Color depth integration method, receiver and light detection and distance measurement device thereof

Abstract

The invention discloses a color depth integration method, a receiver and a light detection and distance measurement device thereof, which are used for two-dimensional image capture and three-dimensional depth measurement. The receiver includes at least one detector macro cell, each of the at least one detector macro cell including a first detector for capturing a reflected light and a second detector for capturing a first external light reflected by the object. The reflected light represents that light emitted by an emitter is reflected by an object. The first detector and the second detector are arranged in an array to form the detector macro-cell, and the frequency range of the first external light and the frequency range of the reflected light do not overlap or at least partially do not overlap.

Description

Technical Field

[0001] The present application relates to a color depth integration method, a receiver and a light detection and ranging device thereof for fusing light detection and ranging (LiDAR) with image sensing, and more specifically, to a color depth integration method, a receiver and a light detection and ranging device thereof for performing two-dimensional (2D) image capture and three-dimensional (3D) depth measurement. Background Art

[0002] Autonomous mobile robots (e.g., robot vacuum cleaners) are gaining attention and require advanced environmental perception capabilities. In addition, with the advent of autonomous driving assistance systems (ADAS), cars require sensor fusion between 2D images and 3D point clouds to reliably detect and identify distant objects, hazards, and obstacles. Therefore, a new type of receiver is needed that can perform 2D visible light imaging and 3D invisible light depth measurement. Summary of the invention

[0003] An embodiment of the present application provides a receiver, comprising at least one detector macro unit, wherein each of the at least one detector macro unit includes a first detector for capturing a reflected light, wherein the reflected light represents a light emitted by a transmitter and reflected by an object; and a second detector for capturing a first external light reflected by the object, wherein the first detector and the second detector are arranged in an array to form a detector macro unit, and the frequency range of the first external light and the frequency range of the reflected light do not overlap or at least partially do not overlap.

[0004] An embodiment of the present application provides a light detection and ranging device, comprising a transmitter, including at least one light source for emitting light; and a receiver, optically coupled to the transmitter and including at least one detector macro unit, wherein each of the at least one detector macro unit includes a first detector for capturing a reflected light, wherein the reflected light represents that the light emitted by the transmitter is reflected by an object; and a second detector for capturing a first external light reflected by the object, wherein the first detector and the second detector are arranged in an array to form a detector macro unit, and the frequency range of the first external light and the frequency range of the reflected light do not overlap or at least partially do not overlap.

[0005] An embodiment of the present application provides a color depth integration method, comprising using a first detector of a detector macro unit to capture a reflected light, wherein the reflected light represents light emitted by a transmitter and reflected by an object; and using a second detector of the detector macro unit to capture a first external light reflected by the object, wherein the first detector and the second detector are arranged in an array to constitute the detector macro unit, and the frequency range of the first external light and the frequency range of the reflected light do not overlap or at least partially do not overlap. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] Figure 1 Schematic diagram of a LiDAR device according to an embodiment of the present application.

[0007] Figures 2 to 4 It is a schematic diagram of a receiver according to an embodiment of the present application.

[0008] Figures 5 to 10 Schematic diagram of a LiDAR device according to an embodiment of the present application.

[0009] The reference numerals are described as follows:

[0010] 10, 11, 50-90 LiDAR device

[0011] 110-1010 Transmitter

[0012] 110SR, 510SR source

[0013] 180, 280a, 280b, 380a, 380b, 380c, 480a, 480b, 580, 680, 880, 980,

[0014] 1080 Receiver

[0015] 180CLL, 280CLLa, 280CLLb detector macrocell

[0016] 180NV, 180V, 280NV, 280V1-280V3 detectors DETAILED DESCRIPTION

[0017] Figure 1is a schematic diagram of a light detection and ranging (which may be referred to as laser radar or LiDAR) device 10 according to an embodiment of the present application. The LiDAR device 10 may include a (light) transmitter 110 for emitting light and a (light) receiver 180 for capturing reflected light. The reflected light may represent light reflected by an object after being emitted by the transmitter 110, but is not limited thereto. The transmitter 110 may include one or more (light) sources 110SR. The receiver 180 may include one or more (light) detector macro-cells 180CLL. ​​Each detector macro-cell 180CLL is used as or regarded as a (sensor) pixel and may include (light) detectors 180NV and 180V.

