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

Abstract

The invention provides a solid-state laser radar and a solid-state laser radar control method, and the solid-state laser radar comprises a first transmitting device which is suitable for transmitting a first detection signal in a first view field range; the second transmitting device is suitable for transmitting a second detection signal in a second field-of-view range, the second field-of-view range is a subset of the first field-of-view range, and the farthest detection distance of the second detection signal is larger than the farthest detection distance of the first detection signal; the receiving device is suitable for receiving incident light, and the incident light comprises a first echo signal formed by reflecting the first detection signal by an obstacle in the first view field range, and / or a second echo signal formed by reflecting the second detection signal by an obstacle in the second view field range. Therefore, the cost of the solid-state laser radar can be effectively controlled while the detection capability is improved, higher flexibility is achieved, and the heat and the size of the solid-state laser radar can be effectively controlled.

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 the present 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 has higher flexibility, and can effectively control the heat and volume of the solid-state laser radar.

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

[0006] A first transmitting device, adapted to transmit a first detection signal within a first field of view;

[0007] A second transmitting device is adapted to transmit a second detection signal within a second field of view, wherein the second field of view is a subset of the first field of view, and a maximum detection distance of the second detection signal is greater than a maximum detection distance of the first detection signal;

[0008] A receiving device is suitable for receiving incident light, wherein the incident light includes: a first echo signal formed by reflecting the first detection signal from an obstacle within the first field of view, and / or a second echo signal formed by reflecting the second detection signal from an obstacle within the second field of view.

[0009] The embodiment of this specification also provides a solid-state laser radar control method, wherein the solid-state laser radar includes a first transmitting device, a second transmitting device and a receiving device; the method includes:

[0010] Controlling the first transmitting device to transmit a first detection signal within a first field of view, and controlling the second transmitting device to transmit a second detection signal within a second field of view, wherein the second field of view is a subset of the first field of view, and the farthest detection distance of the second detection signal is greater than the farthest detection distance of the first detection signal;

[0011] Control the receiving device to receive incident light, wherein the incident light includes: a first echo signal formed by reflecting the first detection signal from an obstacle within the first field of view, and / or a second echo signal formed by reflecting the second detection signal from an obstacle within the second field of view.

[0012] The solid-state laser radar provided in the embodiment of this specification is adopted, and a first detection signal is transmitted within a first field of view by a first transmitting device, a second detection signal is transmitted within a second field of view by a second transmitting device, and incident light is received by a receiving device, wherein the second field of view is a subset of the first field of view, the maximum detection distance of the second detection signal is greater than the maximum detection distance of the first detection signal, and the incident light includes: a first echo signal formed by reflecting the first detection signal from an obstacle within the first field of view, and / or a second echo signal formed by reflecting the second detection signal from an obstacle within the second field of view. Thus, when improving the detection capability, the growth degree of the total power consumption can be effectively controlled, and the degree of heat increase, the degree of increase in manufacturing cost and the degree of increase in volume can be effectively controlled, the heat dissipation pressure is low, and the installation and appearance of the solid-state laser radar will not be affected. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] 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.

[0014] Figure 1 A schematic diagram of the operation of a solid-state laser radar provided in an embodiment of this specification.

[0015] Figure 2 for Figure 1 Schematic diagram of the structure of the solid-state laser radar shown.

[0016] Figure 3 A schematic diagram of the operation of another solid-state laser radar provided in an embodiment of this specification.

[0017] Figure 4This is a schematic diagram of an application scenario of an existing solid-state laser radar.

[0018] Figure 5 Schematic diagram of the solid-state laser radar provided in the embodiments of this specification in the same application scenario.

[0019] Figure 6 A schematic diagram of the structure of another solid-state laser radar provided in an embodiment of this specification.

[0020] Figure 7 A schematic diagram of the structure of a first light source provided in an embodiment of this specification.

[0021] Figure 8 A schematic diagram of the structure of a detection module provided in an embodiment of this specification.

[0022] Figures 9a to 9e A schematic diagram of the operation of a first light source, a second light source and a detection module provided in an embodiment of this specification.

[0023] Fig.10 A flowchart of a solid-state laser radar control method provided in an embodiment of this specification. DETAILED DESCRIPTION

[0024] 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 luminous power of the light source, or needs to increase the luminous power of the light source to enhance the signal light energy, thereby increasing the maximum detection distance of the detection signal. In the case where the luminous power of the laser per unit area in the light source is difficult to increase significantly, it is necessary to increase the luminous power by increasing the luminous area of ​​the light source. The larger the luminous 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.

[0025] In response to the above problems, an embodiment of this specification provides a solid-state laser radar, which transmits a first detection signal within a first field of view through a first transmitting device, transmits a second detection signal within a second field of view through a second transmitting device, and receives incident light through a receiving device, wherein the second field of view is a subset of the first field of view, the farthest detection distance of the second detection signal is greater than the farthest detection distance of the first detection signal, and the incident light includes: a first echo signal formed by reflecting the first detection signal from an obstacle within the first field of view, and / or, a second echo signal formed by reflecting the second detection signal from an obstacle within the second field of view. Thus, the detection requirements of a large field of view can be met by the first transmitting device, and the detection distance can be increased by the second transmitting device, thereby effectively controlling the degree of cost growth while improving the detection capability. In addition, the solid-state laser radar provided in the embodiment of this specification has higher flexibility, and can effectively control the heat and volume of the solid-state laser radar, so that the heat dissipation pressure of the solid-state laser radar is low, and will not cause excessive impact on the installation and appearance of the solid-state laser radar.

[0026] 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.

[0027] Reference Figure 1 , is a schematic diagram of a solid-state laser radar provided in an embodiment of this specification. In this example, refer to Figure 2 ,for Figure 1 Schematic diagram of the structure of the solid-state laser radar shown.

[0028] Combined with reference Figure 1 and Figure 2 In this example, the solid-state laser radar LS1 may include: a first transmitting device M11, a second transmitting device M12 and a receiving device M13.

[0029] The first transmitting device M11 is suitable for transmitting a first detection signal within a first field of view FOV1. The second transmitting device M12 is suitable for transmitting a second detection signal within a second field of view FOV2, wherein the second field of view FOV2 is a subset of the first field of view FOV1, and the farthest detection distance of the second detection signal is greater than the farthest detection distance of the first detection signal.

[0030] The receiving device M13 is suitable for receiving incident light, wherein the incident light includes: a first echo signal formed by reflecting the first detection signal from an obstacle within the first field of view FOV1, and / or a second echo signal formed by reflecting the second detection signal from an obstacle within the second field of view FOV2.

