Solid-state laser radar and solid-state laser radar control method

Abstract

The present specification provides a solid-state lidar and a solid-state lidar control method wherein the solid-state lidar comprises: a first transmit-receive device adapted to detect in a first field of view range, and a second transmit-receive device adapted to detect in a second field of view range wherein the first field of view range is larger than the second field of view range, and wherein the second field of view range is larger than the first field of view range. An intersection area exists between the first view field range and the second view field range, and the farthest detection distance of the first transceiver device is smaller than the farthest detection distance of the second transceiver device. Therefore, the cost of the solid-state laser radar can be effectively controlled while the detection capability is improved, and higher flexibility is achieved.

Description

Technical Field

[0001] The embodiments of this specification relate to the field of radar technology, and in particular to a solid-state laser radar and a solid-state laser radar control method. Background Art

[0002] Due to the structural characteristics of solid-state laser radar that does not contain rotating parts, compared with other types of laser radars (such as mechanical rotating laser radars or rotating mirror scanning laser radars), solid-state laser radars have the advantages of simple structure and high integration, which makes solid-state laser radars attract much attention from the industry.

[0003] However, as the demand for detection increases, the cost of existing solid-state laser radars is too high. Therefore, how to effectively control the cost of solid-state laser radars while improving their detection capabilities remains to be solved by those skilled in the art. Summary of the invention

[0004] In view of this, the embodiments of this specification provide a solid-state laser radar and a solid-state laser radar control method, which can effectively control the cost of the solid-state laser radar while improving the detection capability and have higher flexibility.

[0005] The embodiment of this specification provides a solid-state laser radar, including:

[0006] a first transceiver device adapted to detect within a first field of view,

[0007] The first transceiver device includes a first light source, a first receiving module and a first optical component, wherein the first optical component is suitable for beam shaping the first detection signal generated by the first light source and emitting it to the outside of the solid-state laser radar, and converging the incident light from the first field of view to the first receiving module; and

[0008] The second transceiver is adapted to detect within a second field of view,

[0009] The second transceiver device includes a second light source, a second receiving module and a second optical component, wherein the second optical component is adapted to perform beam shaping on the second detection signal generated by the second light source and emit the beam to the outside of the solid-state laser radar, and to converge the incident light from the second field of view to the second receiving module;

[0010] Among them, the first field of view is larger than the second field of view, there is an intersection area between the first field of view and the second field of view, and the maximum detection distance of the first transceiver is smaller than the maximum detection distance of the second transceiver.

[0011] The embodiment of the present specification also provides a solid-state laser radar control method, the solid-state laser radar comprising: a first transceiver and a second transceiver, the first transceiver comprising a first light source, a first receiving module and a first optical component, the first optical component being suitable for beam shaping a first detection signal generated by the first light source and emitting it to the outside of the solid-state laser radar, and converging incident light from the first field of view to the first receiving module; the second transceiver comprising a second light source, a second receiving module and a second optical component, the second optical component being suitable for beam shaping a second detection signal generated by the second light source and emitting it to the outside of the solid-state laser radar, and converging incident light from the second field of view to the second receiving module;

[0012] The solid-state laser radar control method comprises:

[0013] The first transceiver is controlled to detect within a first field of view, and the second transceiver is controlled to detect within a second field of view; wherein the first field of view is larger than the second field of view, there is an intersection area between the first field of view and the second field of view, and the farthest detection distance of the first transceiver is smaller than the farthest detection distance of the second transceiver.

[0014] In the solid-state laser radar provided in the embodiment of the present specification, the first transceiver performs detection within the first field of view, and the first transceiver may include a first light source, a first receiving module and a first optical component, the first optical component is suitable for beam shaping the first detection signal generated by the first light source and emitting it to the outside of the solid-state laser radar, and converging the incident light from the first field of view to the first receiving module; and the second transceiver performs detection within the second field of view, and the second transceiver includes a second light source, a second receiving module and a second optical component, the second optical component is suitable for beam shaping the second detection signal generated by the second light source and emitting it to the outside of the solid-state laser radar, and converging the incident light from the second field of view to the second receiving module; wherein the first field of view is larger than the second field of view, there is an intersection area between the first field of view and the second field of view, and the farthest detection distance of the first transceiver is less than the farthest detection distance of the second transceiver. Thus, the cost of the solid-state laser radar can be effectively controlled while improving the detection capability, and it has higher flexibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions of the embodiments of this specification, the drawings required for use in the embodiments of this specification or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0016] Figure 1 A schematic diagram of the operation of a solid-state laser radar provided in an embodiment of this specification.

[0017] Figure 2 for Figure 1 Schematic diagram of the structure of the solid-state laser radar shown.

[0018] Figure 3 A schematic diagram of the structure of a first light source provided in an embodiment of this specification.

[0019] Figure 4 A schematic diagram of the structure of a first receiving module provided in an embodiment of this specification.

[0020] Figure 5 A schematic diagram of another use of a solid-state laser radar provided in an embodiment of this specification.

[0021] Figure 6 A schematic diagram of another use of a solid-state laser radar provided in an embodiment of this specification.

[0022] Figure 7 Schematic diagram of the use of existing solid-state lidar.

[0023] Figure 8 A schematic diagram of a first transceiver device performing multiple detections in the same direction provided in an embodiment of this specification.

[0024] Fig. 9 This is a flow chart of a solid-state laser radar control method of this embodiment. DETAILED DESCRIPTION

[0025] As described in the background technology, as the demand for detection becomes higher and higher, the existing solid-state laser radar has a problem of being too expensive. For example, when facing the demand for detection in a larger range and longer distance, the existing solid-state laser radar needs to achieve a larger detection range by increasing the light-emitting area of ​​the light source, and needs to increase the light-emitting power of the light source to enhance the light energy of the detection signal, thereby increasing the maximum detection distance of the existing solid-state laser radar. In the case where the light-emitting power of the laser per unit area is difficult to increase significantly, it is also necessary to increase the light-emitting area of ​​the light source to enhance the light-emitting power. The larger the light-emitting area, the higher the preparation cost of the light source, and the lower the yield, which leads to the excessive cost of the existing solid-state laser radar.

[0026] In view of the above problems, the embodiments of this specification provide a solid-state laser radar, which detects within a first field of view through a first transceiver device, and detects within a second field of view through a second transceiver device, wherein the first field of view is larger than the second field of view, and there is an intersection area between the first field of view and the second field of view, and the farthest detection distance of the first transceiver device is smaller than the farthest detection distance of the second transceiver device. Thus, the cost of the solid-state laser radar can be effectively controlled while improving the detection capability, and it has higher flexibility.

[0027] In order to enable those skilled in the art to more clearly understand and implement the concept, implementation method and advantages of the technical solution of this specification, a detailed description is given below with reference to the accompanying drawings.

[0028] Reference Figure 1 , is a working schematic diagram of a solid-state laser radar provided in an embodiment of this specification. In this example, the solid-state laser radar LS1 may include: a first transceiver M11 and a second transceiver M12. The first transceiver M11 is suitable for detecting within a first field of view FOV1, and the second transceiver M12 is suitable for detecting within a second field of view FOV2.

[0029] Specifically, Figure 2 As shown, Figure 1 The structural diagram of the solid-state laser radar shown in the figure is combined with the reference Figure 1 to Figure 2 The first transceiver device M11 may include a first light source M111, a first receiving module M112 and a first optical component M113.

[0030] The first optical component M113 is suitable for beam shaping the first detection signal generated by the first light source M111 and emitting it to the outside of the solid-state laser radar LS1, and the first optical component M113 is suitable for converging the incident light from the first field of view FOV1 to the first receiving module M112. The first receiving module M112 is suitable for acquiring a first echo signal from the incident light converged by the first optical component M113. The first echo signal is formed by the first detection signal being reflected by an obstacle within the first field of view FOV1, and the first echo signal is used to generate point cloud data about the first field of view FOV1.