[0018] The detector 180V may be physically implemented in a similar manner to the detector 180NV: for example, like the detector 180V, the detector 180NV may also be, for example but not limited to, a photodetector, a photodiode, a photoresistor, an avalanche photodiode (APD), a Geiger mode avalanche photodiode, a silicon based single photon avalanche diode (SPAD), a silicon photomultiplier (SiPM), a Germanium-on-silicon SPAD, or a gallium arsenide / indium phosphide (InGaAs / InP) SPAD. The detectors 180NV and 180V are both disposed on a single substrate, monolithically, and manufactured together by the same process. However, the detector 180NV is used to detect light of a frequency band or frequency range that matches the light emitted by the source 110SR, and the detector 180V is used to detect light of a frequency different from the frequency band or frequency range. In other words, relative to detector 180V, only detector 180NV responds to source 110SR, and only detector 180NV measures the time difference between light emitted by source 110SR and reflected light corresponding to said light.

[0019] For example, detector 180NV is used to detect invisible reflected light corresponding to invisible light emitted by source 110SR, and detector 180V is used to detect visible light (e.g., ambient light or external light emitted from the sun or the environment and reflected by an object). In one embodiment, detector 180NV is masked by an invisible light band-pass filter of its detector macro unit 180CLL, and detector 180V is masked by a color filter of its detector macro unit 180CLL. ​​In another embodiment, detector 180NV is an invisible light detector sensitive to invisible light, and detector 180V is a visible light detector sensitive to visible light, so that the invisible light band-pass filter and the color filter are absent from the LiDAR device.

[0020] Thus, for each pixel, the detector macro-unit 180CLL can determine the distance to (a point of) the object using the detector 180NV and the appearance or color of (the point of) the object using the detector 180V in combination. (One pixel corresponds to one detector macro-unit 180CLL.) Thus, the LiDAR device 10 can provide a color image of the object and its corresponding 3D representation (called point cloud data), which is created by collecting distance data to the object and includes a set of (discrete) data points. Thus, each data point of the point cloud data has its Cartesian coordinate set (x, y, z), and its color is constructed by a combination of (intensity) values ​​of, for example, red light, green light, and blue light.

[0021] Figure 2 is a schematic diagram of receivers 280a and 280b of an embodiment of the present application. Receivers 280a and 280b may include detector macro units 280CLLa and 280CLLb, respectively. Detector macro units 280CLLa or 280CLLb may include detectors 280NV and 280V1-280V3. Detectors 280NV and 280V1-280V3 may be shielded by filters 280NVF and 280V1F-280V3F of different frequency bands or frequency ranges. Accordingly, detectors 280NV and 280V1-280V3 may respond to, for example, infrared light, green light, red light, and blue light, respectively, or detectors 280NV and 280V1-280V3 may respond to infrared light, green light, red light, and yellow light, respectively, or detectors 280NV and 280V1-280V3 may respond to infrared light, magenta light, cyan light, and yellow light, respectively. In one embodiment, filters 280NVF, 280V1F-280V3F and another filter may be an infrared bandpass filter, a magenta filter, a cyan filter, a yellow filter and a black or key color filter, respectively.

[0022] Detectors 280NV and 280V1-280V3 may have different or the same size (e.g., 10×10 square microns) or shape. The arrangement of the detector macro-units may vary according to different considerations: for example, Figure 2 As shown in (a), a detector corresponding to the longest wavelength (such as an infrared bandpass filter or an infrared detector) can be arranged away from another detector corresponding to the second longest wavelength (such as a red filter or a red detector). Figure 2 As shown in (b), the arrangement of the detectors of the detector macro unit can be arranged in increasing or decreasing order of wavelength.

