit comprising: a plurality of detecting groups; a processing device, the processing device being suitable for implementing the detecting method of the application.

[0020] In addition, the application also provides a laser radar, the transmitting module of the laser radar comprising: a plurality of transmitting units, the detecting module of the laser radar comprising: a plurality of detecting units, the plurality of detecting units corresponding to the plurality of transmitting units one by one, the detecting unit comprising: a plurality of detecting groups; the laser radar further comprising: a sampling module, the sampling module being suitable for sampling the signal output by each detecting group to obtain the corresponding sampling result of each detecting group; a mapping module, the mapping module being suitable for obtaining a point cloud map according to the sampling results corresponding to all detecting groups.

[0021] Optionally, the laser radar further comprises: a combination module, the combination module being suitable for combining the sampling results corresponding to a plurality of adjacent detecting groups to obtain mixed channel data, the plurality of detecting groups belonging to different detecting units; and the mapping module obtains the point cloud map based on the mixed channel data.

[0022] Optionally, the detecting group comprises: a plurality of detectors; and each detector is an independently-addressed and independently-controlled detector.

[0023] Optionally, the combination module obtains a plurality of detecting groups combined by different mixed channel data, and the plurality of detecting groups comprise the same number of detectors.

[0024] Optionally, the detector comprises a single-photon avalanche diode.

[0025] Optionally, the detecting unit comprises: a row of b columns of detectors, wherein a and b are both positive integers, and at least one of a and b is greater than 1; and the plurality of detecting groups combined by the combination module comprise: a row of b columns of detectors.

[0026] Optionally, the plurality of detecting units are arranged along a first direction.

[0027] Optionally, the combination module combines the sampling results corresponding to a plurality of adjacent detecting groups along the first direction.

[0028] Optionally, the laser radar comprises a scanning module, the scanning module enabling the detecting light generated by the transmitting module to rotate around a rotation shaft to realize scanning; and the first direction corresponds to the direction of the rotation shaft.

[0029] Optionally, the laser radar is a whole-rotation laser radar or a rotating mirror laser radar.

[0030] Optionally, the detection unit comprises a plurality of rows of detection groups; the combination module comprises a row combination unit, the row combination unit being adapted to combine the sampling results corresponding to adjacent rows of detection groups to obtain row mixed channel data, the rows of detection groups belonging to different detection units arranged along a row direction; and a column combination unit, the column combination unit being adapted to combine the sampling results corresponding to adjacent columns of detection groups to obtain column mixed channel data, the columns of detection groups belonging to different detection units arranged along a column direction.

[0031] Compared with the prior art, the technical scheme of the present application has the following advantages:

[0032] In the technical scheme of the present application, the plurality of detection units and the plurality of emission units correspond one-to-one to constitute physical channels; the signals output by each detection group are sampled to obtain sampling results, and a point cloud map is obtained based on the sampling results of all detection groups. The one-to-one corresponding detection units and emission units constitute physical channels, that is, the corresponding detection units and emission units have the same field of view in the far field, so the number of detection units is equal to the number of emission units; and the detection unit comprises a plurality of detection groups, so the number of detection groups is necessarily greater than the number of detection units and also greater than the number of emission units, and the point cloud map obtained based on the sampling results of all detection groups has a greater density, that is, the obtained point cloud map realizes point cloud encryption. Therefore, the method of obtaining a point cloud map based on the sampling results of signals output by each detection group can realize point cloud encryption without increasing the emission energy of the laser radar, without increasing the receiving area of the detector, and without changing the optical-mechanical structure of the laser radar.

[0033] In the optional scheme of the present application, after obtaining the sampling results corresponding to each detection group, the sampling results corresponding to a plurality of adjacent detection groups are combined to obtain mixed channel data before obtaining the point cloud map, the plurality of detection groups belonging to different detection units. The obtaining of the mixed channel data is equivalent to an increase in the number of detection units, and the mixed channel data is encrypted based on real sampling waveforms, which can effectively enhance the detection capability for small signals, specifically, can effectively enhance the detection of small signals at the middle position of the corresponding field of view of adjacent physical channels, and is beneficial to improving the detection capability.

[0034] In an optional embodiment of the present invention, the detection unit comprises: a rows and b columns of detectors, where a and b are both positive integers, and at least one of a and b is greater than 1; in the step of combining the sampling results corresponding to multiple adjacent detection groups, the combined multiple detection groups comprise: a rows and b columns of detectors. During the combination of sampling results, the number and area of ​​detectors in the combined multiple detection groups are equal to the number and area of ​​detectors in the detection unit, which effectively guarantees the sampling area and is beneficial to ensuring the distance measurement capability. In other words, the acquisition of the mixed channel data improves the detection capability without affecting the distance measurement performance. Attached Figure Description

[0035] Figure 1 This is a structural diagram of a lidar transmitting module and a detection module;

[0036] Figure 2 yes Figure 1 The diagram shows the structure of the SPAD array in the detection module of the lidar.

[0037] Figure 3 yes Figure 1 The two physical channels in the lidar shown;

[0038] Figure 4 This is a flowchart illustrating an embodiment of the lidar detection method of the present invention;

[0039] Figure 5 yes Figure 4 The diagram shows the structural schematics of the transmitting and detecting modules of the lidar used in the embodiment of the lidar detection method shown.

[0040] Figure 6 yes Figure 5 A schematic diagram of the structure of two detection units in an embodiment of the lidar detection method shown;

[0041] Figure 7 yes Figure 6 A schematic diagram showing the combination of mixed channel data obtained by two detection units in an embodiment of the lidar detection method;

[0042] Figure 8 yes Figure 6 The diagram shows a combination of two detection units obtaining one net channel data in an embodiment of the lidar detection method.

[0043] Figure 9 yes Figure 6 A schematic diagram showing the combination of two detection units obtaining another net channel data in an embodiment of the lidar detection method;

[0044] Figure 10 yes Figure 6The light path schematic diagram of the point cloud encryption in the vertical direction of the laser radar detection method embodiment shown in the figure;

[0045] Figure 11 The structure schematic diagram of the two detection units in another embodiment of the laser radar detection method of the application is shown in the figure;

[0046] Figure 12 The schematic diagram of the three detection units in another embodiment of the laser radar of the application is shown in the figure;

[0047] Figure 13 The structure schematic diagram of the two detection units in another embodiment of the laser radar detection method of the application is shown in the figure;

[0048] Figure 14 The combination schematic diagram of the two detection units obtaining a mixed channel data in the laser radar detection method embodiment shown in the figure is shown in the figure; Figure 13

[0049] The combination schematic diagram of the two detection units obtaining another mixed channel data in the laser radar detection method embodiment shown in the figure is shown in the figure; Figure 15 Figure 13 The combination schematic diagram of the two detection units obtaining a net channel data in the laser radar detection method embodiment shown in the figure is shown in the figure;

[0050] Figure 16 Figure 13 The combination schematic diagram of the two detection units obtaining another net channel data in the laser radar detection method embodiment shown in the figure is shown in the figure;

[0051] Figure 17 The structure schematic diagram of the two detection units in another embodiment of the laser radar detection method of the application is shown in the figure; Figure 13

[0052] The structure schematic diagram of the detection group in the two detection units in the laser radar detection method embodiment shown in the figure is shown in the figure; Figure 18

[0053] The combination schematic diagram of the two detection units obtaining a mixed channel data in the laser radar detection method embodiment shown in the figure is shown in the figure; Figure 19 Figure 18 The combination schematic diagram of the two detection units obtaining a net channel data in the laser radar detection method embodiment shown in the figure is shown in the figure;

[0054] Figure 20 Figure 18 The combination schematic diagram of the two detection units obtaining another net channel data in the laser radar detection method embodiment shown in the figure is shown in the figure;

[0055] Figure 21 The combination schematic diagram of the two detection units obtaining another net channel data in the laser radar detection method embodiment shown in the figure is shown in the figure; Figure 18

[0056] The combination schematic diagram of the two detection units obtaining another net channel data in the laser radar detection method embodiment shown in the figure is shown in the figure; Figure 22 Figure 18 ​​​​​A combination diagram in which two detection units in the illustrated laser radar detection method embodiment obtain another net channel data;

[0057] Figure 23 is Figure 18 A light path diagram in which the laser radar detection method embodiment shown in the figure is encrypted in the horizontal direction.

[0058] Figure 24 is the functional block diagram of an embodiment of the laser radar. DETAILED DESCRIPTION

[0059] As can be known from the background art, the laser radar in the prior art has the problem of low point cloud density. Now the reasons for the low point cloud density will be analyzed in combination with a detection method of a laser radar:

[0060] Reference Figure 1 , a structure diagram of a laser radar emitting module and a detection module is shown.

[0061] The emitting module 10 of the laser radar comprises a plurality of emitting units 11; the detection module 20 of the laser radar comprises a plurality of detection units 21, and the plurality of emitting units 11 and the plurality of detection units 21 correspond one by one. The corresponding emitting unit 11 and detection unit 21 have the same field of view in the far field, so that a physical channel is formed between the corresponding emitting unit 11 and detection unit 21.

[0062] Specifically, Figure 1 The laser radar shown in the figure comprises eight physical channels, i.e. the emitting module 10 comprises eight emitting units 11, which are the first, second, third, …, and eighth emitting units, respectively; the detection module 20 comprises eight detection units 21, which are the first, second, third, …, and eighth detection units, respectively; and the eight emitting units 11 and the eight detection units 21 correspond one by one. The detection light generated by the emitting unit 11i of the ith channel is reflected by the external obstacle of the radar to form a return wave, and the return wave is received by the detection unit 21i of the ith channel. Among them, the detection unit 21 comprises a plurality of detectors 22. Specifically, the detector 22 can comprise a SPAD device (single photon avalanche diode).

[0063] Reference Figure 2 , a structure diagram of a SPAD array in the detection module of the laser radar is shown. Figure 1

[0064] ​Each detection unit includes several detectors. The composition of one detector is shown in the dashed box 23, including a SPAD 231 and a quenching resistor 232. Each detector can be independently addressed and controlled, that is, each detector can be powered on and signal generated by the SPAD on a specific address line can be read out independently.