[0031] Based on this, the solid-state laser radar LS1 can achieve large-range detection through the first transmitting device M11 and the receiving device M13, thereby increasing the probability of detecting large-range obstacles, and because the solid-state laser radar LS1 can detect obstacles at a longer distance within the second field of view FOV2 through the second transmitting device M12 and the receiving device M13, and the second field of view FOV2 is a subset of the first field of view FOV1, the second field of view FOV2 can be set to include an area with a higher probability of obstacle occurrence in the first field of view FOV1, thereby enhancing the distance measurement capability of the solid-state laser radar LS1 in a local area of ​​the first field of view FOV1 (i.e., the area included in the second field of view FOV2), thereby increasing the probability of the solid-state laser radar LS1 detecting obstacles at a longer distance in the local area, and meeting the needs of long-distance detection of local areas within the field of view, thereby enhancing the detection performance of the solid-state laser radar LS1.

[0032] It can be seen from the above that compared with the existing solid-state laser radar, the structure of the solid-state laser radar LS1 of the embodiment of this specification, through the first transmitting device M11, the second transmitting device M12 and the receiving device M13, can effectively control the cost while improving the detection capability and meeting the comprehensive needs of large field of view and long-distance detection.

[0033] Specifically, when faced with a larger range of detection needs, the first transmitting device M11 and the receiving device M13 can be used to perform large field of view detection within the first field of view FOV1 to meet the above needs, thereby enhancing the large-range field of view coverage capability of the solid-state laser radar LS1. Since longer-range detection within the second field of view FOV2 can be achieved through the second transmitting device M12 and the receiving device M13, there is no need to increase the light-emitting area or light-emitting power of the first transmitting device M11 to achieve longer-range detection. Therefore, the cost of the solid-state laser radar LS1 is much lower than that of existing solid-state laser radars that meet the same detection needs.

[0034] In the face of longer-distance detection needs, the second transmitting device M12 and the receiving device M13 can be used to perform long-distance detection within the second field of view FOV2 to meet the above needs. Since the first transmitting device M11 and the receiving device M13 can achieve detection of a large field of view within the first field of view FOV1, there is no need to increase the light-emitting power or light-emitting area of ​​the second transmitting device M12 to achieve detection of a large field of view. Therefore, the cost of the solid-state laser radar LS1 is much lower than that of existing solid-state laser radars that meet the same detection needs.

[0035] When faced with detection needs for a larger range and longer distance, combined with the above analysis, it can be seen that the solid-state laser radar LS1 can fully utilize the luminous energy of the first transmitting device M11 and the second transmitting device M12 by configuring different transmitting parameters of the first transmitting device M11 and the second transmitting device M12, and combined with the corresponding receiving parameter configuration of the receiving device M13, the solid-state laser radar LS1 can control the increase in total cost while meeting different detection needs.

[0036] In addition, the solid-state laser radar provided in the embodiment of this specification can adjust at least one of the first transmitting device, the second transmitting device and the receiving device according to actual detection needs. Therefore, the solid-state laser radar provided in the embodiment of this specification has higher flexibility.

[0037] Furthermore, since the solid-state laser radar provided in the embodiment of this specification disperses the luminous energy in two transmitting devices, the heat concentration is low and the heat dissipation pressure is small. In addition, the solid-state laser radar multiplexing receiving device provided in the embodiment of this specification only modifies the transmitting part, which can further effectively control the cost and volume, thereby avoiding excessive impact on the installation and appearance of the solid-state laser radar.

[0038] It is understandable that, in practical applications, the specific positions of the first transmitting device, the second transmitting device, and the receiving device inside the solid-state laser radar can be determined according to the specific internal structure of the solid-state laser radar. For example, the first transmitting device and the second transmitting device can be located on the same side of the receiving device, or the first transmitting device and the second transmitting device can be located on two adjacent sides of the receiving device. This specification does not limit the specific positions of the first transmitting device, the second transmitting device, and the receiving device inside the solid-state laser radar.

[0039] In a specific implementation, the second field of view may include the central area of ​​the first field of view, thereby increasing the probability of detecting obstacles in the second field of view and enhancing the detection capability of the solid-state laser radar.

[0040] It can be understood that the central area of ​​the first field of view can be determined according to the specific application scenario and installation location of the solid-state laser radar, and this specification does not impose any specific restrictions on the central area of ​​the first field of view.

[0041] In a specific implementation, the second field of view includes the central area of ​​the first field of view. The central area of ​​the first field of view may be a partial area including the vertical zero angle of the solid-state laser radar, such as a vertical field of view angle of -5° to 5°, or a vertical field of view angle of -10° to 10°. Therefore, the second field of view includes the vertical zero angle of the solid-state laser radar. For example, when the solid-state laser radar provided in the embodiment of this specification is installed on a land mobile carrier (such as a motor vehicle or a non-motor vehicle), since the vertical zero degree of the solid-state laser radar overlaps with the horizon, and the probability of obstacles (such as vehicles, pedestrians, street lights, etc.) appearing in the space around the horizon is high, the solid-state laser radar of the embodiment of this specification includes the vertical zero angle through the second field of view, and increases the distance measurement capability of the area near the vertical zero angle through the second transmitting device, thereby enhancing the solid-state laser radar's ability to detect obstacles near the horizon and providing more accurate reference information for the carrier.

[0042] In a specific implementation, the proportional relationship between the second field of view range and the first field of view range can be set according to actual needs and scenarios, wherein the proportional relationship between the second field of view range and the first field of view range is determined by the angle range between the second field of view range and the first field of view range.

[0043] For example, when the solid-state laser radar provided in the embodiment of this specification is installed on a land mobile carrier, according to the spatial law that obstacles appearing far away are smaller in size and occupy a smaller angle range, the ratio between the second field of view range and the first field of view range can be 1 / 10 to 1 / 5. Among them, whether to include the endpoint value can be determined according to the actual situation, and this specification does not make specific restrictions on this.

[0044] In practical applications, the field of view of a solid-state laser radar is quantified by the field of view angle range in at least one specified direction, where the specified direction can be the horizontal direction, vertical direction, or diagonal direction relative to the solid-state laser radar. Based on this, the first field of view range and the second field of view range can be quantified by the field of view angle range in at least one same specified direction, and the field of view angle range of the second field of view range in the specified direction is a subset of the field of view angle range of the first field of view range in the specified direction.

[0045] For example, Figure 3 FIG. 1 is a schematic diagram of another solid-state laser radar according to an embodiment of the present specification, and Figure 3It is a top view of the solid-state laser radar. In the solid-state laser radar LS2 of this example, the field of view angle range β of the second field of view range FOVB of the second transmitting device M22 in the horizontal direction relative to the solid-state laser radar LS2 is a subset of the field of view angle range α of the first field of view range FOVA of the first transmitting device M21 in the horizontal direction relative to the solid-state laser radar LS2.

[0046] It can be understood that the above examples are only used for illustrative description and do not limit the specific meaning and number of the specified directions. The specific meaning and number of the specified directions can be adjusted according to specific circumstances.

[0047] In practical applications, in order to avoid the total power of existing solid-state laser radars being too high, a compromise is made between the field of view and the ranging capability of existing solid-state laser radars, resulting in a smaller field of view of a single existing solid-state laser radar. When faced with larger detection needs, more existing solid-state laser radars are needed to splice the field of view, resulting in increased use costs. In addition, there are more blind spots when multiple existing solid-state laser radars are spliced ​​together.