[0023] Figure 3 380a, 380b and 380c are schematic diagrams of receivers according to an embodiment of the present application. Figure 4 Schematic diagram of receivers 480a and 480b of an embodiment of the present application. Note that the detector macrocells 280CLLa of receiver 380a (or the detector macrocells 280CLLb of receivers 380b or 380c) are arranged in a one-dimensional array (such as lines, rows or columns) for a specific mode (such as a 1D line-scan mode); the detector macrocells 280CLLa of receiver 480a (or the detector macrocells 280CLLb of receiver 480b) are arranged in a two-dimensional array (2D array) for a specific mode (such as an area mode or a flash mode). Receiver 480b can also be used in a 1D line-scan mode.

[0024] In one embodiment, the number of detectors 280NV of all detector macro-units (or the total number of detectors 280NV and 280V1-280V3 of all detector macro-units) may be equal to, proportional to, or a multiple of the number of sources 110SR of all emitters 110 (e.g., single spot mode, flash mode, 2D raster-scan mode, or one-dimensional line scan mode). In another embodiment, the number of columns or rows of detectors 280NV of all detector macro-units (or the total number of columns or rows of detectors 280NV and 280V1-280V3 of all detector macro-units) may be equal to, proportional to, or a multiple of the number of sources 110SR of all emitters 110 (e.g., one-dimensional line scan mode).

[0025] Figure 5is a schematic diagram of a LiDAR device 50 according to an embodiment of the present application. The LiDAR device 50 may include a transmitter 510, a beam steering unit 520, an optical separator 540, an optical deflector 550, and a receiver 580 optically coupled to each other.

[0026] In one embodiment, the transmitter 510 may include sources 110SR and 510SR. Each source 510SR may be implemented by one source 110SR; or, the source 510SR may be the same as the source 110SR; or, the source 110SR and 510SR may be the same (invisible light) light source for transmitting (invisible) light. In one embodiment, the number of sources 510SR (e.g., 0, 1, 2, or 3) is a multiple of the number of sources 110SR (e.g., 1). For example, the total number of sources 110SR and 510SR (e.g., 4) is equal to the total number of detectors 280NV and 280V1-280V3 (e.g., 4). For example, corresponding to the receiver 580 including one detector macro unit 280CLLa, the transmitter 510 may include only one source 110SR, but may not include any source 510SR. In another embodiment, the detector macro unit 280CLLa may be replaced by the detector macro unit 280CLLb.

[0027] In this embodiment, the optical separator 540 may include a reflective surface 540R and have an opening 540P near the center of the reflective surface 540R, so that light from the source 110SR can pass through the opening 540P without changing direction (but beam deviation or spatial shift may occur), and visible light (such as ambient light or external light emitted from the sun or the environment and reflected by the object) and corresponding reflected light from the object toward the detector 280NV can be redirected by the reflective surface 540R to the optical deflector 550. The opening 540P may be a hole or an orifice having a shape similar to that of the reflective surface 540R (e.g., rectangular or circular). In another embodiment, the optical separator 540 may be a beam-splitter or a polarizing beam splitter, although its beam splitting characteristics may not be ideal because the ratio of reflection to transmission may vary with wavelength.

[0028] The beam guiding unit 520 may include guiding components 520a and 520b. The reflective surface 523 of the (adjustable) guiding component 520b, the (fixed) guiding component 520a, the reflective surface 540R and the optical deflector 550 may have a reflective coating (eg, a mirror) to bend the optical path.

[0029] like Figure 5As shown, the receiver 580 is disposed beside the transmitter 510 so that the LiDAR device 50 is coaxial. The light incident to the beam steering unit 520 is substantially parallel or coaxial with the reflected light deflected by the beam steering unit 520; or, the light deflected by the beam steering unit 520 is substantially parallel or coaxial with the reflected light incident to the beam steering unit 520.

[0030] In this embodiment, the LiDAR device 50 can use a coaxial optical mechanism and scan the entire field of view (FOV) in a single-point mode by mobilizing or rotating the guide component 520b of the beam guide unit 520. In another embodiment, as described in U.S. application No. 17 / 900,864, the receiver 580 may include more detector macro units 280CLLa to simultaneously collect reflected pulse beams like a flash LiDAR, and the transmitter 510 may include more sources (e.g., 110SR) to simultaneously emit pulse beams like a flash LiDAR.

[0031] Figure 6 is a schematic diagram of a LiDAR device 60 according to an embodiment of the present application. The LiDAR device 60 may include a transmitter 610 , a beam steering unit 620 , and a receiver 680 .