[0031] In a specific implementation, the first optical component may include a first transmitting optical component and a first receiving optical component, that is, the first transceiver M11 is a paraxial optical path. Among them, the first transmitting optical component is suitable for beam shaping the first detection signal generated by the first light source M111 and emitting it to the outside of the solid-state laser radar LS1, and the first receiving optical component is suitable for converging the incident light from the first field of view FOV1 to the first receiving module M112. Specifically, the first transmitting optical component and the first receiving optical component may respectively include lenses or lens groups. It can be understood that in other embodiments, the first light source M111 and the first receiving module M112 may share the lens or lens group included in the first optical component, that is, the first transceiver M11 is a coaxial optical path.

[0032] Continue to refer Figure 1 and Figure 2 The second transceiver device M12 may include a second light source M121, a second receiving module M122 and a second optical component M123.

[0033] The second optical component M123 is suitable for beam shaping the second detection signal generated by the second light source M121 and emitting it to the outside of the solid-state laser radar LS1, and the second optical component M123 is suitable for converging the incident light from the second field of view FOV2 to the second receiving module M122. The second receiving module M122 is suitable for acquiring a second echo signal from the incident light converged by the second optical component M123. The second echo signal is formed by the second detection signal being reflected by an obstacle within the second field of view FOV2, and the second echo signal is used to generate point cloud data about the second field of view FOV1.

[0034] In a specific implementation, the second optical component may include a second transmitting optical component and a second receiving optical component, that is, the second transceiver M12 is a paraxial optical path. Among them, the first transmitting optical component is suitable for beam shaping the second detection signal generated by the second light source M121 and emitting it to the outside of the solid-state laser radar LS1, and the second receiving optical component is suitable for converging the incident light from the second field of view FOV2 to the second receiving module M122. Specifically, the second transmitting optical component and the second receiving optical component may respectively include a lens or a lens group.

[0035] It can be understood that, in other embodiments, the second light source M121 and the second receiving module M122 can share the lens or lens group included in the second optical component, that is, the second transceiver device M12 is a coaxial optical path.

[0036] It can also be understood that the optical path types of the first transceiver device M11 and the second transceiver device M12 can be the same or different, and those skilled in the art can set them according to actual needs, and the present invention is not limited to this.

[0037] In the solid-state laser radar LS1 of the embodiment of the present specification, the first field of view FOV1 of the first transceiver M11 is larger than the second field of view FOV2 of the second transceiver M12, and the maximum detection distance of the second transceiver M12 is larger than the maximum detection distance of the first transceiver M11. Therefore, the solid-state laser radar LS1 can obtain a larger detection range through the first transceiver M11 and detect obstacles in a larger range, and can obtain stronger distance measurement capability through the second transceiver M12 to meet the needs of long-distance detection within the local field of view.

[0038] Moreover, since there is an intersection area between the first field of view FOV1 and the second field of view FOV2, in actual applications, the intersection area covers an area where the probability of obstacles appearing is higher. The solid-state laser radar LS1 enhances the ranging capability of the intersection area through the second transceiver M12, which can increase the probability of the solid-state laser radar LS1 detecting obstacles in the intersection area, thereby enhancing the detection performance of the solid-state laser radar LS1.

[0039] Therefore, the solid-state laser radar LS1 of the embodiment of this specification can ensure detection of a large field of view and meet the needs of local long-distance detection through the first transceiver M11 and the second transceiver M12. In addition, compared with the existing solid-state laser radar, the structure of the solid-state laser radar LS1 of the embodiment of this specification has a smaller increase in cost when improving detection capabilities.

[0040] Specifically, when faced with the need for detection over a larger range, the above need can be met by the first field of view FOV1 of the first transceiver device M11, and since longer-distance detection within the second field of view FOV2 can be achieved through the second transceiver device M12, there is no need to increase the light-emitting area or light-emitting power of the first light source M111 in the first transceiver device M11 to achieve longer-distance detection. Therefore, the cost increase of the solid-state laser radar LS1 is less than that of existing solid-state laser radars.

[0041] When faced with the need for detection at longer distances, the above needs can be met by the farthest detection distance of the second transceiver device M12, and because the first transceiver device M11 can be used to detect a larger field of view within the first field of view FOV1, there is no need to increase the luminous power or luminous area of ​​the second light source M12 in the second transceiver device M12 to achieve detection in a larger field of view. Therefore, the cost increase of the solid-state laser radar LS1 is less than the total cost increase of existing solid-state laser radars.

[0042] Based on the above analysis, it can be seen that the solid-state laser radar LS1 can configure different detection parameters (such as field of view, maximum detection distance, etc.) for the first transceiver M11 and the second transceiver M12, and can fully utilize the detection capabilities of the first transceiver M11 and the second transceiver M12, so that the solid-state laser radar LS1 can meet different detection needs while controlling the increase in total cost.

[0043] In addition, the solid-state laser radar provided in the embodiments of this specification can adjust at least one of the first field of view range of the first transceiver device, the maximum detection distance of the first transceiver device, the second field of view range of the second transceiver device, and the maximum detection distance of the second transceiver device according to actual detection requirements. Therefore, the solid-state laser radar provided in the embodiments of this specification has higher flexibility.

[0044] In a specific implementation, the intersection area may include the central area of ​​the detection range of the solid-state laser radar, thereby increasing the probability of detecting obstacles in the intersection area, thereby enhancing the detection capability of the solid-state laser radar.

[0045] It can be understood that the central area of ​​the solid-state laser radar detection range provided in the embodiments of this specification can be determined according to the specific application scenario and installation location, and this specification does not make any specific restrictions on the central area of ​​the solid-state laser radar detection range.

[0046] For example, for vehicle-mounted application scenarios, the solid-state laser radar provided in the embodiments of this specification is installed on a land mobile carrier (such as a motor vehicle or a non-motor vehicle). The central area of ​​the detection range of the solid-state laser radar can be an area including the ground and part of the space above the ground, thereby ensuring that the probability of obstacles (such as pedestrians, cars, etc.) appearing in the central area of ​​the detection range of the solid-state laser radar is high. When the intersection area includes the central area of ​​the detection range of the solid-state laser radar, the intersection area can be guaranteed to be detected over a large range and over a long distance, providing more accurate reference information for vehicle driving.

[0047] In a specific implementation, the focal length of the first optical component may be smaller than the focal length of the second optical component. Through the first optical component with a smaller focal length, the light beam of the first detection signal generated by the first light source can be dispersed within a larger first field of view, and the incident light within the larger first field of view can be converged to the first receiving module; through the second optical component with a larger focal length, the light beam of the second detection signal generated by the second light source can be concentrated within a smaller second field of view. Since the light beam of the second detection signal is more concentrated than the light beam of the first detection signal, the light energy of the second detection signal is stronger and can be propagated farther in the environment, so that the second transceiver has a larger maximum detection distance, and the incident light within the smaller second field of view can be more concentratedly converged to the second receiving module. Thus, through the first optical component and the second optical component with different focal lengths, detection signals of different sizes of field of view and different maximum distances can be realized without increasing the structural complexity of the solid-state laser radar.

[0048] Furthermore, by adjusting at least one of the focal length of the first optical component and the focal length of the second optical component, the relative size relationship between the first field of view range and the second field of view range can be changed to meet different detection requirements.

[0049] In a specific implementation, when the solid-state laser radar provided in the embodiment of this specification realizes different fields of view and different maximum distance detection signals through a first optical component with a smaller focal length and a second optical component with a larger focal length, the luminous specification parameters of the first light source and the luminous specification parameters of the second light source can be the same or similar. The luminous specification parameters may include at least one of the luminous area, luminous power and luminous power density.