[0048] In the solid-state laser radar provided in the embodiments of this specification, since longer-distance detection within the second field of view can be achieved through the second transmitting device and the receiving device, there is no need to increase the light-emitting area or the light-emitting power of the first transmitting device to achieve longer-distance detection. Therefore, under the same total power limit, the solid-state laser radar provided in the embodiments of this specification can perform detection in a larger field of view than the existing solid-state laser radar. Therefore, when faced with a larger range of detection needs, the number of solid-state laser radars can be reduced, the cost of use can be reduced, and the blind spots caused by splicing can be reduced, and the blind spot coverage capability is higher.

[0049] For example, Figure 4 As shown in FIG. 1 , a schematic diagram of an application scenario of an existing solid-state laser radar is shown in FIG. Figure 5 The figure shows a schematic diagram of the solid-state laser radar provided in the embodiments of this specification in the same application scenario.

[0050] refer to Figure 4 Due to the limitation of total power, the horizontal field of view of the existing solid-state laser radar is less than 180°. Therefore, when installed on the vehicle CAR, four existing solid-state laser radars are needed to meet the 360° detection requirement in the horizontal direction. There are blind spots A1 and A2 on both sides of the vehicle CAR.

[0051] refer to Figure 5The solid-state laser radar provided in the embodiment of this specification is installed on the vehicle CAR. Under the same total power limitation, for the solid-state laser radar provided in the embodiment of this specification, through the first transmitting device and the receiving device, the first field of view range can be made to have a field of view angle of not less than 180° in the horizontal direction relative to the solid-state laser radar. Therefore, when installed on the vehicle CAR, the two solid-state laser radars provided in the embodiment of this specification can meet the 360° detection requirement in the horizontal direction, and there are no blind spots on both sides of the vehicle CAR.

[0052] Combined with reference Figure 4 and Figure 5 It can be seen that the solid-state laser radar provided by the embodiments of this specification can reduce the number of solid-state laser radars while meeting the detection needs, thereby reducing the cost of use and reducing the blind spots caused by splicing.

[0053] In a specific implementation, the specific size of the second field of view can be set according to actual needs and scenarios. For example, when the solid-state laser radar provided in the embodiment of this specification is installed on a land mobile carrier, since the obstacle objects on the ground in the distance are small in size, the second field of view does not need to be too large. Specifically, the field of view angle of the second field of view in the vertical direction of the solid-state laser radar can be less than or equal to 30°, and / or, the field of view angle of the second field of view in the horizontal direction of the solid-state laser radar can be less than or equal to 90°.

[0054] According to the above description, in actual applications, the solid-state laser radar provided in the embodiments of this specification can meet the needs of complex application scenarios. For example, in the application scenarios of advanced assisted driving or automatic driving, for automatic parking, automatic turning driving on urban roads, etc., the first field of view range of the solid-state laser radar provided in the embodiments of this specification meets the needs of a larger field of view range (such as the field of view needs to be greater than 180°), thereby covering the blind spots around the vehicle, and the second transmitting device and receiving device of the solid-state laser radar provided in the embodiments of this specification meet the needs of a longer detection distance (such as the need to be able to detect obstacles at a distance of 50 to 100 meters), so that vehicle control strategies (such as braking, deceleration, detours, etc.) can be generated in time to avoid collisions with obstacles (such as oncoming vehicles, pedestrians, etc.).

[0055] In a specific implementation, the first emitting device may include a first light source and a first emitting optical component, and the second emitting device may include a second light source and a second emitting optical component. By setting the first emitting optical component and the second emitting optical component with different optical parameters, different fields of view and different maximum distances of detection signals can be achieved. The types of optical parameters specifically set for the first emitting optical component and the second emitting optical component can be determined according to specific circumstances.

[0056] In an alternative embodiment, if Figure 6 As shown, it is a schematic diagram of the structure of another solid-state laser radar provided in an embodiment of this specification. In this example, the solid-state laser radar LS3 may include: a first transmitting device M31 (not shown in the figure) and a second transmitting device M12 (not shown in the figure).

[0057] The first transmitting device M31 may include a first light source M311 and a first transmitting optical component M312, wherein the first transmitting optical component M311 is adapted to perform beam shaping on a first detection signal generated by the first light source M311 and emit the signal to the outside of the solid-state laser radar LS3. The second transmitting device M32 may include a second light source M321 and a second transmitting optical component M322, wherein the second transmitting optical component M322 is adapted to perform beam shaping on a second detection signal generated by the second light source M321 and emit the signal to the outside of the solid-state laser radar LS3.

[0058] The focal length d1 of the first emitting optical component M312 can be set smaller than the focal length d2 of the second emitting optical component M322. Thus, the light beam of the first detection signal generated by the first light source M311 can be dispersed within a larger first field of view through the first emitting optical component M312 with a smaller focal length, thereby obtaining a larger first field of view; the light beam of the second detection signal generated by the second light source M321 can be concentrated within a smaller second field of view through the second emitting optical component M322 with a larger focal length. 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 has a larger maximum detection distance.

[0059] Therefore, by adopting the above solution, there is no need to make too many changes to the internal structure of the solid-state laser radar, thereby reducing the structural complexity of the solid-state laser radar in the embodiment of this specification.

[0060] In a specific implementation, in order to make the light beam of the first detection signal more dispersed after passing through the first emitting optical component, the first emitting optical component may include a fisheye lens, thereby utilizing the wide-angle characteristics of the fisheye lens to make the light beam of the first detection signal more dispersed, thereby increasing the first field of view of the first emitting device.

[0061] 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 emitting optical component with a smaller focal length and a second emitting 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.

[0062] 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, the light beam of the first detection signal generated by the first light source can be dispersed within a larger first field of view through the first emitting 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 within a smaller second field of view through the second emitting optical component. If the first field of view and the second field of view are compared within an angular region of the same size, then within the angular region 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.

[0063] 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 emitting optical component and the second emitting optical component with different focal lengths, and the same or similar luminous specification parameters can reduce the design difficulty and manufacturing cost.

[0064] 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.

[0065] 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 shape of the first field of view to be achieved, the focal length of the first emitting optical component, the luminous power of the first light source, etc.).

[0066] 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, thereby improving the controllability and flexibility of the first light source.

[0067] It should be noted that the above “the first lasers are suitable for being activated individually” should be understood as the activation states of the first lasers being independently controlled, that is, whether each first laser is activated will not affect the activation states of the other first lasers.

[0068] In practical applications, according to light emission requirements, one or more first lasers may be controlled to be activated when the first light source emits light once. And if multiple first lasers are synchronously activated when the first light source emits light once, then according to actual conditions, the multiple first lasers that are synchronously activated may be multiple first lasers arranged adjacently or multiple first lasers arranged non-adjacently.