[0032] In one embodiment, the transmitter 610 may include sources 110SR and 510SR. In one embodiment, the number of sources 510SR (e.g., 0, 2, 4, or 6) is a multiple of the number of sources 110SR (e.g., 2). For example, the total number of sources 110SR and 510SR (e.g., 8) is equal to the total number of detectors 280NV and 280V1-280V3 (e.g., 8). For example, corresponding to the receiver 680 including two (or more) detector macro units 280CLLb arranged in a one-dimensional array, the transmitter 610 may include two (or more) sources 110SR arranged in a one-dimensional array. In one embodiment, the ratio between the pitch 6NVp1 in one direction between one detector 280NV and another adjacent detector 280NV and the width 6NVw1 of one detector 280NV in the direction is proportional to the ratio between the pitch 6SRp1 in the direction between one source 110SR and another adjacent source 110SR and the width 6SRw1 of one source 110SR in the direction. For example, transmitter 610 may include two sources 110SR, but may not include any source 510SR. In another embodiment, receiver 680 may be replaced by receiver 380c, which may include eight detector macrocells 280CLLb, while the total number of sources 110SR and 510SR is equal to eight.

[0033] The beam guiding unit 620 may include a (fixed) guiding component 620a and a (adjustable) guiding component 620b, which may have a reflective coating (e.g., a mirror) to bend the optical path. The LiDAR device 60 may scan the entire field of view 60FOV in a one-dimensional line scanning mode by adjusting or rotating the guiding component 620b. The guiding component 620b may be in the shape of a prism or a polyhedron, which may be composed of a triangular bottom surface, a rectangular bottom surface, a square bottom surface, or other polygonal bottom surfaces. For example, when the guiding component 620b has a Figure 6 For example, when the guide assembly 620b has two regular pentagonal bases or is a uniform pentagonal prism, the FOV may be 360 / 5=72 degrees.

[0034] Figure 7 is a schematic diagram of a LiDAR device 70 according to an embodiment of the present application. The LiDAR device 70 may include a transmitter 610, a receiver 680, and a rotary actuator 790 (e.g., a motor). The rotary actuator 790 facilitates the rotation of the transmitter 610 and the receiver 680 to scan the entire field of view 70 FOV (360 degrees) in a one-dimensional line scanning mode.

[0035] Figure 8 8 is a schematic diagram of a LiDAR device 80 according to an embodiment of the present application. The LiDAR device 80 may include a transmitter 810, optical bending units 830, 860, and a receiver 880. The optical bending unit 830 or 860 may be a lens. The transmitter 810 emits (pulse) light, which illuminates the entire field of view 80FOV at once in a (non-coaxial) flash mode.

[0036] In one embodiment, the transmitter 810 may include sources 110SR and 510SR. The total number of sources 110SR and 510SR is equal to the total number of detectors 280NV and 280V1-280V3. In another embodiment, corresponding to the receiver 880 including 4×4 (or more) detector macro units 280CLLa arranged in a two-dimensional array, the transmitter 810 may include 4×4 (or more) sources 110SR arranged in a two-dimensional array. In one embodiment, the ratio between the spacing 8NVp1 (or 8NVp2) between one detector 280NV and another adjacent detector 280NV in one direction and the width 8NVw1 (or 8NVw2) of one detector 280NV in the direction is proportional to the ratio between the spacing 8SRp1 (or 8SRp2) between one source 110SR and another adjacent source 110SR in the direction and the width 8SRw1 (or 8SRw2) of one source 110SR in the direction. In another embodiment, the transmitter 810 may include 4×4 sources 110SR, but may not include any sources 510SR.

[0037] Fig. 9 is a schematic diagram of a LiDAR device 90 according to an embodiment of the present application. The LiDAR device 90 may include a transmitter 910 , optical bending units 830 , 860 , and a receiver 980 .