[0065] In the laser radar shown in FIG. 1, two physical channels are shown. Figure 1 In the laser radar shown in FIG. 1, two physical channels are shown.

[0066] In the laser radar shown in FIG. 1, two physical channels are shown. Figure 3 In the laser radar shown in FIG. 1, two physical channels are shown. Figure 1 In the laser radar shown in FIG. 1, two physical channels are shown.

[0067] Figure 3 The physical channel ch1 and the physical channel ch2 are shown. When the laser radar performs detection, the detection module receives the echo and performs histogram sampling. According to the output signals of the detection unit of the physical channel ch1 and the detection unit of the physical channel ch2 (that is, the cumulative results of all SPADs in the detection unit), two histograms, that is, the histogram hist1 and the histogram hist2, can be obtained. The histogram hist1 and the histogram hist2 correspond to the detection results of the physical channel ch1 and the physical channel ch2 respectively, and at this time, the two physical channels correspond to the real physical channel.

[0068] It can be seen that the number of physical channels constructed by one-to-one correspondence between the emission unit and the detection unit of the laser radar is limited.

[0069] To encrypt the point cloud, there are several ways. One way is to increase the number of physical channels, that is, to increase the number of emission units and detection units. However, this will increase the physical size of the laser radar and cause the cost of the laser radar to rise. Another way is to directly interpolate and encrypt the point cloud data. However, since the interpolation is based on the point cloud data, the point cloud interpolation may not be able to reflect the actual situation of the weak signal or small target.

[0070] To solve the technical problem, the application provides a detection method of a laser radar. The emission module of the laser radar includes a plurality of emission units. The detection module of the laser radar includes a plurality of detection units. The plurality of detection units correspond to the plurality of emission units one-to-one. The detection unit includes a plurality of detection groups. The detection method includes sampling the signal output by each detection group to obtain the corresponding sampling result of each detection group. According to the sampling results of all detection groups, a point cloud map is obtained.

[0071] The technical scheme of the application can encrypt the point cloud without increasing the emission energy of the laser radar, without increasing the receiving area of the detector, and without changing the optical-mechanical structure of the laser radar.

[0072] In order to make the above objectives, features and advantages of the present application more obvious and comprehensible, specific embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0073] Reference Figure 4 and Figure 5 wherein Figure 4 is a flowchart of an embodiment of a detection method of a laser radar of the present application; Figure 5 is Figure 4 is a structural diagram of a transmitting module and a detection module of a laser radar used in the laser radar detection method embodiment shown in FIG. 2.

[0074] It should be noted that the transmitting module 110 of the laser radar includes a plurality of transmitting units 111, and the detection module 120 of the laser radar includes a plurality of detection units 121, the plurality of detection units 121 correspond to the plurality of transmitting units 111 one by one, and the detection unit 121 includes a plurality of detection groups (not shown in the figure).

[0075] The transmitting module 110 of the laser radar is suitable for generating detection light, and the transmitting module 110 includes a plurality of transmitting units 111, each of which generates a line of detection light. The detection light generated by each transmitting unit 111 covers a certain field of view range in the far field, that is, each transmitting unit 111 corresponds to a field of view range in the far field.

[0076] The detection module 120 of the laser radar is suitable for receiving echo light formed after the detection light is reflected. The detection module 120 includes a plurality of detection units 121. Each detection unit 121 can accept echo light within a certain field of view range in the far field, that is, each detection unit 121 also corresponds to a field of view range in the far field.

[0077] The plurality of detection units 121 correspond to the plurality of transmitting units 111 one by one, that is, the corresponding detection unit 121 and the transmitting unit 111 correspond to the same field of view in the far field. Therefore, the corresponding detection unit 121 and the transmitting unit 111 constitute a physical channel.

[0078] Specifically, Figure 5 The transmitting module 110 and the detection module 120 of the laser radar shown in FIG. 1 include 8 physical channels, that is, the transmitting module 110 includes 8 transmitting units 111, which are respectively the first, second, third, …, and eighth transmitting units, and the detection module 120 includes 8 detection units 121, which are respectively the first, second, third, …, and eighth detection units.

[0079] The eight emission units 111 correspond to the eight detection units 121 one by one. The detection light generated by the emission unit 111i of the ith channel is reflected by the external obstacle to form a return wave, and the return wave is received by the detection unit 121i of the ith channel.

[0080] Specifically, the detection unit 121 includes a plurality of detectors 122, each of which is an independently addressable and independently controllable detector, that is, each of which can be powered on and independently extracted. In some embodiments of the present application, the detector 122 can include a single-photon avalanche diode (SPAD device).

[0081] The detection unit 121 includes a plurality of detection groups. Each of the detection groups includes a plurality of the detectors 122. Specifically, as shown in the embodiment, Figure 5 The detection unit 121 includes two detection groups, detection group 121a and detection group 121b.

[0082] It should be noted that, as shown in Figure 5 In some embodiments of the present application, the plurality of detection units 121 are arranged along the first direction, that is, the plurality of detection units 121 form a one-dimensional array along the first direction.

[0083] In addition, in order to realize the scanning of the full field of view, in some embodiments of the present application, the laser radar includes a scanning module (not shown in the figure), which makes the detection light generated by the emission module 110 rotate around a rotation axis to realize scanning; the first direction corresponds to the direction of the rotation axis. Specifically, the scanning module is suitable for rotating the detection light in the horizontal direction, so the rotation axis is perpendicular or approximately perpendicular to the horizontal plane, so the first direction is parallel to the straight line on which the rotation axis is located.

[0084] In some embodiments of the present application, the laser radar is a whole-rotation laser radar, and the rotation axis is the rotation axis of the laser radar; in another embodiment of the present application, the laser radar is a rotating mirror laser radar, and the rotation axis is the rotation axis of the rotating mirror.

[0085] As shown in Figure 4 The detection method includes the following steps: first, step S110 is performed, the signals output by each detection group are sampled, and the sampling results corresponding to each detection group are obtained.

[0086] In some embodiments of the present application, the detector includes a single-photon avalanche diode. Based on the signal acquisition principle of the single-photon avalanche diode, the step of sampling the signals output by each detection group includes: histogram sampling is performed on the signals output by each detection group, and the obtained sampling results are the histograms corresponding to each detection group.

[0087] In combination with reference Figure 6 , it is shown Figure 5 The schematic diagram of two detection units in the laser radar detection method embodiment shown in the figure.

[0088] Figure 6 The detection unit 121i and the detection unit 121(i+1) of the laser radar are shown, each of which includes two detection groups. The detection unit 121i includes the detection group 121ia and the detection group 121ib, and the detection unit 121(i+1) includes the detection group 121(i+1)a and the detection group 121(i+1)b.

[0089] The signal output by the detection group 121ia is histogram sampled, and the sampling result obtained is the histogram hist_ia corresponding to the detection group 121ia; the signal output by the detection group 121ib is histogram sampled, and the sampling result obtained is the histogram hist_ib corresponding to the detection group 121ib; the signal output by the detection group 121(i+1)a is histogram sampled, and the sampling result obtained is the histogram hist_(i+1)a corresponding to the detection group 121(i+1)a; the signal output by the detection group 121(i+1)b is histogram sampled, and the sampling result obtained is the histogram hist_(i+1)b corresponding to the detection group 121(i+1)b.

[0090] In combination with reference Figure 4 After obtaining the sampling result corresponding to each detection group, step S120 is performed to obtain a point cloud map according to the sampling results corresponding to all detection groups.

[0091] The plurality of detection units correspond one-to-one to the plurality of emission units to form physical channels, that is, the number of detection units is equal to the number of emission units, and the detection unit includes a plurality of detection groups, so the number of detection groups is multiplied by the number of emission units. Therefore, the point cloud density of the point cloud map obtained based on the sampling results corresponding to all detection groups is necessarily greater than the point cloud density of the point cloud map obtained based on the physical channels, that is, the method of obtaining a point cloud map based on the sampling results of the signals output by each detection group can realize point cloud encryption without increasing the emission energy of the laser radar, without increasing the receiving area of the detector, and without changing the optical-mechanical structure of the laser radar.

[0092] As Figure 4 shown, after obtaining the sampling result corresponding to each detection group, step S120 is performed to obtain a point cloud map, and the detection method further includes: performing step S131 to combine the sampling results corresponding to a plurality of adjacent detection groups to obtain mixed channel data, and the plurality of detection groups belong to different detection units.

[0093] The mixed channel data is obtained based on combination of sampling results of the adjacent multiple detection groups, the obtaining of the mixed channel data is equivalent to increase of the number of detection units, and the mixed channel data obtained based on the real sampling waveform can not only encrypt the point cloud diagram, but also effectively enhance the detection capability of small signals, effectively enhance the detection capability of small signals in the middle position of the corresponding field of view of adjacent physical channels, and is beneficial to improve the detection capability.

[0094] It should be noted that the multiple detection groups belong to different detection units, that is, part of the multiple detection groups belong to one detection unit, and part of the multiple detection groups belong to another detection unit. Moreover, the multiple detection groups are adjacent detection groups, so the multiple different detection units to which the multiple detection groups belong are also adjacent detection units.

[0095] In some embodiments of the present application, in the step of combining the sampling results corresponding to the adjacent multiple detection groups, the multiple detection groups belong to 2 adjacent detection units. That is, part of the multiple detection groups belong to one detection unit, and the remaining part of the multiple detection groups belong to another adjacent detection unit.

[0096] Specifically, in some embodiments of the present application, the signals output by each detection group are histogram sampled to obtain histogram sampling results, so in the step of combining the sampling results corresponding to the adjacent multiple detection groups, the histograms corresponding to each detection group are accumulated.

[0097] Combined with reference Figure 7 , a schematic diagram of the mixed channel data obtained in the laser radar detection method embodiment shown in Figure 6

[0098] As described above, the detection unit 121i including the detection group 121ia and the detection group 121ib and the detection unit 121(i+1) including the detection group 121(i+1)a and the detection group 121(i+1)b can obtain 4 histograms after sampling, respectively, which are histogram hist_ia, histogram hist_ib, histogram hist_(i+1)a and histogram hist_(i+1)b.