[0069] 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.

[0070] 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, and one-dimensional light emission control can be achieved by setting the relevant first light emission timing; for another example, the plurality of first lasers can be arranged in multiple arrangement directions to form a multi-dimensional array, and multi-dimensional light emission control can be achieved by setting the relevant first light emission timing. This specification does not specifically limit the arrangement direction of the plurality of first lasers.

[0071] It can also 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.

[0072] 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.

[0073] 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.).

[0074] 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.

[0075] In an alternative embodiment, if Figure 7 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 71 may include M x N first light emitting units (i.e. Figure 7 The first light emitting units 711 to the first light emitting units 7MN in the embodiment 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.

[0076] Assuming that the first light source activates one first light-emitting unit each time to meet the shape and size of the angle area that needs to be covered by a single light emission, 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 711 is activated at the first light emission, the first light-emitting unit 712 is activated at the second light emission, and so on, and the first light-emitting unit 7NM is activated at the MxNth light emission.

[0077] 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 emitting optical component, the luminous power of the second light source, etc.).

[0078] In a specific implementation, when the second light source includes a plurality of second lasers, each of the second lasers is adapted to be activated individually to generate the second detection signal, thereby improving the controllability and flexibility of the second light source.

[0079] It should be noted that the above “the second lasers are suitable for being activated individually” should be understood as the activation states of the second lasers being independently controlled, that is, whether each second laser is activated will not affect the activation states of the other second lasers.

[0080] In practical applications, according to the lighting requirements, one or more second lasers can be controlled to be activated when the second light source emits light once. And if multiple second lasers are synchronously activated when the second light source emits light once, then according to the actual situation, the multiple second lasers that are synchronously activated can be multiple second lasers arranged adjacently or multiple second lasers arranged non-adjacently.

[0081] 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.

[0082] 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, and one-dimensional light emission control can be achieved by setting the relevant second light emission timing; for another example, the plurality of second lasers can be arranged in multiple arrangement directions to form a multi-dimensional array, and multi-dimensional light emission control can be achieved by setting the relevant second light emission timing. This specification does not specifically limit the arrangement direction of the plurality of second lasers.

[0083] It can also 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.

[0084] 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.

[0085] 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.).

[0086] 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.

[0087] 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.

[0088] 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.

[0089] 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.

[0090] 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.

[0091] 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.

[0092] 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.

[0093] In a specific implementation, when the solid-state laser radar provided in the embodiment of this specification realizes detection signals of different sizes of field of view and different maximum distances through a first emitting optical component with a smaller focal length and a second emitting 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 capacity through the first emitting optical component and the second emitting 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.

[0094] 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.

[0095] In a specific implementation, the receiving device may include a detection module and a receiving optical component. By setting optical parameters of the receiving optical component, incident light including at least one of the first echo signal and the second echo signal may be converged to the detection module.

[0096] In an alternative embodiment, continue to refer to Figure 6The solid-state laser radar LS3 may further include a receiving device M31 (not shown in the figure), and the receiving device M31 may include a detection module M331 and a receiving optical component M332. The receiving optical component M332 is suitable for converging the incident light to the detection module M331; the detection module M331 is suitable for acquiring the first echo signal and / or the second echo signal from the incident light converged by the receiving optical component M332, so as to generate point cloud data of the solid-state laser radar LS3.

[0097] Among them, the focal length d3 of the receiving optical component M332 is not less than the focal length d3 of the second transmitting optical component M322, that is, among the first transmitting optical component M312, the second transmitting optical component M322 and the receiving optical component M332, the focal length d3 of the receiving optical component M332 can be the largest.

[0098] Through the receiving optical component M332 with the largest focal length, the incident light within the first field of view can be converged to the detection module M331. Since the second field of view is a subset of the first field of view, the incident light converged by the receiving optical component M332 may include at least one of the first echo signal and the second echo signal, thereby obtaining a detection result within the first field of view and reaching the farthest detection distance of the second detection signal.

[0099] By adopting the above solution, there is no need to make too many changes to the internal structure of the solid-state laser radar, thereby reducing the structural complexity of the solid-state laser radar in the embodiment of this specification.

[0100] In a specific implementation, the receiving optical component may include a fisheye lens, thereby utilizing the wide-angle characteristic of the fisheye lens so that the receiving optical component can acquire incident light in a larger range.

[0101] In a specific implementation, when the solid-state laser radar provided in the embodiment of this specification multiplexes the receiving optical component, the light-emitting specification parameters of the first light source and the light-emitting specification parameters of the second light source can be the same or similar.

[0102] In actual application, the 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 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).

[0103] In a specific implementation, the detection module may include a plurality of detectors, wherein the number of detectors may be set according to actual conditions (such as the shape and size of the first field of view, the focal length of the receiving optical component, and other factors). According to the set transceiver correspondence between the first light source and the detection module, and the transceiver correspondence between the second light source and the detection module, among the plurality of detectors, some detectors are suitable for being activated to obtain the first echo signal from the incident light converged by the receiving optical component, and the remaining detectors are suitable for being activated to obtain the first echo signal and / or the second echo signal from the incident light converged by the receiving optical component. In other words, there are some detectors among the plurality of detectors that can be used to obtain at least one of the first echo signal and the second echo signal. Thus, by multiplexing some detectors, the cost of the solid-state laser radar can be further effectively controlled.

[0104] In specific implementation, each of the detectors is suitable for being activated individually. It should be noted that the above "detectors are suitable for being activated individually" should be understood as the activation state of the detectors being independently controlled, that is, whether each detector is activated will not affect the activation state of the other detectors. In practical applications, when the first light source emits light once, one or more 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 detection module; when the second light source emits light once, one or more 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 detection module. Among them, the number and position of the detectors activated by a single light emission can be set according to actual conditions (such as the first light-emitting timing of the first light source, the corresponding relationship between the first light source and the detection module, 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 receiving and transmitting optical component, etc.). In this way, the controllability and flexibility of the detection module are improved.

[0105] In a specific implementation, in order to improve the control efficiency of the detection module, multiple detectors are arranged in an array form, and the receiving timing can be set according to the first light-emitting timing, the second light-emitting timing, the sending and receiving correspondence between the first light source and the detection module, the sending and receiving correspondence between the second light source and the detection module, and the array form of multiple detectors, so that the position and number of detectors required to be activated for each detection sequence can be quickly determined according to the indication of the receiving timing.

[0106] It is understandable that the specific array form of the multiple detectors can be determined according to actual conditions. For example, the multiple detectors can be arranged in one arrangement direction to form a one-dimensional array, and one-dimensional receiving control can be achieved by setting the relevant receiving timing; for another example, the multiple detectors can be arranged in multiple arrangement directions to form a multi-dimensional array, and multi-dimensional receiving control can be achieved by setting the relevant receiving timing. This specification does not specifically limit the arrangement of the multiple detectors.