[0038] In one embodiment, the transmitter 810 may include sources 110SR and 510SR. The total number of sources 110SR and 510SR is equal to the total number of detectors 280NV and 280V1-280V3. Each source 110SR (or 510SR) is individually addressable or individually activatable to scan the entire field of view 90FOV (360 degrees) in a (non-coaxial) two-dimensional scanning mode. In one embodiment, only a single source 110SR (or 510SR) is activated at a time to emit a light beam. In one embodiment, only a column or a row of sources 110SR (and 510SR) is activated at a time to emit a light beam.

[0039] Fig.10 1 is a schematic diagram of a LiDAR device 11 according to an embodiment of the present application. The LiDAR device 11 may include a transmitter 1010 , optical bending units 830 , 860 , a beam steering unit 1020 , an optical deflector 1050 , and a receiver 1080 .

[0040] The beam guide unit 1020 and the optical deflector 1050 may have a reflective coating (e.g., a mirror) to bend the optical path. The beam guide unit 1020 may include a rotating mirror or a micro-electromechanical system (MEMS) mirror. In this embodiment, the LiDAR device 11 can scan the entire field of view 10FOV in a (non-coaxial) two-dimensional scanning mode by mobilizing or rotating the beam guide unit 1020. In another embodiment, as described in U.S. application No. 18 / 084,562, when the (beam) guide components of the beam guide unit are activated sequentially to multiplex the reflected light from different fields of view, the (light) receiver can capture the reflected light of one field of view at a time to obtain high spatial resolution point cloud data.

[0041] like Figures 5 to 10 As shown, for each pixel (which corresponds to a detector macro unit 280CLLa or 280CLLb, respectively), the detector macro unit 280CLLa or 280CLLb can integrately use the detector 280NV to measure the distance to (a point of) the object, and simultaneously use the detectors 280V1-280V2 to identify the appearance or color of (the said point of) the object.

[0042] A color depth integration method may be compiled into code and executed by a LiDAR device (e.g., any one of 10, 11, 50-90) or a device, wherein the device (e.g., a server, a central processing unit (CPU), or a graphics processing unit (GPU)) is communicatively coupled to the LiDAR device. The color depth integration method may include the following steps:

[0043] Step S04: Instruct a transmitter (such as any one of 110 - 1010 ) to emit (invisible) light. Go to step S06 .

[0044] Step S06: Instruct a first detector (e.g., 180NV or 280NV) of a detector macro unit (e.g., 180CLL, 280CLLa, or 280CLLb) to capture reflected light (representing light emitted from a transmitter and reflected), and instruct a second detector (e.g., 180V or 280V1) of the same detector macro unit to capture external light of a first frequency band. In another embodiment, instruct a third detector (e.g., 280V2) of the same detector macro unit to capture external light of a second frequency band, and instruct a fourth detector (e.g., 280V3) of the same detector macro unit to capture external light within a third frequency band. The LiDAR device obtains external light and (invisible) reflected light of the first frequency band, the second frequency band, and the third frequency band simultaneously or at one time. Proceed to step S08.

[0045] Step S08: Associating or linking the distance to a point with the color information of the point, the point being a point in space (e.g., a point on an object). The first detector is used to measure the distance to the point in response to only the light emitted by the emitter. The second to fourth detectors are used to respond to the light of the surrounding environment in addition to the light emitted by the emitter to obtain the color information of the point. Therefore, each point is represented by a unique set of Cartesian coordinates (x, y, z) and color information (presented by a combination of different visible light intensities).

[0046] One or more of steps S04 to S08 may be removed according to different considerations.

[0047] For details or variations on the optical beam guidance unit, guidance assembly, optical deflector, (light) transmitter, (light) source, (light) receiver or (light) detector, reference may be made to U.S. patent application Nos. 18 / 084,562 and 17 / 900,864, the disclosures of which are incorporated herein by reference in their entirety and become a part of this specification.

[0048] The descriptions of "first", "second", etc. mentioned throughout the specification are only used to distinguish different components, and do not limit the order of generation, priority, time sequence of method execution, or that all components must exist. The embodiments described can be combined in various ways without conflict.