[0099] In some embodiments of the present application, in the step of combining the sampling results corresponding to the adjacent multiple detection groups, the mixed channel data ch_i(i+1) is the accumulation of the histogram hist_ib of the detection group 121ib in the detection unit 121i and the histogram hist_(i+1)a of the detection group 121(i+1)a in the detection unit 121(i+1) (as shown in Figure 7 ​ch_i(i+1) = hist_ib+hist_(i+1)a.

[0100] It should be noted that, as mentioned above, in some embodiments of the present application, the plurality of detection units 121 are arranged along the first direction. Therefore, in the step S131 of combining the sampling results corresponding to the adjacent detection groups, the sampling results corresponding to the adjacent detection groups along the first direction are combined.

[0101] With reference to Figure 4 , the detection method further comprises: performing step S132, combining the sampling results corresponding to the detection groups in the same detection unit to obtain the net channel data.

[0102] With reference to Figure 8 and Figure 9 , in the step S132 of combining the sampling results corresponding to the detection groups in the same detection unit, the histogram hist_ia of the detection group 121ia and the histogram hist_ib of the detection group 121ib in the detection unit 121i are accumulated to obtain the net channel data ch_i (as shown in the cross-line filling in Figure 8 , i.e. ch_i = hist_ia+hist_ib; the histogram hist_(i+1)a of the detection group 121(i+1)a and the histogram hist_(i+1)b of the detection group 121(i+1)b in the detection unit 121(i+1) are accumulated to obtain the net channel data ch_(i+1) (as shown in the cross-line filling in Figure 9 , i.e. ch_(i+1) = hist_(i+1)a+hist_(i+1)b. The net channel data is the data output by the detection unit corresponding to the transmission unit.

[0103] When a small target is located between the field of view corresponding to the detection unit 121i and the field of view corresponding to the detection unit 121(i+1), in the sampling process of the net channel data ch_i and the net channel data ch_(i+1), the echo of the complete target cannot be collected, so the signal corresponding to the small target in the net channel data ch_i and the net channel data ch_(i+1) may not exceed the detection threshold, i.e. the small target cannot be detected in the net channel data ch_i and the net channel data ch_(i+1). However, in the sampling process of the mixed channel data ch_i(i+1), the echo of the complete target can be collected, so the possibility that the signal corresponding to the small target exceeds the detection threshold is greatly improved, i.e. the possibility that the small target is found is greatly improved.

[0104] With reference to Figure 4After obtaining the sampling results, step S120 is executed to obtain a point cloud map based on all the sampling results. Specifically, in some embodiments of the present invention, the sampling results corresponding to multiple adjacent detection groups are combined to obtain mixed channel data. Therefore, in step S120, the point cloud map is obtained based on the mixed channel data.

[0105] Furthermore, in some embodiments of the present invention, the sampling results corresponding to the detection groups of the same detection unit are combined to obtain net channel data; therefore, in the step of executing step S120 to obtain the point cloud map, the point cloud map is obtained based on the net channel data and the mixed channel data.

[0106] Reference Figure 7 to Figure 9 The detection unit 121i, comprising detection groups 121ia and 121ib, and the detection unit 121(i+1), comprising detection groups 121(i+1)a and 121(i+1)b, ​​can, through arrangement and combination, obtain two net channel data and one mixed channel data, namely net channel data ch_i and net channel data ch_(i+1) and mixed channel data ch_i(i+1). Compared with the existing technical solution where detection units and transmission units constitute physical channels, the number of obtained channel data increases from the existing two to three, meaning that obtaining the mixed channel data is equivalent to increasing the number of detection units. Therefore, by setting up detection groups and combining mixed channel data and net channel data, it is possible to densify point clouds without increasing the number of physical channels or the optical-mechanical complexity of the lidar.

[0107] Therefore, as Figure 10 As shown, by combining the corresponding sampling results of multiple detection groups arranged along the vertical direction (i.e., the direction parallel to the rotation axis), mixed channel data is obtained. The net channel data obtained by combining the sampling results of multiple detection groups in the same detection unit not only achieves point cloud encryption without increasing the laser radar emission energy, increasing the detector receiving area, changing the laser radar optomechanical structure, or increasing the scanning frequency, but also effectively enhances the detection of small signals in the middle position of the field of view of adjacent physical channels (the dashed box in the figure represents the two mixed channels composed of detection groups), which is beneficial to improving the detection capability.

[0108] Specifically, the lidar has N physical channels, meaning N transmitting units and N detection units correspond one-to-one to form a physical channel. Each detection unit 121 includes two detection groups. Therefore, the N physical channels can obtain N net channel data and (N-1) mixed channel data. Thus, in step S120, the point cloud map is obtained based on (2*N-1) channel data.

[0109] It should be noted that in the foregoing embodiments, each detection unit 121 includes two detection groups, and each detection group includes an equal number of detectors. In the step of combining the sampling results corresponding to multiple adjacent detection groups, a half-channel accumulation method is used for combination. However, this configuration of the detection groups is only an example; in other embodiments of the present invention, the detection groups may also employ other configuration methods.

[0110] refer to Figure 11 The diagram shows a schematic of two detection units in another embodiment of the lidar detection method of the present invention.

[0111] The lidar comprises detection units 221i and 221(i+1), each of which includes two detection groups. Within the same detection unit, different detection groups contain different numbers of detectors; that is, the number of detectors in detection group 221ia and detection group 221ib in detection unit 221i are not equal, and the number of detectors in detection group 221(i+1)a and detection group 221(i+1)b in detection unit 221(i+1) is not equal.

[0112] In some embodiments of the present invention, the detection unit includes: a rows and b columns of detectors, where a and b are both positive integers, and at least one of a and b is greater than 1; in the step of combining the sampling results corresponding to multiple adjacent detection groups, the combined multiple detection groups include: a rows and b columns of detectors. During the process of obtaining the mixed channel data, ensuring that the combined detection groups have the same detector arrangement as the detection unit guarantees the sampling area, thereby ensuring the lateral telemetry capability.

[0113] like Figure 11 As shown, in the step of combining the sampling results corresponding to multiple adjacent detection groups, the physical channels are accumulated in a 3:5 ratio, that is, one channel selects 3 / 8 of the quantity for accumulation, and the other channel selects 5 / 8 of the quantity for accumulation.

[0114] Specifically, the sampling results corresponding to the detection group 221ib in detection unit 221i are combined with the sampling results corresponding to the detection group 221(i+1)a in detection unit 221(i+1). The sum of the number of detectors in the detection group 221ib and the number of detectors in the detection group 221(i+1)a is equal to the sum of the number of detectors in the detection unit 221i or the detection unit 221(i+1). Furthermore, the overall arrangement of the detectors in the combination of the detectors in the detection group 221ib and the detectors in the detection group 221(i+1)a is the same as the arrangement of the detectors in the detection unit 221i or the detection unit 221(i+1). That is, the number of rows and columns of the detectors in the combination of the detectors in the detection group 221ib and the detectors in the detection group 221(i+1)a is the same as the number of rows and columns of the detectors in the detection unit 221i or the detection unit 221(i+1).

[0115] Specifically, the detection unit 221i includes detection groups 221ia and 221ib, which, after sampling, yield two histograms: hist2_ia and hist2_ib. The detection unit 221(i+1) includes detection groups 221(i+1)a and 221(i+1)b, ​​which, after sampling, yield two histograms: hist2_(i+1)a and hist2_(i+1)b. The mixed channel data ch2_i(i+1) is the sum of the histogram hist2_ib of detection group 221ib in detection unit 221i and the histogram hist2_(i+1)a of detection group 221(i+1)a in detection unit 221(i+1), i.e., ch2_i(i+1) = hist2_ib + hist2_(i+1)a.

[0116] refer to Figure 12 The diagram shows a schematic of three detection units in another embodiment of the lidar detection method of the present invention.

[0117] In the lidar, each detection unit includes two detection groups; within the same detection unit, different detection groups include different numbers of detectors.

[0118] Specifically, the lidar includes detection unit 321i, detection unit 321(i+1), and detection unit 321(i+2) (as shown). Detection unit 321i includes detection group 321ia and detection group 321ib; detection unit 321(i+1) includes detection group 321(i+1)a and detection group 321(i+1)b; detection unit 321(i+2) includes detection group 321(i+2)a and detection group 321(i+2)b.

[0119] In some embodiments of the present application, in the step of combining the sampling results corresponding to the adjacent multiple detection groups, the multiple detection groups combined by the different mixed channel data comprise the same number of detectors. By obtaining the mixed channel data by the same number of detectors, the ranging capability of the detection method can be ensured to be stable, which is beneficial to ensuring the ranging capability.

[0120] As shown in Figure 12 , in the step of combining the sampling results corresponding to the adjacent multiple detection groups, the sampling result corresponding to the detection group 321ib in the detection unit 321i is combined with the sampling result corresponding to the detection group 321(i+1)a in the detection unit 321(i+1) (as shown by the right diagonal line filling in Figure 12 ); and the sampling result corresponding to the detection group 321(i+1)b in the detection unit 321(i+1) is combined with the sampling result corresponding to the detection group 321(i+2)a in the detection unit 321(i+2) (as shown by the left diagonal line filling in Figure 12 ). The sum of the number of detectors in the detection group 321ib and the number of detectors in the detection group 321(i+1)a is equal to the sum of the number of detectors in the detection group 321(i+1)b and the number of detectors in the detection group 321(i+2)a.

[0121] Specifically, the detection unit 321i comprises the detection group 321ia and the detection group 321ib, the detection unit 321(i+1) comprises the detection group 321(i+1)a and the detection group 321(i+1)b, and the detection unit 321(i+2) comprises the detection group 321(i+2)a and the detection group 321(i+2)b, and after sampling, six histograms, the histogram hist3_ia and the histogram hist3_ib, the histogram hist3_(i+1)a and the histogram hist3_(i+1)b, and the histogram hist3_(i+2)a and the histogram hist3_(i+2)b, can be obtained.