[0050] Although the luminous specification parameters of the first light source and the luminous specification parameters of the second light source are the same or similar, the total luminous energy of the first light source and the total luminous energy of the second light source are the same or similar, but the light beam of the first detection signal generated by the first light source can be dispersed in a larger first field of view through the first optical component with a smaller focal length, and the light beam of the second detection signal emitted by the second light source can be concentrated in a smaller second field of view through the second optical component. If the first field of view and the second field of view are divided into areas at angles of the same size, then in the angular area of ​​the same size, the light energy of the second detection signal is higher than the light energy of the first detection signal, and the distance measurement capability is improved.

[0051] From the above, it can be seen that the first light source and the second light source with the same or similar luminous specification parameters can maximize the utilization of their capabilities through the first optical component and the second optical component with different focal lengths, and the same or similar luminous specification parameters can reduce the design difficulty and manufacturing cost.

[0052] In an optional example, the light-emitting area of ​​the first light source and the light-emitting area of ​​the second light source may be the same or similar. Furthermore, the ratio range of the light-emitting area of ​​the first light source and the light-emitting area of ​​the second light source may be set according to actual conditions. For example, the ratio range of the light-emitting area of ​​the first light source and the light-emitting area of ​​the second light source may be 0.1 to 10. For another example, the ratio range of the light-emitting area of ​​the first light source and the light-emitting area of ​​the second light source may be 0.5 to 5. For another example, the ratio range of the light-emitting area of ​​the first light source and the light-emitting area of ​​the second light source may be 0.2 to 1.2. Among them, whether to include endpoint values ​​can be determined according to actual conditions, and this specification does not impose specific restrictions on this.

[0053] In practical applications, the first light source may include at least one first laser, which is suitable for being activated to generate the first detection signal; wherein the number of first lasers can be set according to actual conditions (such as the shape and size of the first field of view to be achieved, the focal length of the first optical component, the luminous power of the first light source, etc.).

[0054] In a specific implementation, when the first light source includes a plurality of first lasers, each of the first lasers is suitable for being activated individually to generate the first detection signal. It should be noted that the above-mentioned "the first laser is suitable for being activated individually" should be understood as the activation state of the first laser being independently controlled, that is, whether each first laser is activated will not affect the activation state of the remaining first lasers. In practical applications, according to the light emission requirements, one or more first lasers can be controlled to be activated when the first light source emits light once. Thereby, the controllability and flexibility of the first light source are improved.

[0055] In a specific implementation, when the first light source emits light once, it is necessary to determine the position and number of the first lasers that need to be activated. In order to improve the light-emitting efficiency of the first light source, multiple first lasers can be arranged in an array form, and the first light-emitting timing can be set according to the light-emitting requirements of the first light source and the array form of multiple first lasers, so that the position and number of the first lasers that need to be activated for each first light-emitting sequence can be quickly determined according to the indication of the first light-emitting timing.

[0056] It is understandable that the specific array form of the plurality of first lasers can be determined according to actual conditions. For example, the plurality of first lasers can be arranged in one arrangement direction to form a one-dimensional array; for another example, the plurality of first lasers can be arranged in multiple arrangement directions to form a multi-dimensional array. This specification does not specifically limit the arrangement direction of the plurality of first lasers.

[0057] It can be understood that when the first light source includes a plurality of first lasers, the light emitting area of ​​the first light source may be the sum of the areas of the light emitting holes of the plurality of first lasers.

[0058] In other specific implementations, the first light source may include a plurality of first light emitting units, each of which may include one or more first lasers, and each of which is adapted to be activated to generate the first detection signal. The number of first lasers included in different first light emitting units may be the same or different. Thus, pixel-level control of the first light source can be achieved, thereby improving the controllability and flexibility of the first light source.

[0059] Specifically, each first light-emitting unit is suitable for being activated or addressed individually, wherein the first laser included in each first light-emitting unit is suitable for being activated simultaneously to generate a first detection signal. The number or arrangement of the first lasers included in each first light-emitting unit can be set according to actual conditions (such as the shape and size of the angle area to be covered by a single light emission, the focal length of the first optical component, the light-emitting power of the first laser, etc.).

[0060] It is understandable that when the first light source includes multiple first light-emitting units, the cross-sectional shape, specific array form and specific content of the first light-emitting sequence of the multiple first light-emitting units can be determined according to actual conditions, and this specification does not impose specific restrictions on their arrangement.

[0061] In an alternative embodiment, if Figure 3 The figure is a schematic diagram of the structure of a first light source provided in an embodiment of the present specification. The first light source 31 may include M x N first light emitting units (i.e. Figure 3 The first light emitting unit 311 to the first light emitting unit 3MN in the embodiment of the present invention are arranged in an array in a first arrangement direction and a second arrangement direction, thereby forming a two-dimensional array, and the cross-sectional shape of the M×N first light emitting units is circular. Wherein, M and N are integers greater than 1, and the first arrangement direction and the second arrangement direction are perpendicular to each other.

[0062] Assuming that the shape and size of the angle area that needs to be covered by a single light emission can be satisfied by activating one first light-emitting unit each time of the first light source, then according to the two-dimensional array form realized by MxN first light-emitting units, the first light-emitting timing can be set as follows: the activation order of the MxN first light-emitting units is set in the order from left to right in the first arrangement direction and from top to bottom in the second arrangement direction, and the corresponding first light-emitting units are controlled to be activated under each first light-emitting order. Thus, according to the indication of the first light-emitting timing, the first light-emitting unit 311 is activated at the first light emission, the first light-emitting unit 312 is activated at the second light emission, and so on, the first light-emitting unit 3NM is activated at the MxNth light emission.

[0063] In practical applications, the second light source may include at least one second laser, which is suitable for being activated to generate the second detection signal; wherein the number of second lasers can be set according to actual conditions (such as the shape and size of the second field of view to be achieved, the focal length of the second optical component, the luminous power of the second light source, etc.).

[0064] In a specific implementation, when the second light source includes a plurality of second lasers, each of the second lasers is suitable for being activated individually to generate the second detection signal. It should be noted that the above-mentioned "the second laser is suitable for being activated individually" should be understood as the activation state of the second laser being independently controlled, that is, whether each second laser is activated will not affect the activation state of the remaining second lasers. In practical applications, according to the light emission requirements, one or more second lasers can be controlled to be activated when the second light source emits light once. Thereby, the controllability and flexibility of the second light source are improved.

[0065] In a specific implementation, it is necessary to determine the position and number of second lasers that need to be activated when the second light source emits light once. In order to improve the light-emitting efficiency of the second light source, multiple second lasers can be arranged in an array form, and the second light-emitting timing can be set according to the light-emitting requirements of the second light source and the array form of multiple second lasers, so that the position and number of second lasers that need to be activated for each second light-emitting sequence can be quickly determined according to the indication of the second light-emitting timing.

[0066] It is understandable that the specific array form of the plurality of second lasers can be determined according to actual conditions. For example, the plurality of second lasers can be arranged in one arrangement direction to form a one-dimensional array; for another example, the plurality of second lasers can be arranged in multiple arrangement directions to form a multi-dimensional array. This specification does not specifically limit the arrangement direction of the plurality of second lasers.

[0067] It can be understood that when the second light source includes a plurality of second lasers, the light emitting area of ​​the second light source may be the sum of the areas of the light emitting holes of the plurality of second lasers.