[0107] In practical applications, the specific type of detector can be determined according to the actual situation. For example, the detector can be a single photon avalanche diode (SPAD) array, a silicon photomultiplier (SiPM) or an avalanche photo diode (APD).

[0108] In other specific implementations, the detection module may include at least one first detection unit and at least one second detection unit. The first detection unit is suitable for being activated to obtain a first echo signal from the incident light converged by the receiving optical component; the second detection unit is suitable for being activated to obtain the first echo signal and / or the second echo signal from the incident light converged by the receiving optical component. Among them, the number of the first detection units and the number of the second detection units can be set according to actual conditions (such as the first light-emitting timing of the first light source, the corresponding relationship between the first light source and the detection module, 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, and the focal length of the receiving and transmitting optical component). In this way, pixel-level control of the detection module can be achieved, thereby improving the controllability and flexibility of the detection module.

[0109] In a specific implementation, when the detection module includes a plurality of first detection units, each of the first detection units is suitable for being individually activated to obtain a first echo signal from the incident light converged by the receiving optical component. It should be noted that the above-mentioned "the first detection unit is suitable for being individually activated" should be understood as the activation state of the first detection unit being independently controlled, that is, whether each first detection unit is activated will not affect the activation state of the remaining first detection units. In practical applications, one or more first detection units can be controlled to be activated according to the first light-emitting timing and the corresponding relationship between the first light source and the detection module.

[0110] When the detection module includes multiple second detection units, each of the second detection units is suitable for being individually activated to obtain the first echo signal and / or the second echo signal from the incident light converged by the receiving optical component. It should be noted that the above-mentioned "the second detection unit is suitable for being individually activated" should be understood as the activation state of the second detection unit being independently controlled, that is, whether each second detection unit is activated will not affect the activation state of the remaining second detection units. In practical applications, one or more second detection units can be controlled to be activated according to the first light-emitting timing, the second light-emitting timing, the corresponding relationship between the first light source and the detection module, and the corresponding relationship between the second light source and the detection module. In this way, pixel-level control of the detection module can be achieved to improve the signal-to-noise ratio of the detection result.

[0111] In a specific implementation, each first detection unit and each second detection unit respectively include multiple detectors. Each first detection unit is suitable for being activated or addressed individually, wherein the multiple detectors included in each first detection unit can be activated at the same time, and the multiple detectors included in each first detection unit can be connected to the same readout circuit, and the readout circuit can sample and process the electrical signals output by the multiple detectors to obtain a detection data as a point data in the point cloud data.

[0112] Similarly, each second detection unit is suitable for being activated or addressed individually, wherein the multiple detectors included in each first detection unit can be activated simultaneously, and the multiple detectors included in each first detection unit can be connected to the same readout circuit, and the readout circuit can sample and process the electrical signals output by the multiple detectors to obtain a detection data as a point data in the point cloud data.

[0113] In addition, the number or arrangement of detectors included in each first detection unit can be set according to actual conditions (such as the first light-emitting timing of the first light source, the corresponding relationship between the first light source and the detection module, the focal length of the receiving optical component, etc.). The number or arrangement of 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 detection module, the focal length of the receiving optical component, etc.).

[0114] In other specific embodiments, the electrical signals of multiple first detection units may be combined and sampled and processed to obtain a detection data as a point data in the point cloud data; or the electrical signals of multiple second detection units may be combined and sampled and processed to obtain a detection data as a point data in the point cloud data. The number of the combined first detection units or second detection units may be configured according to actual conditions.

[0115] In a specific implementation, the first detection unit and the second detection unit may include the same number of detectors, so that the structure of the detection module is simpler and the configuration flexibility is improved.

[0116] In a specific implementation, in order to improve the control efficiency of the detection module, when the detection module includes multiple first detection units and multiple second detection units, the multiple first detection units and the second detection units are arranged in an array form, and the receiving timing can be set according to the first light-emitting timing, the second light-emitting timing, the receiving-transmitting correspondence between the first light source and the detection module, the receiving-transmitting correspondence between the second light source and the detection module, and the array form of the multiple first detection units and the multiple second detection units, so that the position and number of the first detection units and / or second detection units required to be activated for each detection sequence can be quickly determined according to the indication of the receiving timing.

[0117] It is understandable that the specific array form of the plurality of first detection units and the plurality of second detection units can be determined according to actual conditions. For example, the plurality of first detection units and the plurality of second detection units can be arranged in one arrangement direction to form a one-dimensional array, and one-dimensional reception control can be achieved by setting relevant reception timings; for another example, the plurality of first detection units and the plurality of second detection units can be arranged in multiple arrangement directions to form a multi-dimensional array, and multi-dimensional reception control can be achieved by setting relevant reception timings. This specification specifically limits the arrangement directions of the plurality of first detection units and the plurality of second detection units.

[0118] In a specific implementation, since the second field of view range is a subset of the first field of view range, in order to facilitate the setting of the sending and receiving correspondence between the first light source and the detection module and the sending and receiving correspondence between the second light source and the detection module, and to improve control efficiency, the relative positions of multiple second detection units and multiple first detection units can be set based on the relative positions of the second field of view range and the first field of view range.

[0119] In addition, the cross-sectional shape and specific array form of the plurality of first detection units and the cross-sectional shape and specific array form of the plurality of second detection units can be determined according to actual conditions, and this specification does not impose any specific restrictions on this.

[0120] For example, Figure 8 FIG. 1 is a schematic diagram of a structure of a detection module provided in an embodiment of the present specification. In this example, the detection module 81 may include a plurality of first detection units (such as Figure 8 white squares in the middle) and a plurality of second detection units with square cross-sections (such as Figure 8The plurality of second detection units are arranged in the central area of ​​the detection module 81, and the plurality of first detection units are arranged around the plurality of second detection units. Optionally, the plurality of first detection units and the plurality of second detection units are arranged in two mutually perpendicular arrangement directions to form a two-dimensional array.

[0121] It can be understood that the above examples are only used for illustrative description and understanding, and do not limit the arrangement and number of the first detection unit and the second detection unit. The arrangement and number of the first detection unit and the second detection unit can be adjusted according to specific circumstances.

[0122] In a specific implementation, a plurality of the second detection units may be arranged in the central area of ​​the detection module, wherein the size of the central area may be determined according to the size of the photosensitive surface of the detection module (i.e., the surface in the detection module for receiving incident light) and the proportional relationship between the second field of view and the first field of view. Thus, the first detection unit and the second detection unit are arranged according to the relative spatial positions of the first field of view and the second field of view, and when the second field of view includes the central area of ​​the first field of view, it is convenient to set the corresponding relationship between the first light source and the detection module and the corresponding relationship between the second light source and the detection module.

[0123] In actual application, for the same size of angular area, the light energy of the second detection signal is higher than the light energy of the first detection signal, resulting in higher driving requirements for the second light source. To this end, the angular area corresponding to the single light emission of the second light source can be reduced by changing at least one of the light-emitting specification parameters of the second light source and the number of lasers (or second light-emitting units) activated at a single time by the second light source, so that the angular area corresponding to the single light emission of the second light source is smaller than the angular area corresponding to the single light emission of the first light source, thereby reducing the driving power required for the single light emission of the second light source and reducing the driving difficulty.