[0122] The mixed channel data ch3_i(i+1) is the accumulation of the histogram hist3_ib of the detection group 321ib in the detection unit 321i and the histogram hist3_(i+1)a of the detection group 321(i+1)a in the detection unit 321(i+1), that is, ch3_i(i+1)=hist3_ib+hist3_(i+1)a.

[0123] The mixed channel data ch3_(i+1)(i+2) is the accumulation of the histogram hst3_(i+1)b of the detection group 321(i+1)b in the detection unit 321(i+1) and the histogram hst3_(i+2)a of the detection group 321(i+2)a in the detection unit 321(i+2), that is, ch3_(i+1)(i+2) = hst3_(i+1)b + hst3_(i+2)a.

[0124] It should be noted that in the above embodiment, the plurality of detection groups combined by different mixed channel data belong to three continuous detection units respectively. However, in other embodiments of the present application, the plurality of detection groups combined by different mixed channel data including the same number of detectors can also belong to discontinuous detection units respectively.

[0125] It should also be noted that in the foregoing embodiment, each detection unit includes two detection groups. However, this is only an example of the arrangement of detection groups, and in other embodiments of the present application, three or even more detection groups can be arranged in each detection unit.

[0126] Reference Figure 13 to Figure 17 shows a schematic diagram of two detection units in another embodiment of the laser radar detection method of the present application.

[0127] In the laser radar, each detection unit includes three detection groups. Specifically, the laser radar includes a detection unit 421i and a detection unit 421(i+1); the detection unit 421i includes a detection group 421ia, a detection group 421ib, and a detection group 421ic; and the detection unit 421(i+1) includes a detection group 421(i+1)a, a detection group 421(i+1)b, and a detection group 421(i+1)c.

[0128] As shown in Figure 14 and Figure 15 , in the step of combining the sampling results corresponding to the adjacent plurality of detection groups, the sampling results corresponding to the detection group 421ib in the detection unit 421i and the sampling results corresponding to the detection group 421ic are combined with the sampling results corresponding to the detection group 421(i+1)a in the detection unit 421(i+1) (as shown by the cross line fillings in Figure 14 ); and the sampling results corresponding to the detection group 421ic in the detection unit 421i are combined with the sampling results corresponding to the detection group 421(i+1)a in the detection unit 421(i+1) and the sampling results corresponding to the detection group 421(i+1)b in the detection unit 421(i+1) (as shown by the cross line fillings in Figure 15 ).

[0129] Specifically, the detection unit 421i and the detection unit 421(i+1) each include three detection groups, and six histograms, i.e., a histogram hist4_ia, a histogram hist4_ib, a histogram hist4_ic, a histogram hist4_(i+1)a, a histogram hist4_(i+1)b and a histogram hist4_(i+1)c, can be obtained after sampling.

[0130] The mixed channel data ch4_i(i+1)_bca is the accumulation of the histogram hist4_ib of the detection group 421ib, the histogram hist4_ic of the detection group 421ic in the detection unit 421i and the histogram hist4_(i+1)a of the detection group 421(i+1)a in the detection unit 421(i+1), i.e., ch4_i(i+1)_bca=hist4_ib+hist4_ic+hist4_(i+1)a; and the mixed channel data ch4_i(i+1)_cab is the accumulation of the histogram hist4_ic of the detection group 421ic in the detection unit 421i, the histogram hist4_(i+1)a of the detection group 421(i+1)a and the histogram hist4_(i+1)b of the detection group 421(i+1)b in the detection unit 421(i+1), i.e., ch4_i(i+1)_cab=hist4_ic+hist4_(i+1)a+hist4_(i+1)b.

[0131] As shown in Figure 16 and Figure 17 The sampling results corresponding to the plurality of detection groups in the same detection unit are combined, and the sampling results corresponding to the detection group 421ia, the detection group 421ib and the detection group 421ic in the detection unit 421i are combined (as shown by the cross line filling in Figure 16 ), to obtain the net channel data ch4_i; and the sampling results corresponding to the detection group 421(i+1)a, the detection group 421(i+1)b and the detection group 421(i+1)c in the detection unit 421(i+1) are combined (as shown by the cross line filling in Figure 17 ), to obtain the net channel data ch4_(i+1).

[0132] The net channel data ch4_i is the accumulation of the histogram hist4_ia of the detection group 421ia, the histogram hist4_ib of the detection group 421ib and the histogram hist4_ic of the detection group 421ic in the detection unit 421i, that is, ch4_i = hist4_ia + hist4_ib + hist4_ic; and the net channel data ch4_(i+1) is the accumulation of the histogram hist4_(i+1)a of the detection group 421(i+1)a, the histogram hist4_(i+1)b of the detection group 421(i+1)b and the histogram hist4_(i+1)c of the detection group 421(i+1)c in the detection unit 421(i+1), that is, ch4_(i+1) = hist4_(i+1)a + hist4_(i+1)b + hist4_(i+1)c.

[0133] It can be seen that, in each detection unit, three detection groups are arranged, and after combining the sampling results corresponding to the adjacent detection groups, two mixed channel data can be obtained; after combining the sampling results corresponding to the detection groups in the same detection unit, two net channel data, that is, the original two physical channels, can be obtained, and four channel data can be obtained, that is, the mixed channel data is equivalent to the increase of the number of detection units. Therefore, when the laser radar has N physical channels, different combinations of the sampling results can obtain N net channel data and (2*N-2) channel data, that is, N physical channels can obtain (3*N-2) channel data to obtain a point cloud map.

[0134] By analogy, when the laser radar has N physical channels, M detection groups are arranged in each detection unit, and after combining the sampling results corresponding to the detection groups in the same detection unit, N net channel data can be obtained; after combining the sampling results corresponding to the adjacent detection groups, at most [(M-1)*(N-1)] mixed channel data can be obtained. Therefore, N physical channels can obtain M*(N-1)+1 channel data to obtain a point cloud map.

[0135] In addition, in some embodiments of the present application, the plurality of detection units are arranged along a first direction, the first direction is parallel to a straight line where a rotation shaft is located, and the rotation shaft is perpendicular or approximately perpendicular to a horizontal plane; and in the step of combining the sampling results corresponding to the adjacent detection groups, the sampling results corresponding to the adjacent detection groups along the first direction are combined, that is, in the step of combining the sampling results corresponding to the adjacent detection groups, the sampling results corresponding to the adjacent detection groups along the vertical direction are combined.

[0136] However, the above combination mode is only an example, in other embodiments of the present application, in the step of combining the sampling results corresponding to the adjacent multiple detection groups, the sampling results corresponding to the multiple detection groups adjacent in the horizontal direction are combined to improve the point cloud density in the horizontal direction.

[0137] Referring to Figure 18 to Figure 22 , a schematic diagram of two detection units in another embodiment of the laser radar detection method of the present application is shown.

[0138] As shown in Figure 18 and Figure 19 , the laser radar includes a detection unit 521i and a detection unit 521(i+1), which are arranged in the horizontal direction. The detection unit 521i includes a detection group 521ia and a detection group 521ib; the detection unit 521(i+1) includes a detection group 521(i+1)a and a detection group 521(i+1)b, that is, the detection group 521ia, the detection group 521ib, the detection group 521(i+1)a and the detection group 521(i+1)b are arranged in the horizontal direction in turn.

[0139] As shown in Figure 20 , in the step of combining the sampling results corresponding to the adjacent multiple detection groups, the sampling results corresponding to the detection group 521ib in the detection unit 521i and the sampling results corresponding to the detection group 521(i+1)a in the detection unit 521(i+1) adjacent in the horizontal direction are combined (as shown by the cross line filling in Figure 20 ).

[0140] Specifically, the detection unit 521i and the detection unit 521(i+1) each include two detection groups, and four histograms can be obtained after sampling, namely, a histogram hist5_ia, a histogram hist5_ib, a histogram hist5_(i+1)a and a histogram hist5_(i+1)b.

[0141] The mixed channel data ch5_i(i+1) is the accumulation of the histogram hist5_ib of the detection group 521ib in the detection unit 521i and the histogram hist5_(i+1)a of the detection group 521(i+1)a in the detection unit 521(i+1), that is, ch5_i(i+1)=hist5_ib+hist5_(i+1)a.

[0142] In addition, as shown in Figure 21 and Figure 22As shown, in the step of combining the sampling results corresponding to multiple detection groups in the same detection unit, the sampling results corresponding to detection group 521ia and detection group 521ib in detection unit 521i are combined (e.g., Figure 21 (As shown in the cross-line filling), to obtain the net channel data ch5_i; combine the sampling results corresponding to the detection groups 521(i+1)a and 521(i+1)b in the detection unit 521(i+1) respectively (as shown in the cross-line filling), to obtain the net channel data ch5_i; combine the sampling results corresponding to the detection groups 521(i+1)a and 521(i+1)b respectively in the detection unit 521 Figure 22 (As shown by filling the cross lines in the middle), to obtain the net channel data ch5_(i+1).

[0143] The net channel data ch5_i is the sum of the histogram hist5_ia of the detection group 521ia and the histogram hist5_ib of the detection group 521ib in the detection unit 521i, i.e., ch5_i = hist5_ia + hist5_ib; the net channel data ch5_(i+1) is the sum of the histogram hist5_(i+1)a of the detection group 521(i+1)a and the histogram hist5_(i+1)b of the detection group 521(i+1)b in the detection unit 521(i+1), i.e., ch5_(i+1) = hist5_(i+1)a + hist5_(i+1)b.

[0144] Therefore, as Figure 23 As shown, by combining the corresponding sampling results of multiple detection groups arranged along the horizontal direction (i.e., in the plane perpendicular to the rotation axis), mixed channel data is obtained. The net channel data obtained by combining the sampling results of multiple detection groups in the same detection unit not only enables point cloud encryption without increasing the laser radar emission energy, increasing the detector receiving area, changing the laser radar optomechanical structure, or increasing the scanning frequency, but also effectively enhances the detection of small signals in the middle position of the field of view of adjacent physical channels (the dashed box in the figure represents the two mixed channels composed of detection groups), which is beneficial to improving the detection capability.