[0068] In other specific implementations, the second light source may include a plurality of second light emitting units, each of which may include one or more second lasers, and each second light emitting unit is adapted to be activated to generate the second detection signal. The number of second lasers included in different second light emitting units may be the same or different. Thus, the second light source can be controlled at the pixel level, thereby improving the controllability and flexibility of the second light source.

[0069] Specifically, each second light-emitting unit is suitable for being activated or addressed individually, that is, the second laser included in each second light-emitting unit is suitable for being activated simultaneously to generate a second detection signal. The number or arrangement of the second lasers included in each second light-emitting unit can be set according to actual conditions (such as the shape and size of the angle area to be covered by a single light emission, the focal length of the second optical component, the light-emitting power of the second laser, etc.).

[0070] It can be understood that when the second light source includes multiple second light-emitting units, the cross-sectional shape, specific array form and specific content of the second light-emitting timing of the multiple second light-emitting units can be determined according to actual conditions. This specification does not make specific restrictions on this, and the specific implementation process can refer to the relevant description of the first light-emitting unit, which will not be repeated here.

[0071] In practical applications, the first laser may be a vertical-cavity surface-emitting laser (VCSEL) or an edge-emitting laser (EEL). The second laser may be a VCSEL or an EEL.

[0072] It is understandable that in practical applications, it can be determined whether the type of the first laser is the same as the type of the second laser according to specific circumstances. For example, in order to reduce the difficulty of design, the first laser and the second laser of the same type can be used. For another example, the first laser can be a VCSEL, and the second laser can be an EEL. This specification does not specifically limit this.

[0073] In practical applications, the light-emitting specification parameters of the first light source may be determined by at least one of the number, type, arrangement, array shape and light-emitting area of ​​the first lasers (or first light-emitting units) contained therein, and the light-emitting specification parameters of the second light source may be determined by at least one of the number, type, arrangement, array shape and light-emitting area of ​​the second lasers (or second light-emitting units) contained therein.

[0074] When the light-emitting specification parameters of the first light source and the light-emitting specification parameters of the second light source are the same or similar, specifically, at least one of the following situations may be included: 1) the number of first lasers (or first light-emitting units) and the number of second lasers (or second light-emitting units) are the same or similar; 2) the type of the first laser (or second light-emitting unit) and the type of the second laser (or second light-emitting unit) are the same; 3) the arrangement of the first laser (or first light-emitting unit) and the arrangement of the second laser (or second light-emitting unit) are the same or similar; 4) the area of ​​the first laser (or second light-emitting unit) array and the area of ​​the second laser (or second light-emitting unit) array are the same or similar.

[0075] Wherein, when the area of ​​the first laser (or first light emitting unit) array is the same as or similar to the area of ​​the second laser (or second light emitting unit) array, the first laser (or first light emitting unit) array and the second laser (or second light emitting unit) array may have different shapes. For example, the first laser (or first light emitting unit) array and the second laser (or second light emitting unit) array are both rectangular arrays, and the aspect ratio of the first laser (or first light emitting unit) array is different from the aspect ratio of the second laser (or second light emitting unit) array.

[0076] It is understandable that the specific situation when the luminous specification parameters of the first light source and the luminous specification parameters of the second light source are the same or similar can be determined according to actual conditions, and this specification does not limit this.

[0077] In a specific implementation, when the solid-state laser radar provided in the embodiment of this specification realizes detection signals of different fields of view and different maximum distances through a first optical component with a smaller focal length and a second optical component with a larger focal length, the luminous specification parameters of the first light source and the luminous specification parameters of the second light source can be the same or similar, thereby maximizing the utilization of the capabilities through the first optical component and the second optical component with different focal lengths, and the same or similar luminous specification parameters can reduce the design difficulty and manufacturing cost of the light source.

[0078] Furthermore, when the luminous specification parameters of the first light source and the luminous specification parameters of the second light source are the same or similar, due to the different focal lengths of the first optical component and the second optical component, the first light source corresponds to a larger first field of view, while the second light source corresponds to a smaller second field of view. If the first field of view and the second field of view are divided into regions according to angles of the same size, then for angular regions of the same size, the number of first lasers allocated to the first light source is less than the number of second lasers allocated to the second light source, and a larger number of second lasers can emit a second detection signal with higher light energy, thereby enabling the first light source to have a stronger distance measurement capability.

[0079] In actual application, the first receiving module may include at least one first detector, which is suitable for being activated to obtain a first echo signal from the incident light converged by the first optical component, wherein the number of the first detectors can be set according to actual conditions (such as the shape and size of the first field of view, the focal length of the first optical component, and other factors).

[0080] In a specific implementation, when the first receiving module includes a plurality of first detectors, each of the first detectors is suitable for being activated individually to obtain a first echo signal from the incident light converged by the first optical component. It should be noted that the above-mentioned "the first detector is suitable for being activated individually" should be understood as the activation state of the first detector being independently controlled, that is, whether each first detector is activated will not affect the activation state of the remaining first detectors. In practical applications, one or more first detectors can be controlled to be activated according to the first light-emitting timing and the corresponding relationship between the first light source and the first receiving module. In this way, the controllability and flexibility of the first receiving module are improved.

[0081] In a specific implementation, when the first light source emits light once, it is necessary to determine the position and number of the first detectors that need to be activated based on the receiving and sending correspondence between the first light source and the first receiving module. Multiple first detectors can be arranged in an array form, and the first receiving timing can be set according to the first light emission timing of the first light source, the receiving and sending correspondence configured between the first light source and the first receiving module, and the array form of multiple first detectors, so that the position and number of the first detectors that need to be activated for each first detection sequence can be quickly determined according to the indication of the first receiving timing.

[0082] It is understandable that the specific array form of the plurality of first detectors can be determined according to actual conditions. For example, the plurality of first detectors can be arranged in one arrangement direction to form a one-dimensional array; for another example, the plurality of first detectors can be arranged in multiple arrangement directions to form a multi-dimensional array. This specification does not specifically limit the arrangement direction of the plurality of first detectors.

[0083] In other specific implementations, the first receiving module may include multiple first detection units, each of which may include one or more first detectors, and each of which is suitable for being activated individually to obtain a first echo signal from the incident light converged by the first optical component. The number of first detectors included in different first detection units may be the same or different. In this way, pixel-level control of the first receiving module can be achieved, thereby improving the controllability and flexibility of the first receiving module.

[0084] Specifically, each first detection unit is suitable for being activated or addressed individually, wherein the first detector included in each first detection unit is suitable for being activated simultaneously to obtain a first echo signal from the incident light converged by the first optical component. The number or arrangement of the first detectors included in each first detection unit can be set according to actual conditions (such as the first light emission timing of the first light source, the corresponding relationship between the first light source and the first receiving module, the focal length of the first optical component, etc.).

[0085] It is understandable that when the first receiving module includes multiple first detection units, the cross-sectional shape, specific array form and specific content of the first receiving timing of the multiple first detection units can be determined according to actual conditions, and this specification does not impose any specific restrictions on this.

[0086] In an alternative embodiment, if Figure 4 As shown in FIG. 1 , a schematic diagram of the structure of a first receiving module provided in an embodiment of the present specification is shown. The first receiving module 41 may include P x ​​Q first detection units (i.e. Figure 4 The first detection unit 411 to the first detection unit 4PQ in the embodiment of the present invention are arranged in an array according to the third arrangement direction and the fourth arrangement direction, thereby forming a two-dimensional array, and the cross-sectional shape of the PxQ first detection units is a square. Wherein, P and Q are integers greater than 1, and the third arrangement direction and the fourth arrangement direction are perpendicular to each other.