[0124] Furthermore, if 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 number of lasers (or second light-emitting units) activated at a single time by the second light source can be set to be less than the number of lasers (or first light-emitting units) activated at a single time by the first light source, so that the angular area corresponding to the single light emission of the second light source is smaller than the angular area corresponding to the single light emission of the first light source, thereby reducing the driving power required for the single light emission of the second light source and reducing the driving difficulty.

[0125] Moreover, the angular area of ​​the single light emission of the first light source is related to the first echo spot area formed by the first echo signal in the detection module, and the angular area of ​​the single light emission of the second light source is related to the second echo spot area formed by the second echo signal in the detection module. Therefore, when the angular area corresponding to the single light emission of the second light source is smaller than the angular area corresponding to the single light emission of the first light source, the second echo spot area formed by the single received second echo signal in the detection module is smaller than the first echo spot area formed by the single received first echo signal in the detection module.

[0126] Specifically, based on the size of the first echo spot area, it is possible to determine the number of first detection units activated corresponding to a single first echo signal received, or the number of second detection units activated corresponding to a single first echo signal received. And, based on the size of the second echo spot area, it is possible to determine the number of second detection units activated corresponding to a single second echo signal received.

[0127] In order to facilitate understanding of the working principles of the first light source, the second light source and the detection module, a schematic description is given below with reference to the accompanying drawings.

[0128] In an alternative embodiment, if Figures 9a to 9e , is a schematic diagram of the operation of a first light source, a second light source and a detection module provided in an embodiment of this specification. Figures 9a to 9e , the first light source M41 may include a plurality of first light-emitting units (such as the first light-emitting unit 41-11 and the first light-emitting unit 41-ij in the figure), the second light source M42 may include a plurality of second light-emitting units (such as the second light-emitting unit 42-11 in the figure), and the detection module M43 may include a plurality of first detection units (such as the first detection unit 431-11, the first detection unit 431-12, the first detection unit 431-21 and the first detection unit 431-22 in the figure) and second detection units (such as the second detection unit 432-11, the second detection unit 432-12, the second detection unit 432-21 and the second detection unit 432-22 in the figure). Among them, the detection specification parameters of the first detection unit are the same as the detection specification parameters of the second detection unit.

[0129] Based on the corresponding relationship between the first light source M41 and the detection module M43, when the first light-emitting unit 41-11 is activated to generate the first detection signal, the first detection unit 431-11, the first detection unit 431-12, the first detection unit 431-21 and the first detection unit 431-22 are activated to obtain the first echo signal. When the first light-emitting unit 41-ij is activated to generate the first detection signal, the second detection unit 432-11, the second detection unit 432-12, the second detection unit 432-21 and the second detection unit 432-22 are activated to obtain the first echo signal.

[0130] Based on the corresponding relationship between the second light source M42 and the detection module M43, when the second light emitting unit 42-11 is activated to generate the second detection signal, the second detection unit 432-11 is activated to obtain the second echo signal.

[0131] Based on the corresponding relationship between sending and receiving between the first light source M41 and the detection module M43, and the corresponding relationship between sending and receiving between the second light source M42 and the detection module M43, when the first light-emitting unit 41-11 is activated to generate the first detection signal and the second light-emitting unit 42-11 is activated to generate the second detection signal, the second detection unit 432-11, the second detection unit 432-12, the second detection unit 432-21 and the second detection unit 432-22 are activated, wherein the second detection unit 432-11 can obtain the first echo signal and the second echo signal, and the second detection unit 432-12, the second detection unit 432-21 and the second detection unit 432-22 can obtain the first echo signal.

[0132] It is understandable that the above examples are only used for schematic description. In actual application, the corresponding relationship between the first light source and the detection module, and the corresponding relationship between the second light source and the detection module can be set according to specific circumstances and needs, and the number of first light-emitting units activated at a time, the number of second light-emitting units activated at a time, the number of first detection units activated at a time, and the number of second detection units activated at a time can be set. This specification does not limit this.

[0133] It is understandable that, in practical applications, the type of detector included in the first detection unit and the type of detector included in the second detection unit can be determined according to specific circumstances, and this specification does not impose any specific restrictions on this.

[0134] In a specific implementation, the detection specification parameters of the first detection unit can be determined by at least one of the number, type, arrangement, array shape, photosensitive surface size and detection probability of the detectors it includes, and the detection specification parameters of the second detection unit can be determined by at least one of the number, type, arrangement, array shape, photosensitive surface size and detection probability of the detectors it includes.

[0135] 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 detectors in the first detection unit is the same or similar to the number of detectors in the second detection unit; 2) the detector type of the first detection unit is the same as the detector type of the second detection unit; 3) the arrangement of the detectors in the first detection unit is the same or similar to the arrangement of the detectors in the second detection unit; 4) the area of ​​the detector array in the first detection unit is the same or similar to the area of ​​the detector array in the second detection unit; 5) the size of the photosensitive surface of the detector in the first detection unit is the same or similar to the size of the photosensitive surface of the detector in the second detection unit; 6) the detection probability of the detector in the first detection unit is the same or similar to the detection probability of the detector in the second detection unit.

[0136] When the area of ​​the detector array of the first detection unit is the same as or similar to the area of ​​the detector array of the second detection unit, the detector array of the first detection unit and the detector array of the second detection unit may have different shapes. For example, the detector array of the first detection unit and the detector array of the second detection unit are both rectangular arrays, and the aspect ratio of the detector array of the first detection unit is different from the aspect ratio of the detector array of the second detection unit.

[0137] In a specific implementation, 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, the design difficulty and manufacturing cost can be reduced. In addition, when each first detection unit and each second detection unit can respectively obtain one detection data, the receiving device has the same field of view resolution for the first field of view range and the second field of view range.

[0138] Furthermore, if the detection specification parameters of the first detection unit and the detection specification parameters of the second detection unit are the same or similar, the number of the first detection units activated at a time is not less than the number of the second detection units activated at a time. Figures 9a to 9e The relevant description is not repeated here.

[0139] In a specific implementation, the optical axis of the first transmitting optical component, the optical axis of the second transmitting optical component and the optical axis of the receiving optical component can be parallel to each other, thereby further improving the probability of the solid-state laser radar detecting obstacles, thereby increasing the detection capability of the solid-state laser radar.

[0140] In a specific implementation, in order to ensure that the first transmitting device and the second transmitting device can detect in an orderly manner, it is necessary to control the detection timing of the first transmitting device and the detection timing of the second transmitting device, and in order to reduce the volume of the solid-state laser radar, the first transmitting device and the second transmitting device can share the same control module. Figure 2The solid-state laser radar LS1 may further include a control module 14, and the control module 14 is suitable for controlling the emission timing of the first emitting device M11 and the emission timing of the second emitting device M12.