[0145] It should be noted that in the foregoing embodiments, the plurality of detection units are arranged along one of the vertical and horizontal directions, and the detection groups in the detection units are arranged along one of the vertical and horizontal directions. In the step of combining the sampling results corresponding to the adjacent plurality of detection groups, the sampling results corresponding to the adjacent plurality of detection groups are combined, wherein the plurality of detection groups are arranged along one of the vertical and horizontal directions.

[0146] In some other embodiments of the present application, the laser radar is a planar array laser radar, i.e., the laser radar detection module comprises a planar array. The plurality of detection units are arranged in an array, and the detection units comprise a plurality of rows and columns of detection groups. The step of obtaining mixed channel data comprises: combining the sampling results of adjacent rows of detection groups to obtain row mixed channel data, wherein the rows of detection groups belong to different detection units arranged in a row direction; and combining the sampling results of adjacent columns of detection groups to obtain column mixed channel data, wherein the columns of detection groups belong to different detection units arranged in a column direction. For the planar array laser radar, by obtaining the row mixed channel data and the column mixed channel data, point cloud encryption can be performed in the row direction and the column direction at the same time.

[0147] Correspondingly, the present application also provides a laser radar, which specifically comprises: a transmitting module comprising a plurality of transmitting units; a detection module comprising a plurality of detection units corresponding to the plurality of transmitting units, wherein the detection units comprise a plurality of detection groups; and a processing device adapted to implement the detection method of the present application.

[0148] Reference Figure 5 Fig. 1 shows a structural schematic diagram of a transmitting module and a detection module of an embodiment of the laser radar of the present application.

[0149] The transmitting module 110 of the laser radar comprises a plurality of transmitting units 111, and the detection module 120 of the laser radar comprises a plurality of detection units 121 corresponding to the plurality of transmitting units 111, wherein the detection units 121 comprise a plurality of detection groups (not shown in the figure).

[0150] The plurality of detection units 121 and the plurality of transmitting units 111 correspond to each other, i.e., the corresponding detection units 121 and transmitting units 111 have the same corresponding field of view in the far field. Therefore, the corresponding detection units 121 and transmitting units 111 constitute a physical channel.

[0151] Specifically, the detection unit 121 comprises a plurality of detectors 122, and each detector 122 is an independently addressable and independently controllable detector, i.e., each detector 122 can be powered on and independently led out. In some embodiments of the present application, the detector 122 can comprise a single-photon avalanche diode (SPAD device).

[0152] The detection unit 121 comprises a plurality of detection groups. Each detection group comprises a plurality of detectors. Specifically, as shown in the embodiment of Figure 5 The detection unit 121 comprises two detection groups, i.e., a detection group 121a and a detection group 121b.

[0153] The laser radar further comprises a processing device (not shown in the figure) which is suitable for implementing the detection method of the present application. Specifically, the specific technical solutions of the processing device refer to the embodiments of the aforementioned detection method, and the present application will not be described again here.

[0154] In addition, the present application also provides a laser radar, such as Figure 5 As shown, the transmitting module 110 of the laser radar comprises a plurality of transmitting units 111, and the detection module 120 of the laser radar comprises a plurality of detection units 121 which correspond to the plurality of transmitting units 111 one by one. The detection unit 121 comprises a plurality of detection groups (not marked in the figure).

[0155] The transmitting module 110 of the laser radar is suitable for generating detection light, and the transmitting module 110 comprises a plurality of transmitting units 111, each of which generates a line of detection light. The detection light generated by each transmitting unit 111 covers a certain field of view range in the far field, that is, each transmitting unit 111 corresponds to a field of view range in the far field.

[0156] The detection module 120 of the laser radar is suitable for receiving echo light formed after the detection light is reflected. The detection module 120 comprises a plurality of detection units 121. Each detection unit 121 can accept echo light within a certain field of view range in the far field, that is, each detection unit 121 also corresponds to a field of view range in the far field.

[0157] The plurality of detection units 121 and the plurality of transmitting units 111 correspond to each other, that is, the corresponding detection unit 121 and the transmitting unit 111 correspond to the same field of view in the far field. Therefore, the corresponding detection unit 121 and the transmitting unit 111 constitute a physical channel.

[0158] Specifically, Figure 5 As shown, the transmitting module 110 and the detection module 120 of the laser radar comprise 8 physical channels, that is, the transmitting module 110 comprises 8 transmitting units 111, which are respectively the first, second, third, …, and eighth transmitting units, and the detection module 120 comprises 8 detection units 121, which are respectively the first, second, third, …, and eighth detection units.

[0159] The 8 transmitting units 111 correspond to the 8 detection units 121 one by one. The detection light generated by the transmitting unit 111i of the ith channel is reflected by the external obstacle of the laser radar to form an echo, and the echo is received by the detection unit 121i of the ith channel.

[0160] Specifically, the detection unit 121 comprises a plurality of detectors 122, each of which is an independently addressable and independently controllable detector, that is, each of which can be powered on and independently led out. In some embodiments of the present application, the detector 122 can comprise a single-photon avalanche diode (SPAD device).

[0161] The detection unit 121 comprises a plurality of detection groups. Each of the detection groups comprises a plurality of the detectors. Specifically, as shown in the embodiment, Figure 5 The detection unit 121 comprises two detection groups, namely detection group 121a and detection group 121b.

[0162] It should be noted that, as shown in the embodiment, Figure 5 In some embodiments of the present application, the plurality of detection units 121 are arranged along a first direction, that is, the plurality of detection units 121 form a one-dimensional array along the first direction.

[0163] In addition, in order to realize scanning of the full field of view, in some embodiments of the present application, the laser radar comprises a scanning module (not shown in the figure), which makes the detection light generated by the emission module 110 rotate around a rotation axis to realize scanning; the first direction corresponds to the direction of the rotation axis. Specifically, the scanning module is suitable for rotating the detection light in the horizontal direction, so the rotation axis is perpendicular or approximately perpendicular to the horizontal plane, so the first direction is parallel to the straight line on which the rotation axis lies.

[0164] In some embodiments of the present application, the laser radar is a whole-rotation laser radar, and the rotation axis is the rotation axis of the laser radar; in another embodiments of the present application, the laser radar is a rotating mirror laser radar, and the rotation axis is the rotation axis of the rotating mirror.

[0165] With reference to Figure 24 , a functional block diagram of the laser radar embodiment shown in Figure 5 is shown.

[0166] The laser radar further comprises a sampling module 630, which is suitable for sampling the signal output by each detection group to obtain a sampling result corresponding to each detection group; and a mapping module 640, which is suitable for obtaining a point cloud map according to the sampling results corresponding to all detection groups.

[0167] As described previously, in some embodiments of the present application, the detector comprises a single-photon avalanche diode. Based on the signal acquisition principle of the single-photon avalanche diode, the sampling module 630 performs histogram sampling on the signal output by each detection group, and the obtained sampling result is a histogram corresponding to each detection group.

[0168] With reference toFigure 6 , shows Figure 5 schematic diagram of two detection units in the laser radar embodiment shown.

[0169] Figure 6 The detection unit 121i and the detection unit 121(i+1) of the laser radar are shown, each of which includes two detection groups. The detection unit 121i includes the detection group 121ia and the detection group 121ib, and the detection unit 121(i+1) includes the detection group 121(i+1)a and the detection group 121(i+1)b.

[0170] The sampling module 630 performs histogram sampling on the signal output by the detection group 121ia, and the obtained sampling result is the histogram hist_ia corresponding to the detection group 121ia; the sampling module 630 performs histogram sampling on the signal output by the detection group 121ib, and the obtained sampling result is the histogram hist_ib corresponding to the detection group 121ib; the sampling module 630 performs histogram sampling on the signal output by the detection group 121(i+1)a, and the obtained sampling result is the histogram hist_(i+1)a corresponding to the detection group 121(i+1)a; the sampling module 630 performs histogram sampling on the signal output by the detection group 121(i+1)b, and the obtained sampling result is the histogram hist_(i+1)b corresponding to the detection group 121(i+1)b.

[0171] Continuing to refer to Figure 24 The mapping module 640 obtains the sampling results corresponding to all the detection groups from the sampling module 630; and the mapping module 640 obtains a point cloud map based on all the sampling results.

[0172] The plurality of detection units correspond to the plurality of emission units one by one to form physical channels, i.e., the number of detection units is equal to the number of emission units, and the detection unit includes a plurality of detection groups, so the number of detection groups is multiplied by the number of emission units. Therefore, the point cloud density of the point cloud map obtained by the mapping module 640 based on all the sampling results is bound to be greater than the point cloud density of the point cloud map obtained by the existing physical channel, i.e., the laser radar can obtain a point cloud map with higher density, without increasing the emission energy of the laser radar, without increasing the receiving area of the detector in the laser radar, and without changing the optical-mechanical structure of the laser radar.

[0173] As Figure 24As shown, in some embodiments of the present application, the laser radar further comprises a combination module 650, which is suitable for combining the sampling results corresponding to the adjacent multiple detection groups, to obtain mixed channel data, wherein the multiple detection groups belong to different detection units; and the mapping module 640 obtains the point cloud map based on the mixed channel data.

[0174] The combination module 650 can be equivalent to increasing the number of detection units; and the mixed channel data obtained by the combination module 650 can not only encrypt the point cloud map, but also effectively enhance the detection capability of small signals, effectively enhance the detection capability of small signals at the middle position of the field of view corresponding to adjacent physical channels, and be beneficial to improve the detection capability.

[0175] It should be noted that the multiple detection groups belonging to different detection units means that part of the multiple detection groups combined by the combination module 650 belong to one detection unit, and part of the multiple detection groups belong to another detection unit. Moreover, the multiple detection groups are adjacent detection groups, so the multiple different detection units to which the multiple detection groups belong are also adjacent detection units.