[0087] According to the first light-emitting timing, the corresponding relationship between transmission and reception, and the two-dimensional array form realized by PxQ first detection units, the first receiving timing can be set as follows: the activation order of PxQ first detection units is set in the order from left to right in the third arrangement direction and from top to bottom in the fourth arrangement direction, and a corresponding first detection unit is activated under each first detection order. Thus, according to the indication of the first receiving timing, the first detection unit 411 is activated at the first detection, the first detection unit 412 is activated at the second detection, and so on, and the first detection unit 4QP is activated at the PxQth detection.

[0088] In actual application, the second receiving module may include at least one second detector, which is suitable for being activated to obtain a second echo signal from the incident light converged by the second optical component, wherein the number of the second detectors can be set according to actual conditions (such as the shape and size of the first field of view, the focal length of the second optical component, and other factors).

[0089] In a specific implementation, when the second receiving module includes a plurality of second detectors, each of the second detectors is suitable for being activated individually to obtain a second echo signal from the incident light converged by the second optical component. It should be noted that the above-mentioned "the second detector is suitable for being activated individually" should be understood as the activation state of the second detector being independently controlled, that is, whether each second detector is activated will not affect the activation state of the remaining second detectors. In practical applications, one or more second detectors can be controlled to be activated according to the second light-emitting timing and the corresponding relationship between the second light source and the second receiving module. In this way, the controllability and flexibility of the second receiving module are improved.

[0090] In a specific implementation, when the second light source emits light once, it is necessary to determine the position and number of the second detectors that need to be activated based on the transmission and reception correspondence between the second light source and the second receiving module. Multiple second detectors can be arranged in an array form, and the second receiving timing can be set based on the second light-emitting timing, the transmission and reception correspondence configured between the second light source and the second receiving module, and the array form of multiple second detectors. This allows the position and number of second detectors that need to be activated for each second detection sequence to be quickly determined based on the indication of the second reception timing.

[0091] It is understandable that the specific array form of the plurality of second detectors can be determined according to actual conditions. For example, the plurality of second detectors can be arranged in one arrangement direction to form a one-dimensional array; for another example, the plurality of second detectors can be arranged in multiple arrangement directions to form a multi-dimensional array. This specification does not specifically limit the arrangement direction of the plurality of second detectors.

[0092] In other specific implementations, the second receiving module may include multiple second detection units, each of which may include one or more second detectors, and each second detection unit is suitable for being activated individually to obtain a second echo signal from the incident light converged by the second optical component. The number of second detectors included in different second detection units may be the same or different. In this way, pixel-level control of the second receiving module can be achieved, thereby improving the controllability and flexibility of the second receiving module.

[0093] Specifically, each second detection unit is suitable for being activated or addressed individually, wherein the second detector included in each second detection unit is suitable for being activated simultaneously to obtain a second echo signal from the incident light converged by the second optical component. The number or arrangement of the second detectors included in each second detection unit can be set according to actual conditions (such as the second light-emitting timing of the second light source, the corresponding relationship between the second light source and the second receiving module, the focal length of the second optical component, etc.).

[0094] It can be understood that when the second receiving module includes multiple second detection units, the cross-sectional shape, specific array form and specific content of the second receiving timing of the multiple second detection units can be determined based on actual conditions. This specification does not impose any specific restrictions on this, and the specific implementation process can refer to the relevant description of the first detection unit, which will not be repeated here.

[0095] In a specific implementation, the first light source can control the first laser (or the first light emitting unit) to be activated to generate a first detection signal covering a certain angle area, and accordingly, the first receiving module can control the first detector (or the first detection unit) corresponding to the same angle area to be activated, thereby receiving the incident light from the same angle area and obtaining the first echo signal. For example, the first light source controls the first laser (or the first light emitting unit) to be activated to generate a first detection signal covering the angle area θ1, and accordingly, the first receiving module controls the first detector (or the first detection unit) corresponding to the angle area θ1 to be activated, thereby receiving the incident light from the angle area θ1 and obtaining the first echo signal, and so on, which will not be repeated.

[0096] Furthermore, the second light source can control the second laser (or the second light emitting unit) to be activated to generate a second detection signal covering a certain angle area, and accordingly, the second receiving module can control the second detector (or the second detection unit) corresponding to the same angle area to be activated, thereby receiving the incident light from the same angle area and obtaining the second echo signal. For example, the second light source controls the second laser (or the second light emitting unit) to be activated to generate a second detection signal covering the angle area θ2, and accordingly, the second receiving module controls the second detector (or the second detection unit) corresponding to the angle area θ2 to be activated, thereby receiving the incident light from the angle area θ2 and obtaining the second echo signal, and so on, which will not be repeated.

[0097] From the above, it can be seen that the corresponding relationship between the transmission and reception of the first light source and the first receiving module is relatively independent of the corresponding relationship between the transmission and reception of the second light source and the second receiving module, thereby reducing the noise of the solid-state laser radar.

[0098] In practical applications, the first detector may be a single photon avalanche diode (SPAD) array, a silicon photomultiplier (SiPM) and an avalanche photo diode (APD). The second detector may be a SPAD, a SiPM or an APD.

[0099] It is understandable that in practical applications, whether the type of the first detector is the same as the type of the second detector can be determined according to specific circumstances, and this specification does not impose any specific restrictions on this.

[0100] In actual applications, the detection specification parameters of the first receiving module can be determined by at least one of the number, type, arrangement, array shape, photosensitive surface size and detection probability of the first detectors (or first detection units) contained therein, and the detection specification parameters of the second receiving module can be determined by at least one of the number, type, arrangement, array shape, photosensitive surface size and detection probability of the second detectors (or second detection units) contained therein.

[0101] When the detection specification parameters of the first receiving module and the detection specification parameters of the second receiving module are the same or similar, specifically at least one of the following situations may be included: 1) the number of first detectors (or first detection units) and the number of second detectors (or second detection units) are the same or similar; 2) the type of the first detector (or first detection unit) and the type of the second detector (or second detection unit) are the same; 3) the arrangement of the first detector (or first detection unit) and the arrangement of the second detector (or second detection unit) are the same or similar; 4) the photosensitive surface size of the first detector (or first detection unit) and the photosensitive surface size of the second detector (or second detection unit) are the same or similar; 5) the detection probability of the first detector (or first detection unit) and the detection probability of the second detector (or second detection unit) are the same or similar; 6) the area of ​​the array of the first detector (or first detection unit) and the area of ​​the array of the second detector (or second detection unit) are the same or similar.

[0102] Wherein, when the area of ​​the first detector (or first detection unit) array is the same as or similar to the area of ​​the second detector (or second detection unit) array, the first detector (or first detection unit) array and the second detector (or second detection unit) array may have different shapes. For example, the first detector (or first detection unit) array and the second detector (or second detection unit) array are both rectangular arrays, and the aspect ratio of the first detector (or first detection unit) array is different from the aspect ratio of the second detector (or second detection unit) array.

[0103] It is understandable that the specific situation when the detection specification parameters of the first receiving module and the detection specification parameters of the second receiving module are the same or similar can be determined according to actual conditions, and this specification does not limit this.

[0104] In a specific implementation, when the solid-state laser radar provided in the embodiment of this specification realizes detection signals of different fields of view and different maximum distances through a first optical component with a smaller focal length and a second optical component with a larger focal length, the detection specification parameters of the first receiving module and the detection specification parameters of the second receiving module can also be the same or similar, and the capacity can be maximized by using the first optical component and the second optical component with different focal lengths, and the same or similar detection specification parameters can reduce the design difficulty and manufacturing cost of the receiving module.

[0105] Furthermore, when the detection specification parameters of the first detection unit and the detection specification parameters of the second detection unit are the same or similar, due to the different focal lengths of the first optical component and the second optical component, the first receiving module corresponds to a larger first field of view, while the second receiving module corresponds to a smaller second field of view. If the first field of view and the second field of view are divided into regions according to angles of the same size, then for angle regions of the same size, the number of first detection units that can be allocated by the first receiving module is smaller than the number of second detection units that can be allocated by the second receiving module, and a larger number of second detection units can obtain a larger range of second echo signals, thereby increasing the light energy received, thereby enabling the second receiving module to have a stronger far-range measurement capability.