[0141] The emission timing of the first emission device M11 can be determined according to the first emission timing of the first light source and the control mode of the control module. The emission timing of the second emission device M12 can be determined according to the second emission timing of the second light source and the control mode of the control module.

[0142] In a specific implementation, the receiving device may share the same control module with the first transmitting device and the second transmitting device, and the receiving timing of the receiving device may be controlled by the control module, thereby further reducing the size of the solid-state laser radar.

[0143] In a specific implementation, since the first launching device and the second launching device respectively launch within fields of view of different sizes, the launching processes between the first launching device and the second launching device are relatively independent, and the control mode of the control module can be set according to specific circumstances.

[0144] In an optional example, when the control module controls the transmission timing of the first transmitting device and the transmission timing of the second transmitting device, any one of the following methods may be included:

[0145] (1) Controlling the first transmitting device to transmit a first detection signal within the first field of view, and after determining that no obstacle is detected based on the detection result of the receiving device, controlling the second transmitting device to transmit a second detection signal within the second field of view.

[0146] Therefore, after the first transmitting device detects an obstacle, the second transmitting device does not need to perform detection, thereby saving the power consumption of the second transmitting device, thereby reducing the total power consumption of the solid-state laser radar; and, for the control module, only one of the first transmitting device and the second transmitting device 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, and since the power consumption per unit time of the control module is low, the heat dissipation requirements can be reduced, thereby reducing costs.

[0147] (2) Control the first transmitting device to transmit a first detection signal within the first field of view and outside the second field of view, and control the second transmitting device to transmit a second detection signal within the second field of view.

[0148] Among them, it can be determined whether the first transmitting device and the second transmitting device transmit synchronously or asynchronously according to actual needs.

[0149] Therefore, when the first transmitting device and the second transmitting device transmit synchronously, the duration of the solid-state laser radar transmitting the signal can be reduced, thereby improving the detection efficiency. When the first transmitting device and the second transmitting device transmit asynchronously, for the control module, only one of the first transmitting device and the second transmitting device 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, and because the power consumption per unit time of the control module is low, the heat dissipation requirements can be reduced, thereby reducing costs.

[0150] (3) Control the first transmitting device to transmit a first detection signal within the first field of view and outside the second field of view, and control the first transmitting device and the second transmitting device to transmit synchronously within the second field of view.

[0151] Among them, according to actual needs, the timing of the first launching device launching within the first field of view and outside the second field of view and the timing of the first launching device launching within the second field of view can be determined.

[0152] Therefore, for the second field of view, two sets of detection results can be obtained, thereby improving the solid-state laser radar's ability to detect obstacles within the second field of view.

[0153] In a specific implementation, when the first transmitting device and the second transmitting device transmit asynchronously, the control module can control the field of view switching of the first transmitting device and the second transmitting device according to the correspondence between the first light-emitting unit in the first transmitting device and the first field of view range and the correspondence between the second light-emitting unit in the second transmitting device and the second field of view range.

[0154] Specifically, since the second field of view is a subset of the first field of view, the control module may first control the first emitting device to activate the multiple first light-emitting units corresponding to the first field of view and outside the second field of view in sequence according to the first specified sorting direction. If the first light-emitting unit that is activated this time corresponds to the second field of view, that is, the angle range corresponding to the first light-emitting unit that is activated this time has reached the edge of the second field of view, the control module will start to control the multiple second light-emitting units in the second emitting device that are corresponding to the second field of view to activate in sequence according to the second specified direction next time, until the multiple second light-emitting units in the same row have completed signal transmission, and the control module will control the multiple first light-emitting units in the first emitting device that are not activated and correspond to the first field of view and outside the second field of view to activate in sequence according to the first specified sorting direction again. The first specified direction is determined by the specific arrangement of the multiple first light-emitting units, and the second specified direction is determined by the specific arrangement of the multiple second light-emitting units.

[0155] In a specific implementation, when the control module controls the first transmitting device and the second transmitting device to transmit asynchronously, 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 the first detection signal or drives the second light source to generate the 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 M15. At time ta, the control module M14 drives the first light source to generate a first detection signal through the driving module M15. At time tb, the control module M14 drives the second light source to generate a second detection signal through the driving module M15.

[0156] 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.

[0157] 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.

[0158] In the specific implementation, Fig.10 As shown, it is a flow chart of a solid-state laser radar control method provided in an embodiment of this specification, wherein the solid-state laser radar may include: a first transmitting device, a second transmitting device and a receiving device, and the solid-state laser radar control method may include:

[0159] S11, control the first transmitting device to transmit a first detection signal within a first field of view, and control the second transmitting device to transmit a second detection signal within a second field of view, wherein the second field of view is a subset of the first field of view, and the farthest detection distance of the second detection signal is greater than the farthest detection distance of the first detection signal.

[0160] S12, controlling the receiving device to receive incident light, wherein the incident light includes: a first echo signal formed by reflecting the first detection signal from an obstacle within the first field of view, and / or a second echo signal formed by reflecting the second detection signal from an obstacle within the second field of view.

[0161] It can be understood that the specific structure and implementation method of the solid-state laser radar can be referred to the description of the above-mentioned relevant parts and will not be repeated here.

[0162] 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 increase in cost when improving the detection capability. In addition, the solid-state laser radar provided in the embodiments of this specification has higher flexibility and can effectively control the heat and volume of the solid-state laser radar, so that the heat dissipation pressure of the solid-state laser radar is lower, and will not cause excessive impact on the installation and appearance of the solid-state laser radar.

[0163] In the specific implementation, Fig.10 As shown, before controlling the first transmitting device to transmit the first detection signal within the first field of view, and controlling the second transmitting device to transmit the second detection signal within the second field of view, the method may further include: S1A, determining the transmission timing of the first transmitting device and the transmission timing of the second transmitting device. For details, please refer to the description of the above related parts, which will not be repeated here.

[0164] In a specific implementation, since the first launching device and the second launching device respectively launch within fields of view of different sizes, the launching processes between the first launching device and the second launching device are relatively independent, and the control method can be set according to specific circumstances.

[0165] In an optional example, controlling the first transmitting device to transmit the first detection signal within the first field of view, and controlling the second transmitting device to transmit the second detection signal within the second field of view may include at least one of the following:

[0166] (1) Controlling the first transmitting device to transmit a first detection signal within the first field of view, and after determining that no obstacle is detected based on the detection result of the receiving device, controlling the second transmitting device to transmit a second detection signal within the second field of view.

[0167] Therefore, after the first transmitting device detects an obstacle, the second transmitting device does not need to perform detection, thereby saving the power consumption of the second transmitting device, thereby reducing the total power consumption of the solid-state laser radar; and since only one of the first transmitting device and the second transmitting device needs to be controlled at a time, the power consumption required per unit time is relatively low, thereby reducing the total power consumption of the solid-state laser radar, and since the power consumption required per unit time is relatively low, the heat dissipation requirements can be reduced, thereby reducing costs.