[0176] In some embodiments of the present application, the multiple detection groups combined by the combination module 650 belong to two adjacent detection units. That is, part of the multiple detection groups belong to one detection unit, and the remaining part of the multiple detection groups belong to another adjacent detection unit.

[0177] Specifically, in some embodiments of the present application, the sampling module 630 performs histogram sampling on the signal output by each detection group to obtain the sampling result of the histogram, so that the combination module 650 accumulates the histogram corresponding to each detection group.

[0178] With reference to Figure 7 , a schematic diagram of the mixed channel data obtained in the laser radar embodiment is shown. Figure 6

[0179] As described above, after the sampling module 630 samples the detection unit 121i including the detection group 121ia and the detection group 121ib and the detection unit 121(i+1) including the detection group 121(i+1)a and the detection group 121(i+1)b, respectively, four histograms are obtained, which are the histogram hist_ia, the histogram hist_ib, the histogram hist_(i+1)a and the histogram hist_(i+1)b.

[0180] ​In some embodiments of the present application, the combination module 650 accumulates the histogram hist ib of the detection group 121ib in the detection unit 121i and the histogram hist_(i+1)a of the detection group 121(i+1)a in the detection unit 121(i+1) (as shown in the cross-hatched filling in Figure 7 to obtain the mixed channel data ch_i(i+1), i.e., ch_i(i+1)=hist_ib+hist_(i+1)a.

[0181] It should be noted that, as mentioned above, in some embodiments of the present application, the plurality of detection units 121 are arranged along a first direction. Therefore, the combination module 650 combines the sampling results of the detection groups adjacent along the first direction.

[0182] With reference to Figure 24 , the combination module 650 is also adapted to combine the sampling results of the detection groups in the same detection unit 121 to obtain the net channel data.

[0183] With reference to Figure 8 and Figure 9 , the combination module 650 accumulates the histogram hist_ia of the detection group 121ia and the histogram hist_ib of the detection group 121ib in the detection unit 121i to obtain the net channel data ch_i (as shown in the cross-hatched filling in Figure 8 ), i.e., ch_i=hist_ia+hist_ib; the combination module 650 also accumulates the histogram hist_(i+1)a of the detection group 121(i+1)a and the histogram hist_(i+1)b of the detection group 121(i+1)b in the detection unit 121(i+1) to obtain the net channel data ch_(i+1) (as shown in the cross-hatched filling in Figure 9 ), i.e., ch_(i+1)=hist_(i+1)a+hist_(i+1)b. The net channel data is the data output by the detection unit corresponding to the emission unit.

[0184] When the small target is located between the field of view corresponding to the detection unit 121i and the field of view corresponding to the detection unit 121(i+1), the complete echo of the small target is not included in the net channel data ch_i and the net channel data ch_(i+1) obtained by the combination module 650, so the signal corresponding to the small target in the net channel data ch_i and the net channel data ch_(i+1) may not exceed the detection threshold, that is, based on the net channel data ch_i and the net channel data ch_(i+1), the laser radar cannot detect the small target. However, the mixed channel data ch_i(i+1) obtained by the combination module 650 covers the complete echo of the small target, so the possibility of the signal corresponding to the small target exceeding the detection threshold is greatly improved, that is, the possibility of the laser radar discovering the small target is greatly improved.

[0185] With reference to the foregoing Figure 24 , the mapping module 640 obtains the mixed channel data from the combination module 650, so that the mapping module 640 obtains a point cloud map based on the mixed channel data; in addition, the mapping module 640 also obtains the net channel data from the combination module 650, so that the mapping module 640 obtains a point cloud map based on the mixed channel data and the net channel data.

[0186] With reference to the foregoing Figure 7 to Figure 9 , the combination module 650 performs permutation and combination on the detection unit 121i including the detection group 121ia and the detection group 121ib and the detection unit 121(i+1) including the detection group 121(i+1)a and the detection group 121(i+1)b, so as to obtain 2 net channel data and 1 mixed channel data, that is, the combination module 650 can obtain the net channel data ch_i and the net channel data ch_(i+1) and the mixed channel data ch_i(i+1). Compared with the prior art of forming a physical channel by a detection unit and a transmission unit, the channel data of the laser radar is increased from 2 to 3, that is, the acquisition of the mixed channel data is equivalent to the increase of the number of detection units. It can be seen that the laser radar can obtain a point cloud map with higher density without increasing the number of physical channels and the complexity of the optical-mechanical system of the laser radar.

[0187] Therefore, as Figure 10As shown, the mixed channel data is obtained by combining the sampling results of the multiple detection groups arranged in the vertical direction (i.e. parallel to the direction of the rotation shaft), and the net channel data is obtained by combining the sampling results of the multiple detection groups in the same detection unit. The obtained point cloud diagram can not only realize point cloud encryption without increasing the emission energy of the laser radar, without increasing the receiving area of the detector, without changing the optical mechanical structure of the laser radar, and without improving the scanning frequency, but also effectively enhance the detection of small signals at the middle position of the adjacent physical channel corresponding field of view, which is conducive to improving the detection capability.

[0188] Specifically, the laser radar has N physical channels, i.e. N emission units and N detection units correspond to each other to form physical channels, and each detection unit 121 includes 2 detection groups. Therefore, the N physical channels can obtain N net channel data and (N-1) mixed channel data. Therefore, the mapping module 640 obtains the point cloud diagram based on (2*N-1) channel data.

[0189] It should be noted that in the foregoing embodiments, each detection unit 121 includes 2 detection groups, and the number of detectors in each detection group is equal, i.e. the combination module 650 combines in the half-channel accumulation mode. However, this combination module is only an example, and in other embodiments of the application, the combination mode of the combination module 650 can also be other modes.

[0190] Reference Figure 11 FIG. 2 shows a schematic diagram of 2 detection units in another embodiment of the laser radar.

[0191] The detection unit 221i and the detection unit 221(i+1) of the laser radar each include 2 detection groups. Different detection groups in the same detection unit include different numbers of detectors, i.e. the number of detectors in the detection group 221ia in the detection unit 221i is not equal to the number of detectors in the detection group 221ib, and the number of detectors in the detection group 221(i+1)a in the detection unit 221(i+1) is not equal to the number of detectors in the detection group 221(i+1)b.

[0192] In some embodiments of the application, the detection unit includes a row of b columns of detectors, where a and b are both positive integers, and at least one of a and b is greater than 1; and the multiple detection groups combined by the combination module 650 include a row of b columns of detectors. The detection groups combined by the combination module 650 have the same detector arrangement as the detection unit, which can ensure the sampling area and thus ensure the side detection capability of the laser radar. For example, Figure 11As shown, the combination module 650 accumulates the physical channels in a ratio of 3:5, i.e. the combination module 650 selects 3 / 8 from one channel and 5 / 8 from another channel to accumulate.

[0193] Specifically, the combination module 650 combines the sampling results corresponding to the detection group 221ib in the detection unit 221i and the sampling results corresponding to the detection group 221(i+1)a in the detection unit 221(i+1). The sum of the number of detectors in the detection group 221ib and the number of detectors in the detection group 221(i+1)a is equal to the sum of the number of detectors in the detection unit 221i or the detection unit 221(i+1), and the arrangement of the combination of the detectors in the detection group 221ib and the detectors in the detection group 221(i+1)a is also the same as the arrangement of the detection unit 221i or the detection unit 221(i+1), i.e. the number of rows and columns of the arrangement of the combination of the detectors in the detection group 221ib and the detectors in the detection group 221(i+1)a is the same as the number of rows and columns of the arrangement of the detectors in the detection unit 221i or the detection unit 221(i+1).

[0194] Specifically, the sampling module samples the detection group 221ia and the detection group 221ib in the detection unit 221i respectively to obtain two histograms, a histogram hist2_ia and a histogram hist2_ib; the sampling module samples the detection group 221(i+1)a and the detection group 221(i+1)b in the detection unit 221(i+1) respectively to obtain two histograms, a histogram hist2_(i+1)a and a histogram hist2_(i+1)b. The combination module 650 accumulates the histogram hist2_ib of the detection group 221ib in the detection unit 221i and the histogram hist2_(i+1)a of the detection group 221(i+1)a in the detection unit 221(i+1) to obtain the mixed channel data ch2_i(i+1), i.e. ch2_i(i+1)=hist2_ib+hist2_(i+1)a.

[0195] Reference Figure 12The diagram illustrates a schematic of three detection units in another embodiment of the lidar of the present invention. In the lidar, each detection unit includes two detection groups; within the same detection unit, different detection groups include different numbers of detectors. Specifically, the lidar includes detection unit 321i, detection unit 321(i+1), and detection unit 321(i+2). Detection unit 321i includes detection group 321ia and detection group 321ib; detection unit 321(i+1) includes detection group 321(i+1)a and detection group 321(i+1)b; detection unit 321(i+2) includes detection group 321(i+2)a and detection group 321(i+2)b.

[0196] In some embodiments of the present invention, the multiple detection groups obtained by the combination module 650 from different mixed channel data include the same number of detectors. The combination module 650 obtains the mixed channel data through the same number of detectors to ensure the stability of the ranging capability of the detection method and to guarantee the ranging capability.

[0197] like Figure 12 As shown, the combination module 650 combines the sampling results corresponding to the detection group 321ib in the detection unit 321i with the sampling results corresponding to the detection group 321(i+1)a in the detection unit 321(i+1) (e.g.) Figure 12 (As shown by the right diagonal fill); The combination module 650 also combines the sampling results corresponding to the detection group 321(i+1)b in the detection unit 321(i+1) with the sampling results corresponding to the detection group 321(i+2)a in the detection unit 321(i+2) (as shown by the right diagonal fill); Figure 12 (As shown by the left-hand diagonal line filling). The sum of the number of detectors in the detection group 321ib and the number of detectors in the detection group 321(i+1)a is equal to the sum of the number of detectors in the detection group 321(i+1)b and the number of detectors in the detection group 321(i+2)a.