[0106] In a specific implementation, after acquiring the first echo signal, the activated first detection unit may generate a first electrical signal for generating point cloud data. In order to read the first electrical signal, the first receiving module may further include a first readout circuit, adapted to read the first electrical signal output by the activated first detection unit according to a set first read timing.

[0107] In practical applications, the first detection unit having the first detector can be integrated into the first detector chip, and the first readout circuit can be integrated into the first readout chip. The first detector chip and the first readout chip are packaged in a stacking manner, thereby improving the integration of the first receiving module, reducing the volume of the first receiving module, and facilitating the structural layout. Optionally, the first detector chip and the first readout chip are packaged in a three-dimensional stacking manner, thereby further improving the integration of the first receiving module, reducing the volume of the first receiving module, and facilitating the structural layout.

[0108] In a specific implementation, after acquiring the second echo signal, the activated second detection unit can generate a second electrical signal for generating point cloud data. In order to read the second electrical signal, the second receiving module can also include a second readout circuit, which is suitable for reading the second electrical signal output by the activated second detection unit according to the second read timing.

[0109] In practical applications, the second detection unit having the second detector can be integrated into the second detector chip, and the second readout circuit can be integrated into the second readout chip. The second detector chip and the second readout chip are packaged in a stacking manner, thereby improving the integration of the second receiving module, reducing the volume of the second receiving module, and facilitating the structural layout. Optionally, the second detector chip and the second readout chip are packaged in a three-dimensional stacking manner, thereby further improving the integration of the second receiving module, reducing the volume of the second receiving module, and facilitating the structural layout.

[0110] In a specific implementation, in order to ensure that the first transceiver and the second transceiver can detect in an orderly manner, it is necessary to control the detection timing of the first transceiver and the detection timing of the second transceiver, and in order to reduce the volume of the solid-state laser radar, the first transceiver and the second transceiver can share the same control module. Figure 2 , the solid-state laser radar LS1 may also include a control module 13, the control module 13 is suitable for controlling the detection timing of the first transceiver M11 and the detection timing of the second transceiver M12. The detection timing of the first transceiver may include: the first light emission timing of the first light source, the first receiving timing and the first reading timing of the first receiving module. The detection timing of the second transceiver may include: the second light emission timing of the second light source, the second receiving timing and the second reading timing of the second receiving module.

[0111] In a specific implementation, since the first transceiver and the second transceiver perform detection within fields of view of different sizes respectively, the detection process between the first transceiver and the second transceiver is relatively independent, and the control mode of the control module can be set according to specific circumstances.

[0112] In an optional control mode, the control module can control the first transceiver and the second transceiver to perform synchronous detection. Figure 1 and Figure 2 At time t1, the control module 13 can control the first transceiver device M11 to detect within the first field of view FOV1 to obtain a frame of point cloud data about the first field of view FOV1, and control the second transceiver device M12 to detect within the second field of view FOV2 to obtain a frame of point cloud data about the second field of view FOV2.

[0113] Therefore, for the intersection area, two sets of detection results can be obtained, thereby improving the solid-state laser radar's ability to detect obstacles in the overlapping area.

[0114] In another optional control mode, the control module may control the first transceiver and the second transceiver to perform asynchronous detection. Figure 1 and Figure 2 At time t2, the control module 13 can control the first transceiver device M11 to detect within the first field of view FOV1, and control the second transceiver device M12 to detect within the second field of view FOV2 in sequence, thereby successively obtaining a frame of point cloud data about the first field of view FOV1 and a frame of point cloud data about the second field of view FOV2.

[0115] Therefore, for the control module, only one of the first transceiver and the second transceiver needs to be controlled at a time, and the power consumption per unit time is low, thereby reducing the total power consumption of the solid-state laser radar. Moreover, due to the low power consumption per unit time, the heat dissipation requirements can be reduced, thereby reducing costs.

[0116] In a specific implementation, when the control module controls the first transceiver and the second transceiver to perform asynchronous detection, in order to further reduce the total power consumption of the solid-state laser radar, it can determine whether the second transceiver performs detection based on the detection result of the first transceiver.

[0117] Specifically, in conjunction with reference Figure 1 and Figure 2 At time t3, the control module 13 first controls the first transceiver device M11 to perform detection, and determines whether an obstacle is detected based on the detection result of the first transceiver device M11.

[0118] If it is determined based on the detection result of the first transceiver M11 that no obstacle is detected, that is, the first transceiver M11 does not detect an obstacle within the first field of view FOV1, the second transceiver M12 can be controlled to perform detection within the second field of view FOV2 to obtain a detection result at a longer detection distance.

[0119] If it is determined based on the detection result of the first transceiver M11 that an obstacle is detected, that is, the first transceiver M11 detects an obstacle within the first field of view FOV1, there is no need to control the second transceiver M12 to perform detection, that is, the second transceiver M12 may not perform detection on the second field of view FOV2, thereby avoiding repeated detection of the intersection area by the second transceiver M12.

[0120] From the above, it can be seen that after the first transceiver detects an obstacle, the second transceiver does not need to perform detection, thereby saving the power consumption of the second transceiver and reducing the total power consumption of the solid-state laser radar.

[0121] In a specific implementation, the optical axis of the first optical component can be parallel to the optical axis of the second optical component, thereby increasing the intersection area, further improving the probability of the solid-state laser radar detecting obstacles in the intersection area, and thereby increasing the detection capability of the solid-state laser radar.

[0122] In practical applications, since the first transceiver and the second transceiver are relatively independent, and the volumes of the first transceiver and the second transceiver are smaller than those of existing solid-state laser radars, and the space requirements are lower, the setting method of the first transceiver and the second transceiver can be determined according to specific circumstances.

[0123] In an optional configuration, the first transceiver device and the second transceiver device may be disposed adjacent to each other, wherein the first transceiver device may be disposed to the side, above, below, in front of, or behind the second transceiver device.

[0124] It is understandable that, in practical applications, one or more of the above-mentioned positions may be selected to determine the specific adjacent arrangement of the first transceiver and the second transceiver according to actual needs. For example, the first transceiver may be arranged to the side of the second transceiver, or the first transceiver may be arranged above, below, behind, or in front of the second transceiver. This specification does not impose any specific restrictions on the adjacent arrangement of the first transceiver and the second transceiver.

[0125] For example, combined with reference Figure 1 The first transceiver M11 is disposed on the side of the second transceiver M12, and the first field of view FOV1 of the first transceiver M11 may include the second field of view FOV2 of the second transceiver M12.

[0126] For example, Figure 5 FIG. 1 is a schematic diagram of another solid-state laser radar provided in an embodiment of the present specification. In the solid-state laser radar LS2, the first transceiver M21 is arranged below the second transceiver M22. The first field of view FOVA of the first transceiver M21 may include the second field of view FOVB of the first transceiver M22.

[0127] For example, Figure 6 As shown in FIG. 1 , it is a schematic diagram of another solid-state laser radar provided in an embodiment of the present specification. In the solid-state laser radar LS3 provided in an embodiment of the present application, the first transceiver M31 is arranged at the front and lower part of the second transceiver M32. Compared with the existing solid-state laser radar, Figure 6 The first transceiver M21 and the second transceiver M22 arranged adjacent to each other can reduce the blind area near the ground.