[0168] (2) Control the first transmitting device to transmit a first detection signal within the first field of view and outside the second field of view, and control the second transmitting device to transmit a second detection signal within the second field of view.

[0169] Among them, it can be determined whether the first transmitting device and the second transmitting device transmit synchronously or asynchronously according to actual needs.

[0170] Therefore, when the first transmitting device and the second transmitting device transmit synchronously, the duration of the solid-state laser radar transmitting the signal can be reduced, thereby improving the detection efficiency. When the first transmitting device and the second transmitting device transmit asynchronously, since only one of the first transmitting device and the second transmitting device needs to be controlled each time, the power consumption per unit time is low, thereby reducing the total power consumption of the solid-state laser radar, and since the power consumption per unit time is low, the heat dissipation requirements can be reduced, thereby reducing the cost.

[0171] (3) Control the first transmitting device to transmit a first detection signal within the first field of view and outside the second field of view, and control the first transmitting device and the second transmitting device to transmit synchronously within the second field of view.

[0172] Among them, according to actual needs, the timing of the first launching device launching within the first field of view and outside the second field of view and the timing of the first launching device launching within the second field of view can be determined.

[0173] Therefore, for the second field of view, two sets of detection results can be obtained, thereby improving the solid-state laser radar's ability to detect obstacles within the second field of view.

[0174] It should be noted that, in the description of this specification, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like 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.

[0175] 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.

[0176] 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 transmitting device, adapted to transmit a first detection signal within a first field of view; A second transmitting device is adapted to transmit a second detection signal within a second field of view, wherein the second field of view is a subset of the first field of view, and a maximum detection distance of the second detection signal is greater than a maximum detection distance of the first detection signal; A receiving device is suitable for receiving incident light, wherein the incident light includes: a first echo signal formed by reflecting the first detection signal from an obstacle within the first field of view, and / or a second echo signal formed by reflecting the second detection signal from an obstacle within the second field of view.

2. The solid-state laser radar according to claim 1, characterized in that: The second field of view includes a central area of ​​the first field of view.

3. The solid-state laser radar according to claim 1 or 2, characterized in that: The second field of view includes the vertical zero degree angle of the solid-state laser radar.

4. The solid-state laser radar according to claim 1 or 2, characterized in that: The ratio of the second field of view to the first field of view is in a range of 1 / 10 to 1 / 5.

5. The solid-state laser radar according to claim 1 or 2, characterized in that: The first transmitting device comprises a first light source and a first transmitting optical component, wherein the first transmitting optical component is adapted to perform beam shaping on a first detection signal generated by the first light source and emit the beam to the outside of the solid-state laser radar; The second transmitting device comprises a second light source and a second transmitting optical component, wherein the second transmitting 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; Wherein, the focal length of the first emitting optical component is smaller than the focal length of the second emitting optical component.

6. The solid-state laser radar according to claim 5, characterized in that: The first light source includes a plurality of first lasers, and 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.

7. The solid-state laser radar according to claim 5, characterized in that: The ratio of the light emitting area of ​​the first light source to the light emitting area of ​​the second light source is in a range of 0.1 to 10.

8. The solid-state laser radar according to claim 1 or 2, characterized in that: The receiving device comprises a detection module and a receiving optical component; wherein: The receiving optical component is suitable for converging the incident light to the detection module; The detection module is suitable for acquiring the first echo signal and / or the second echo signal from the incident light focused by the receiving optical component.

9. The solid-state laser radar according to claim 8, characterized in that: The detection module includes a plurality of first detection units and a plurality of second detection units; the plurality of first detection units and the second detection units are arranged in an array form, wherein: The first detection unit is adapted to be activated individually to obtain a first echo signal from the incident light focused by the receiving optical component; The second detection unit is suitable for being activated individually to obtain the first echo signal and / or the second echo signal from the incident light focused by the receiving optical component.

10. The solid-state laser radar according to claim 9, characterized in that: A plurality of the second detection units are arranged in a central area of ​​the detection module.

11. The solid-state laser radar according to claim 9, characterized in that: The number of the first detection units activated at a single time is not less than the number of the second detection units activated at a single time.

12. The solid-state laser radar according to claim 9, characterized in that: The first detection unit includes a plurality of detectors, and the second detection unit includes a plurality of detectors; The number of detectors in the first detection unit is the same as the number of detectors in the second detection unit.

13. The solid-state laser radar according to claim 6, characterized in that: The optical axis of the first transmitting optical component, the optical axis of the second transmitting optical component and the optical axis of the receiving optical component are parallel to each other.

14. The solid-state laser radar according to claim 1 or 2, characterized in that: The solid-state laser radar also includes: a control module, adapted to control the emission timing of the first emission device and the emission timing of the second emission device.

15. The solid-state laser radar according to claim 14, characterized in that: The control module controls the transmission timing of the first transmitting device and the transmission timing of the second transmitting device, including any one of the following methods: Controlling the first transmitting device to transmit a first detection signal within the first field of view, and after determining that no obstacle is detected based on the detection result of the receiving device, controlling the second transmitting device to transmit a second detection signal within the second field of view; Controlling the first transmitting device to transmit a first detection signal within the first field of view and outside the second field of view, and controlling the second transmitting device to transmit a second detection signal within the second field of view; The first transmitting device is controlled to transmit a first detection signal within the first field of view and outside the second field of view, and the first transmitting device and the second transmitting device are controlled to transmit synchronously within the second field of view.

16. A solid-state laser radar control method, characterized in that: The solid-state laser radar comprises a first transmitting device, a second transmitting device and a receiving device; The method comprises: Controlling the first transmitting device to transmit a first detection signal within a first field of view, and controlling the second transmitting device to transmit a second detection signal within a second field of view, wherein the second field of view is a subset of the first field of view, and the farthest detection distance of the second detection signal is greater than the farthest detection distance of the first detection signal; Control the receiving device to receive incident light, wherein the incident light includes: a first echo signal formed by reflecting the first detection signal from an obstacle within the first field of view, and / or a second echo signal formed by reflecting the second detection signal from an obstacle within the second field of view.

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

18. The solid-state laser radar control method according to claim 17, characterized in that: The controlling the first transmitting device to transmit a first detection signal within the first field of view, and the controlling the second transmitting device to transmit a second detection signal within the second field of view, comprises at least one of the following: Controlling the first transmitting device to transmit a first detection signal within the first field of view, and after determining that no obstacle is detected based on the detection result of the receiving device, controlling the second transmitting device to transmit a second detection signal within the second field of view; Controlling the first transmitting device to transmit a first detection signal within the first field of view and outside the second field of view, and controlling the second transmitting device to transmit a second detection signal within the second field of view; The first transmitting device is controlled to transmit a first detection signal within the first field of view and outside the second field of view, and the first transmitting device and the second transmitting device are controlled to transmit synchronously within the second field of view.

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