[0198] Specifically, the detection unit 321i includes detection group 321ia and detection group 321ib, the detection unit 321(i+1) includes detection group 321(i+1)a and detection group 321(i+1)b, ​​the detection unit 321(i+2) includes detection group 321(i+2)a and detection group 321(i+2)b, and the sampling module can obtain 6 histograms after sampling: hist3_ia and hist3_ib, hist3_(i+1)a and hist3_(i+1)b, ​​hist3_(i+2)a and hist3_(i+2)b.

[0199] The combination module 650 accumulates the histogram hist3_ib of the detection group 321ib in the detection unit 321i and the histogram hist3_(i+1)a of the detection group 321(i+1)a in the detection unit 321(i+1) to obtain the mixed channel data ch3_i(i+1), i.e., ch3_i(i+1)=hist3_ib+hist3_(i+1)a.

[0200] The combination module 650 also accumulates the histogram hist3_(i+1)b of the detection group 321(i+1)b in the detection unit 321(i+1) and the histogram hist3_(i+2)a of the detection group 321(i+2)a in the detection unit 321(i+2) to obtain the mixed channel data ch3_(i+1)(i+2), i.e., ch3_(i+1)(i+2)=hist3_(i+1)b+hist3_(i+2)a.

[0201] It should be noted that in the above embodiment, the detection groups combined to obtain different mixed channel data belong to three continuous detection units respectively. However, in other embodiments of the present application, the detection groups combined to obtain different mixed channel data including the same number of detectors can also belong to discontinuous detection units respectively.

[0202] It should also be noted that in the above embodiment, each detection unit includes two detection groups. However, this is only an example of the arrangement of detection groups, and in other embodiments of the present application, three or even more detection groups can be arranged in each detection unit.

[0203] Reference is made to Figure 13 to Figure 17 , which shows a schematic diagram of two detection units in another embodiment of the laser radar of the present application.

[0204] In the laser radar, each detection unit includes three detection groups. Specifically, the laser radar includes a detection unit 421i and a detection unit 421(i+1); the detection unit 421i includes a detection group 421ia, a detection group 421ib and a detection group 421ic; and the detection unit 421(i+1) includes a detection group 421(i+1)a, a detection group 421(i+1)b and a detection group 421(i+1)c.

[0205] As shown in Figure 14 and Figure 15 , the combination module 650 combines the sampling results corresponding to the detection group 421ib and the sampling results corresponding to the detection group 421ic in the detection unit 421i with the sampling results corresponding to the detection group 421(i+1)a in the detection unit 421(i+1) (as shown in Figure 14The combination module 650 combines the sampling results corresponding to the detection group 421ia, the detection group 421ib and the detection group 421ic in the detection unit 421i (as shown in the middle cross-line filling), to obtain the mixed channel data ch4_i(i+1)_abc, i.e., ch4_i(i+1)_abc = hist4_ia+hist4_ib+hist4_ic. Figure 15 The combination module 650 combines the sampling results corresponding to the detection group 421ia, the detection group 421ib and the detection group 421ic in the detection unit 421i (as shown in the middle cross-line filling), to obtain the mixed channel data ch4_i(i+1)_abc, i.e., ch4_i(i+1)_abc = hist4_ia+hist4_ib+hist4_ic.

[0206] Specifically, after the sampling module samples the 3 detection groups in the detection unit 421i and the detection unit 421(i+1) respectively, 6 histograms, i.e., the histogram hist4_ia, the histogram hist4_ib, the histogram hist4_ic, the histogram hist4_(i+1)a, the histogram hist4_(i+1)b and the histogram hist4_(i+1)c, can be obtained.

[0207] The combination module 650 accumulates the histogram hist4_ib of the detection group 421ib and the histogram hist4_ic of the detection group 421ic in the detection unit 421i and the histogram hist4_(i+1)a of the detection group 421(i+1)a in the detection unit 421(i+1), to obtain the mixed channel data ch4_i(i+1)_bca, i.e., ch4_i(i+1)_bca = hist4_ib+hist4_ic+hist4_(i+1)a; the combination module 650 also accumulates the histogram hist4_ic of the detection group 421ic in the detection unit 421i and the histogram hist4_(i+1)a of the detection group 421(i+1)a and the histogram hist4_(i+1)b of the detection group 421(i+1)b in the detection unit 421(i+1), to obtain the mixed channel data ch4_i(i+1)_cab, i.e., ch4_i(i+1)_cab = hist4_ic+hist4_(i+1)a+hist4_(i+1)b.

[0208] As shown in FIG. 4, the combination module 650 combines the sampling results corresponding to the detection group 421ia, the detection group 421ib and the detection group 421ic in the detection unit 421i (as shown in the middle cross-line filling), to obtain the mixed channel data ch4_i(i+1)_abc, i.e., ch4_i(i+1)_abc = hist4_ia+hist4_ib+hist4_ic. Figure 16 and Figure 17 The combination module 650 combines the sampling results corresponding to the detection group 421ia, the detection group 421ib and the detection group 421ic in the detection unit 421i (as shown in the middle cross-line filling), to obtain the mixed channel data ch4_i(i+1)_abc, i.e., ch4_i(i+1)_abc = hist4_ia+hist4_ib+hist4_ic. Figure 16 The combination module 650 also combines the sampling results corresponding to the detection group 421(i+1)a, the detection group 421(i+1)b and the detection group 421(i+1)c in the detection unit 421(i+1) (as shown in the middle cross-line filling), to obtain the mixed channel data ch4_(i+1), i.e., ch4_(i+1) = hist4_(i+1)a+hist4_(i+1)b+hist4_(i+1)c. Figure 17 The combination module 650 also combines the sampling results corresponding to the detection group 421(i+1)a, the detection group 421(i+1)b and the detection group 421(i+1)c in the detection unit 421(i+1) (as shown in the middle cross-line filling), to obtain the mixed channel data ch4_(i+1), i.e., ch4_(i+1) = hist4_(i+1)a+hist4_(i+1)b+hist4_(i+1)c.

[0209] Specifically, the combination module 650 accumulates the histogram hist4_ia of the detection group 421ia, the histogram hist4_ib of the detection group 421ib and the histogram hist4_ic of the detection group 421ic in the detection unit 421i to obtain the net channel data ch4_i, i.e., ch4_i = hist4_ia + hist4_ib + hist4_ic; the combination module 650 also accumulates the histogram hist4_(i+1)a of the detection group 421(i+1)a, the histogram hist4_(i+1)b of the detection group 421(i+1)b and the histogram hist4_(i+1)c of the detection group 421(i+1)c in the detection unit 421(i+1) to obtain the net channel data ch4_(i+1), i.e., ch4_(i+1) = hist4_(i+1)a + hist4_(i+1)b + hist4_(i+1)c.

[0210] It can be seen that three detection groups are arranged in each detection unit, and the combination module 650 combines the sampling results of adjacent detection groups to obtain two mixed channel data; the combination module 650 combines the sampling results of multiple detection groups in the same detection unit to obtain two net channel data, i.e., the original two physical channels of the laser radar can obtain four channel data, and the mixed channel data are equivalent to the increase of the number of detection units. Therefore, when the laser radar has N physical channels, the combination module 650 can obtain N net channel data and (2*N-2) channel data after different combinations, i.e., the laser radar with N physical channels can obtain a point cloud map based on (3*N-2) channel data.

[0211] By analogy, when the laser radar has N physical channels, M detection groups are arranged in each detection unit, and the combination module 650 combines the sampling results of multiple detection groups in the same detection unit to obtain N net channel data; the combination module 650 combines the sampling results of adjacent detection groups to obtain at most [(M-1)*(N-1)] mixed channel data. Therefore, the laser radar with N physical channels can obtain a point cloud map based on M*(N-1)+1 channel data.

[0212] In addition, in some embodiments of the present application, the plurality of detection units are arranged along a first direction, the first direction is parallel to a straight line where a rotation shaft is located, and the rotation shaft is perpendicular or approximately perpendicular to a horizontal plane; and the combination module 650 combines the sampling results of adjacent detection groups along the first direction, that is, the combination module 650 combines the sampling results of adjacent detection groups along the vertical direction.

[0213] However, the above combination method is only an example. In other embodiments of the present invention, the combination module 650 can also combine the sampling results corresponding to multiple adjacent detection groups along the horizontal direction to improve the point cloud density in the horizontal direction.

[0214] refer to Figure 18 to Figure 22 The diagram shows a schematic of two detection units in another embodiment of the lidar of the present invention.

[0215] like Figure 18 and Figure 19 As shown, the lidar includes detection unit 521i and detection unit 521(i+1), which are arranged horizontally. Detection unit 521i includes detection group 521ia and detection group 521ib; detection unit 521(i+1) includes detection group 521(i+1)a and detection group 521(i+1)b. That is, detection group 521ia, detection group 521ib, detection group 521(i+1)a, and detection group 521(i+1)b are arranged sequentially in the horizontal direction.

[0216] like Figure 20 As shown, the combination module 650 combines the sampling results corresponding to the detection group 521ib in the horizontally adjacent detection units 521i with the sampling results corresponding to the detection group 521(i+1)a in the detection unit 521(i+1) (e.g.) Figure 20 (As shown by the cross-line filling).

[0217] Specifically, the detection unit 521i and the detection unit 521(i+1) each include two detection groups, and the sampling module can obtain four histograms after sampling: hist5_ia, hist5_ib, hist5_(i+1)a and hist5_(i+1)b.

[0218] The combination module 650 accumulates the histogram hist5_ib of the detection group 521ib in the detection unit 521i and the histogram hist5_(i+1)a of the detection group 521(i+1)a in the detection unit 521(i+1) to obtain the mixed channel data ch5_i(i+1), that is, ch5_i(i+1) = hist5_ib + hist5_(i+1)a.

[0219] In addition, such as Figure 21 and Figure 22 As shown, the combination module 650 combines the sampling results corresponding to the detection groups 521ia and 521ib in the detection unit 521i (e.g.,Figure 21 The combination module 650 combines the sampling results corresponding to the adjacent multiple detection groups arranged along one of the vertical direction and the horizontal direction, wherein the multiple detection groups are arranged along one of the vertical direction and the horizontal direction. Figure 22 The combination module 650 combines the sampling results corresponding to the adjacent multiple detection groups arranged along one of the vertical direction and the horizontal direction, wherein the multiple detection groups are arranged along one of the vertical direction and the horizontal direction.