[0128] Specifically, if Figure 7 As shown, it is a schematic diagram of the use of an existing solid-state laser radar. The field of view of the existing solid-state laser radar LSA is the same as the first field of view of the first transceiver M31, and the maximum detection distance of the existing solid-state laser radar LSA is the same as the maximum detection distance of the second transceiver M32. The height of the existing solid-state laser radar LSA relative to the reference plane (such as the ground) is the same as the height of the second transceiver M32 relative to the reference plane. Obviously, the blind area 1 formed by the solid-state laser radar LS3 provided in the embodiment of the present application is smaller than the blind area 2 formed by the existing solid-state laser radar LSA.

[0129] In a specific implementation, when the control module controls the first transceiver and the second transceiver to perform asynchronous detection, the first light source and the second light source can share the same driving module, and the control module drives the first light source to generate a first detection signal or drives the second light source to generate a second detection signal by time-division multiplexing the same driving module, thereby saving the cost of the solid-state laser radar. Figure 2 As shown, the solid-state laser radar LS1 may further include a driving module M14. At time ta, the control module M13 drives the first light source to generate a first detection signal through the driving module M14. At time tb, the control module M13 drives the second light source to generate a second detection signal through the driving module M14.

[0130] In a specific implementation, when the first transceiver and the second transceiver perform synchronous detection, mutual interference may occur, resulting in an erroneous detection result. For example, the first transceiver may erroneously identify the interference of the second transceiver as a first echo signal.

[0131] In order to avoid the above problems, the first transceiver device can be controlled to perform multiple detections in the same direction and the time intervals for transmitting the first detection signal can be randomly changed, and the second transceiver device can be controlled to perform multiple detections in the same direction and the time intervals for transmitting the second detection signal can be randomly changed, thereby filtering out the erroneous detection results caused by interference and improving data accuracy.

[0132] Taking the first transceiver as an example, combined with reference Figure 8 , control the first transceiver to perform multiple detections in the same direction (such as Figure 8 In each detection, when the first transceiver obtains an optical signal from the incident light received through the detection window, the amplitude and flight time of the optical signal (the time difference between the moment of receiving the optical signal and the moment of transmitting the first detection signal) are recorded, the amplitude and flight time of the optical signal obtained by multiple detections are stored, and the amplitudes of the optical signals corresponding to the same flight time obtained by different detections are accumulated to obtain the following: Figure 8 The superimposed histogram shown, that is, the relationship between the amplitude of the light signal and the flight time, shows that the light signals from the same obstacle can be superimposed within the flight time range to form an obvious echo waveform, so that the flight time corresponding to the echo waveform is used as the flight time of the first echo signal, thereby improving the signal-to-noise ratio of the detection. Specifically, the flight time corresponding to the echo waveform can be a specific example of the flight time corresponding to the peak, the flight time corresponding to the center of gravity of the echo waveform, or the flight time corresponding to when the echo front exceeds a preset threshold.

[0133] Furthermore, a random offset is added to the transmission interval of each detection by the first transceiver, so that the time intervals of the first detection signal transmitted by the first transceiver multiple times are randomly changed. The detection interval of the first transceiver is determined by the farthest detection distance of the first transceiver and the buffer time required by the control module.

[0134] Since the control module can determine the actual transmission time of the first detection signal transmitted by the first transceiver each time, the flight time corresponding to the optical signal received each time can be determined according to the transmission time of the first detection signal transmitted in each detection and the corresponding reception time of the optical signal.

[0135] Therefore, if the first detection signal is reflected multiple times by the same obstacle in multiple detections, the flight times corresponding to the obtained multiple light signals are the same or similar (e.g. Figure 8 There are n light signal amplitudes in the flight period △t shown in FIG. 1 ), and there is a peak corresponding to the first echo signal in the histogram obtained by superposition. When the peak value of the peak exceeds the preset threshold value (such as Figure 8 When the peak value of the peak f1 shown in exceeds the preset threshold value, the flight time corresponding to the peak value is used as the flight time of the first echo signal, and the obstacle information (such as distance information and reflectivity information) is calculated according to the flight time of the first echo signal to obtain the corresponding point data for forming point cloud data.

[0136] If the received optical signal is an interference optical signal generated by the second transceiver or other equipment (such as other laser radars), since the emission time of the interference optical signal has no random offset, the corresponding flight times in the multiple detections obtained are scattered and cannot all fall into the same flight period. There is no obvious peak in the histogram obtained by superposition, or the peak value of the peak in the histogram obtained by superposition does not exceed the preset threshold (such as Figure 8 The peak value of the peak f2 shown in does not exceed the preset threshold), so there is no need to calculate the obstacle information, thereby avoiding obtaining erroneous point data, improving the accuracy of the data and the signal-to-noise ratio of the solid-state laser radar.

[0137] It can be understood that the process of the second transceiver device performing multiple detections in the same direction and transmitting the second detection signals multiple times with random changes in the time interval can refer to the relevant description of the first transceiver device mentioned above, and will not be repeated here.

[0138] It is understandable that the embodiments described above provide a variety of implementation schemes, and the various implementation schemes can be combined and cross-referenced with each other without conflict, thereby extending a variety of possible implementation schemes, which can all be considered as embodiment schemes disclosed and open in the embodiments of this application.

[0139] This specification also provides a solid-state laser radar control method corresponding to the solid-state laser radar described in any of the above embodiments, which is described in detail below with reference to the accompanying drawings through specific embodiments. It should be noted that the content of the solid-state laser radar control method described below can be referenced to the content of the solid-state laser radar described above.

[0140] In the specific implementation, Fig. 9 As shown, it is a flow chart of a solid-state laser radar control method of this embodiment, wherein the solid-state laser radar may include: a first transceiver and a second transceiver, the first transceiver may include a first light source, a first receiving module and a first optical component, the first optical component is suitable for beam shaping the first detection signal generated by the first light source and emitting it to the outside of the solid-state laser radar, and converging the incident light from the first field of view to the first receiving module; the second transceiver may include a second light source, a second receiving module and a second optical component, the second optical component performs beam shaping on the second detection signal generated by the second light source and emits it to the outside of the solid-state laser radar, and converges the incident light from the second field of view to the second receiving module. It can be understood that the specific structure and implementation of the solid-state laser radar can refer to the description of the above-mentioned relevant parts, which will not be repeated here.

[0141] refer to Fig. 9 , the solid-state laser radar control method may include:

[0142] S11, controlling the first transceiver to detect within a first field of view, and controlling the second transceiver to detect within a second field of view; wherein the first field of view is larger than the second field of view, there is an intersection area between the first field of view and the second field of view, and the farthest detection distance of the first transceiver is smaller than the farthest detection distance of the second transceiver.

[0143] Therefore, the solid-state laser radar with the above structure can achieve a detection effect equivalent to that of the existing solid-state laser radar, and can effectively control the cost of the solid-state laser radar while improving the detection capability, and has higher flexibility.

[0144] In the specific implementation, Fig. 9 As shown, before controlling the first transceiver to detect within the first field of view, and controlling the second transceiver to detect within the second field of view, the method may further include:

[0145] S1A, determining a detection timing of the first transceiver device and a detection timing of the second transceiver device.

[0146] The detection timing of the first transceiver may include: a first light emission timing of the first light source, a first receiving timing and a first reading timing of the first receiving module. The detection timing of the second transceiver may include: a second light emission timing of the second light source, a second receiving timing and a second reading timing of the second receiving module.

[0147] In a specific implementation, since the first transceiver and the second transceiver perform detection in fields of view of different sizes, respectively, the detection processes between the first transceiver and the second transceiver are relatively independent, and the control mode of the control module can be set according to specific circumstances. For example, controlling the first transceiver to perform detection in the first field of view, and controlling the second transceiver to perform detection in the second field of view, may specifically include at least one of the following:

[0148] (1) Controlling the first transceiver and the second transceiver to perform synchronous detection. The specific implementation process may refer to the description of the above related parts, which will not be repeated here.

[0149] (2) Controlling the first transceiver and the second transceiver to perform asynchronous detection. The specific implementation process may refer to the description of the above related parts, which will not be repeated here.

[0150] In a specific implementation, when controlling the first transceiver and the second transceiver to perform asynchronous detection, it may specifically include: controlling the first transceiver to perform detection, and after determining that no obstacle is detected based on the detection result of the first transceiver, controlling the second transceiver to perform detection. The specific implementation process may refer to the description of the above-mentioned relevant parts, which will not be repeated here.

[0151] In practical applications, the first light source may include a plurality of first lasers; the second light source may include a plurality of second lasers. When controlling the first transceiver to detect within the first field of view, and controlling the second transceiver to detect within the second field of view, it may specifically include:

[0152] Based on the first light emission timing of the first light source, a corresponding number of first lasers are activated to generate the first detection signal, and based on the second light emission timing of the second light source, a corresponding number of second lasers are activated to generate the second detection signal, wherein, for the same size of the angular area, the number of first detectors allocated by the first receiving module is less than the number of second detectors allocated by the second receiving module. It can be understood that the specific implementation process of the first light source and the second light source can refer to the description of the above-mentioned relevant parts, which will not be repeated here.

[0153] It should be noted that, in the description of this specification, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", etc., indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing this specification and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on this specification.

[0154] It should also be noted that "one embodiment" or "embodiment" referred to in this specification refers to specific features, structures or characteristics that may be included in at least one implementation of this specification. And in the description of this specification, the terms "first", "second" and the like are used only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined by terms such as "first" and "second" may explicitly or implicitly include one or more of the features. Moreover, the terms "first" and "second" are used to distinguish similar objects, and are not necessarily used to describe a specific order or to express importance. It is understood that the terms used in this way can be interchangeable where appropriate, so that the embodiments of this specification described herein can be implemented in an order other than those illustrated or described herein.

[0155] Although the embodiments of the present invention are disclosed above, the present invention is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the scope defined by the claims.

Claims

1. A solid-state laser radar, characterized in that: include: a first transceiver device adapted to detect within a first field of view, The first transceiver device includes a first light source, a first receiving module and a first optical component, wherein the first optical component is adapted to perform beam shaping on the first detection signal generated by the first light source and emit the beam to the outside of the solid-state laser radar, and to converge the incident light from the first field of view to the first receiving module; and The second transceiver is adapted to detect within a second field of view, The second transceiver device includes a second light source, a second receiving module and a second optical component, wherein the second optical component is adapted to perform beam shaping on the second detection signal generated by the second light source and emit the beam to the outside of the solid-state laser radar, and to converge the incident light from the second field of view to the second receiving module; Among them, the first field of view is larger than the second field of view, there is an intersection area between the first field of view and the second field of view, and the maximum detection distance of the first transceiver is smaller than the maximum detection distance of the second transceiver.

2. The solid-state laser radar according to claim 1, characterized in that: The intersection area includes the central area of ​​the solid-state laser radar detection range.

3. The solid-state laser radar according to claim 1 or 2, characterized in that: The focal length of the first optical component is smaller than the focal length of the second optical component.

4. The solid-state laser radar according to claim 3, characterized in that: The first light source includes a plurality of first lasers, the second light source includes a plurality of second lasers, For an angular area of ​​the same size, the number of first lasers allocated to the first light source is smaller than the number of second lasers allocated to the second light source.

5. The solid-state laser radar according to claim 3, characterized in that: The first receiving module includes a plurality of first detectors; the second receiving module includes a plurality of second detectors; For angular regions of the same size, the number of first detectors allocated to the first receiving module is smaller than the number of second detectors allocated to the second receiving module.

6. The solid-state laser radar according to claim 3, characterized in that: The first receiving module includes a first detector chip and a first readout chip, and the first detector chip and the first readout chip are packaged in a stacking manner.

7. The solid-state laser radar according to claim 3, characterized in that: The second receiving module includes a second detector chip and a second readout chip, and the second detector chip and the second readout chip are packaged in a stacking manner.

8. The solid-state laser radar according to claim 1 or 2, characterized in that: The solid-state laser radar also includes: a control module, which is suitable for controlling the detection timing of the first transceiver device and the detection timing of the second transceiver device.

9. The solid-state laser radar according to claim 8, characterized in that: The control module is suitable for controlling the first transceiver device and the second transceiver device to perform synchronous detection.

10. The solid-state laser radar according to claim 8, characterized in that: The control module is suitable for controlling the first transceiver device and the second transceiver device to perform asynchronous detection.

11. The solid-state laser radar according to claim 10, characterized in that: The control module is adapted to first control the first transceiver device to perform detection, and after determining that no obstacle is detected based on the detection result of the first transceiver device, control the second transceiver device to perform detection.

12. The solid-state laser radar according to claim 1 or 2, characterized in that: The optical axis of the first optical component is parallel to the optical axis of the second optical component.

13. The solid-state laser radar according to claim 1 or 2, characterized in that: The first transceiver device and the second transceiver device are arranged adjacent to each other.

14. The solid-state laser radar according to claim 1 or 2, characterized in that: The first light source and the second light source share a same driving module.

15. A solid-state laser radar control method, characterized in that: The solid-state laser radar comprises: a first transceiver and a second transceiver, the first transceiver comprises a first light source, a first receiving module and a first optical component, the first optical component is suitable for beam shaping a first detection signal generated by the first light source and emitting it to the outside of the solid-state laser radar, and converging incident light from the first field of view to the first receiving module; the second transceiver comprises a second light source, a second receiving module and a second optical component, the second optical component performs beam shaping on a second detection signal generated by the second light source and emitting it to the outside of the solid-state laser radar, and converging incident light from the second field of view to the second receiving module; The solid-state laser radar control method comprises: The first transceiver is controlled to detect within a first field of view, and the second transceiver is controlled to detect within a second field of view; wherein the first field of view is larger than the second field of view, there is an intersection area between the first field of view and the second field of view, and the farthest detection distance of the first transceiver is smaller than the farthest detection distance of the second transceiver.

16. The solid-state laser radar control method according to claim 15, characterized in that: Before controlling the first transceiver to detect within the first field of view, and controlling the second transceiver to detect within the second field of view, the method further includes: Determine a detection timing of the first transceiver device and a detection timing of the second transceiver device.

17. The solid-state laser radar control method according to claim 16, characterized in that: The controlling the first transceiver to detect within the first field of view, and the controlling the second transceiver to detect within the second field of view, comprises at least one of the following: Controlling the first transceiver device and the second transceiver device to perform synchronous detection; The first transceiver device and the second transceiver device are controlled to perform asynchronous detection.

18. The solid-state laser radar control method according to claim 17, characterized in that: The controlling the first transceiver device and the second transceiver device to perform asynchronous detection includes: The first transceiver is controlled to perform detection, and after determining that no obstacle is detected based on the detection result of the first transceiver, the second transceiver is controlled to perform detection.

19. The solid-state laser radar control method according to claim 15, characterized in that: The first light source includes a plurality of first lasers; the second light source includes a plurality of second lasers; The controlling the first transceiver to detect within a first field of view, and controlling the second transceiver to detect within a second field of view, comprises: Based on a first light emission timing of the first light source, a corresponding number of first lasers are activated to generate the first detection signal, and based on a second light emission timing of the second light source, a corresponding number of second lasers are activated to generate the second detection signal, wherein, for an angular area of ​​the same size, the number of first detectors allocated to the first receiving module is less than the number of second detectors allocated to the second receiving module.

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