[0220] The combination module 650 combines the sampling results corresponding to the adjacent multiple detection groups arranged along one of the vertical direction and the horizontal direction, wherein the multiple detection groups are arranged along one of the vertical direction and the horizontal direction.

[0221] Therefore, as shown in the figure, the combination module 650 combines the sampling results corresponding to the multiple detection groups arranged along the horizontal direction (i.e. in the plane perpendicular to the rotation axis) to obtain the mixed channel data, and combines the net channel data obtained by combining the sampling results corresponding to the multiple detection groups in the same detection unit, and the point cloud map obtained by the mapping module. The point cloud encryption can be realized without increasing the emission energy of the laser radar, increasing the receiving area of the detector, changing the optical and mechanical structure of the laser radar, and improving the scanning frequency. Moreover, the small signal detection at the middle position of the adjacent physical channel corresponding field of view can be effectively enhanced, which is conducive to improving the detection capability. Figure 23

[0222] It should be noted that in the foregoing embodiments, the multiple detection units are arranged along one of the vertical direction and the horizontal direction, the detection groups in the detection unit are arranged along one of the vertical direction and the horizontal direction, and the combination module 650 combines the sampling results corresponding to the adjacent multiple detection groups, wherein the multiple detection groups are arranged along one of the vertical direction and the horizontal direction.

[0223] In some other embodiments of the present application, the laser radar is a surface array laser radar, i.e. the laser radar detection module includes a detection surface array. The multiple detection units are arranged in an array, and the detection unit includes multiple rows and multiple columns of detection groups. The combination module 650 includes:

[0224] ​The row combination unit is suitable for combining the sampling results corresponding to a plurality of adjacent detection groups to obtain row mixed channel data, and the plurality of detection groups belong to different detection units arranged along the row direction; and the column combination unit is suitable for combining the sampling results corresponding to a plurality of adjacent detection groups to obtain column mixed channel data, and the plurality of detection groups belong to different detection units arranged along the column direction. For the planar array laser radar, the row combination unit and the column combination unit can simultaneously encrypt the point cloud in the row direction and the column direction.

[0225] In conclusion, in the technical scheme of the present application, the plurality of detection units correspond to the plurality of emission units one by one to form physical channels; the signals output by each detection group are sampled to obtain sampling results, and the point cloud map is obtained based on the sampling results of all the detection groups. The one-to-one corresponding detection units and emission units form physical channels, that is, the corresponding detection units and emission units have the same field of view in the far field, so the number of the detection units is equal to the number of the emission units; and the detection units include a plurality of detection groups, so the number of the detection groups is necessarily greater than the number of the detection units and also greater than the number of the emission units, and the density of the point cloud map obtained based on the sampling results of all the detection groups is greater, that is, the obtained point cloud map realizes point cloud encryption. Therefore, the method of obtaining the point cloud map based on the sampling results of the signals output by each detection group can realize point cloud encryption without increasing the emission energy of the laser radar, without increasing the receiving area of the detector, and without changing the optical-mechanical structure of the laser radar.

[0226] Moreover, after obtaining the sampling results corresponding to each detection group, the sampling results corresponding to a plurality of adjacent detection groups are combined to obtain mixed channel data before obtaining the point cloud map, and the plurality of detection groups belong to different detection units. The obtaining of the mixed channel data is equivalent to the increase of the number of detection units, and the mixed channel data is encrypted based on the real sampling waveform, which can effectively enhance the detection capability of small signals and effectively enhance the detection of small signals at the middle position of the corresponding field of view of adjacent physical channels, thereby improving the detection capability.

[0227] In addition, the detection unit includes a row of b columns of detectors, where a and b are both positive integers, and at least one of a and b is greater than 1; in the step of combining the sampling results corresponding to a plurality of adjacent detection groups, the combined plurality of detection groups include a row of b columns of detectors. In the process of combining the sampling results, the number and area of the detectors included in the combined plurality of detection groups are equal to the number and area of the detectors in the detection unit, which can effectively ensure the number of detectors each time, and is conducive to the guarantee of the detection distance.

[0228] Although the present application has been disclosed with reference to the above embodiments, the application is not limited to the above embodiments. It will be apparent to those skilled in the art that various modifications and changes can be made thereto without departing from the spirit and scope of the application. The scope of the application should be limited only by the appended claims.

Claims

1. A detection method for lidar, characterized in that, The lidar's transmitting module includes multiple transmitting units, and the lidar's detection module includes multiple detection units, each of which corresponds one-to-one with the multiple transmitting units. Each detection unit includes multiple detection groups. The detection method includes: The signal output by each detection group is sampled to obtain the corresponding sampling result for each detection group; The sampling results of multiple adjacent detection groups are combined to obtain mixed channel data, wherein the multiple detection groups belong to different detection units; Based on the sampling results corresponding to all detection groups, a point cloud map is obtained. In the step of obtaining the point cloud map, the point cloud map is obtained based on the mixed channel data.

2. The detection method as described in claim 1, characterized in that, The detection group includes: multiple detectors; each detector is an independently addressable and independently controlled detector.

3. The detection method as described in claim 2, characterized in that, In the step of combining the sampling results corresponding to multiple adjacent detection groups, the multiple detection groups obtained by combining different mixed channel data include the same number of detectors.

4. The detection method as described in claim 2, characterized in that, The detector includes a single-photon avalanche diode.

5. The detection method as described in claim 4, characterized in that, The steps for sampling the signal output by each detection group include: performing histogram sampling on the signal output by each detection group, and obtaining the sampling result as the histogram corresponding to each detection group; In the step of combining the sampling results corresponding to multiple adjacent detection groups, the histograms corresponding to each detection group are accumulated.

6. The detection method as described in claim 2, characterized in that, The detection unit comprises: a rows and b columns of detectors, where a and b are both positive integers, and at least one of a and b is greater than 1; In the step of combining the sampling results corresponding to multiple adjacent detection groups, the combined multiple The detection group consists of a row and b columns of detectors.

7. The detection method as described in claim 1, characterized in that, The plurality of detection units are arranged along the first direction.

8. The detection method as described in claim 7, characterized in that, In the step of combining the sampling results corresponding to multiple adjacent detection groups, the sampling results corresponding to multiple adjacent detection groups along the first direction are combined.

9. The detection method as described in claim 7, characterized in that, The lidar includes a scanning module, which causes the detection light generated by the transmitting module to rotate around a pivot to achieve scanning; The first direction corresponds to the direction of the rotating shaft.

10. The detection method as described in claim 8 or 9, characterized in that, The lidar is either an integral rotating lidar or a rotating mirror lidar.

11. The detection method as described in claim 1, characterized in that, The detection unit includes: a multi-row, multi-column detection group; The steps to obtain mixed channel data include: The sampling results corresponding to adjacent multi-row detection groups are combined to obtain row mixed channel data, wherein the multi-row detection groups belong to different detection units arranged along the row direction; The sampling results of adjacent multi-column detection groups are combined to obtain column mixed channel data, wherein the multi-column detection groups belong to different detection units arranged along the column direction.

12. The detection method as described in claim 1, characterized in that, Also includes: The sampling results from multiple detection groups in the same detection unit are combined to obtain net channel data; A point cloud map is obtained based on the net channel data and the mixed channel data.

13. A lidar, characterized in that, include: The transmitting module includes: multiple transmitting units; The detection module includes: multiple detection units, each of which corresponds one-to-one with the multiple transmitting units; each detection unit includes: multiple detection groups. A processing device suitable for implementing the detection method according to any one of claims 1 to 12.

14. A lidar, characterized in that, The lidar's transmitting module includes multiple transmitting units, and the lidar's detection module includes multiple detection units, each of which corresponds one-to-one with the multiple transmitting units. Each detection unit includes multiple detection groups. The lidar also includes: A sampling module is provided, which is adapted to sample the signal output by each detection group to obtain the sampling result corresponding to each detection group; A combination module is suitable for combining the sampling results corresponding to multiple adjacent detection groups to obtain mixed channel data, wherein the multiple detection groups belong to different detection units; The mapping module is adapted to obtain a point cloud map based on the sampling results corresponding to all detection groups. The mapping module obtains the point cloud map based on the mixed channel data.

15. The lidar as described in claim 14, characterized in that, The detection group includes: multiple detectors; each detector is an independently addressable and independently controlled detector.

16. The lidar as described in claim 15, characterized in that, The combination module obtains multiple detection groups composed of different mixed channel data, each containing the same number of detectors.

17. The lidar as described in claim 16, characterized in that, The detector includes a single-photon avalanche diode.

18. The lidar as described in claim 15, characterized in that, The detection unit comprises: a rows and b columns of detectors, where a and b are both positive integers, and at least one of a and b is greater than 1; The combined module comprises multiple detection groups consisting of a rows and b columns of detectors.

19. The lidar as described in claim 14, characterized in that, The plurality of detection units are arranged along the first direction.

20. The lidar as described in claim 19, characterized in that, The combination module combines the sampling results corresponding to multiple adjacent detection groups along the first direction.

21. The lidar as described in claim 20, characterized in that, The lidar includes a scanning module, which causes the detection light generated by the transmitting module to rotate around a rotating axis to achieve scanning. The first direction corresponds to the direction of the rotating shaft.

22. The lidar as described in claim 20 or 21, characterized in that, The lidar is either an integral rotating lidar or a rotating mirror lidar.

23. The lidar as described in claim 14, characterized in that, The detection unit includes: a multi-row, multi-column detection group; The combined module includes: A row combination unit is suitable for combining the sampling results corresponding to adjacent multiple row detection groups to obtain row mixed channel data, wherein the multiple row detection groups belong to different detection units arranged along the row direction; A column combination unit is suitable for combining the sampling results corresponding to adjacent multiple column detection groups to obtain column mixed channel data, wherein the multiple column detection groups belong to different detection units arranged along the column direction.

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