[0049] In one embodiment, a two-dimensional image may be generated using a complementary metal oxide semiconductor (CMOS) image sensor, and a three-dimensional point cloud sensor may be implemented using LiDAR. The three-dimensional point cloud sensor emits an invisible laser and calculates the time required for the laser to reflect, thereby creating each data point of the three-dimensional point cloud. The SPAD array may be used as a receiver for the three-dimensional point cloud sensor for three-dimensional depth sensing. The two-dimensional image captured by the CMOS image sensor and the three-dimensional point cloud obtained by the three-dimensional point cloud sensor are output to an external CPU or GPU, respectively, and the CPU or GPU processes or fuses the two-dimensional image and the three-dimensional (depth) point cloud to identify the object. This sensor fusion requires a long processing time and delays decision making.

[0050] In another embodiment, a receiver of a LiDAR device (e.g., any one of 180-1080) may include a detector macro unit. Each detector macro unit (e.g., 180CLL, 280CLLa, or 280CLLb) includes at least two SPADs: at least one SPAD is used for two-dimensional imaging and the other SPAD is used for three-dimensional depth measurement. All SPADs of the LiDAR device are arranged in an array and form a single entity. Accordingly, the receiver can use certain SPADs (e.g., 180NV or 280NV) to obtain a three-dimensional point cloud while using other SPADs (e.g., 180V or 280V1-280V3) to obtain a two-dimensional image. The receiver outputs the obtained two-dimensional image and three-dimensional point cloud to an external CPU or GPU together, simultaneously, or at one time, so as to fuse or integrate the two-dimensional image and the three-dimensional point cloud before the CPU or GPU processes the two-dimensional image and the three-dimensional point cloud to identify the object. Fusion or integration of the two-dimensional image and the three-dimensional point cloud before identifying the object can improve processing efficiency and prevent decision delays.

[0051] In summary, for each pixel (which corresponds to a detector macro unit), the detector macro unit can comprehensively use a detector or a SPAD to measure the distance to (a point on) the object, while using another detector or SPAD (next to the aforementioned detector or SPAD) to determine the appearance or color of (the point on) the object. Therefore, the LiDAR device can efficiently obtain a color image of the object and its corresponding three-dimensional representation (called point cloud data, and is derived by collecting distance-to-object-data) at the same time.

[0052] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A receiver, characterized in that: include: At least one detector macro-unit, wherein each of the at least one detector macro-unit comprises: a first detector, configured to capture a reflected light, wherein the reflected light represents a light emitted by a transmitter and reflected by an object; and A second detector is used to capture a first external light reflected by the object, wherein the first detector and the second detector are arranged in an array to form the detector macro unit, and the frequency range of the first external light and the frequency range of the reflected light do not overlap or at least partially do not overlap.

2. The receiver according to claim 1, characterized in that The first detector is used to measure the distance to the object in response to the emitter only, and the second detector is used to obtain color information of the object in response to the environment except the emitter.

3. The receiver according to claim 1, characterized in that The first detector and the second detector are silicon-based single photon avalanche diodes adjacent to each other or Geiger-mode avalanche diodes adjacent to each other.

4. The receiver according to claim 1, characterized in that The light and the reflected light are invisible light, and the first external light is visible light.

5. The receiver according to claim 1, wherein: The first detector is shielded by an invisible light bandpass filter to capture the reflected light, and the second detector is shielded by a color filter to capture the first external light.

6. The receiver according to claim 1, wherein: Each of the at least one detector macrocell further comprises: a third detector for capturing a second external light reflected by the object; and a fourth detector for capturing a third external light reflected by the object, wherein the first to fourth detectors are arranged in an array to form the detector macro unit, wherein the first to third external lights and the reflected light are acquired simultaneously, Among them, the first external light, the second external light and the third external light are red, green and blue respectively; or, the first external light, the second external light and the third external light are red, green and yellow respectively; or, the first external light, the second external light and the third external light are cyan, magenta and yellow respectively.

7. A light detection and ranging device, characterized in that: include: An emitter, comprising at least one light source, for emitting light; as well as a receiver optically coupled to the transmitter and comprising at least one detector macro-unit, wherein each of the at least one detector macro-unit comprises: a first detector, configured to capture a reflected light, wherein the reflected light represents the light emitted by the emitter being reflected by an object; and A second detector is used to capture a first external light reflected by the object, wherein the first detector and the second detector are arranged in an array to form the detector macro unit, and the frequency range of the first external light and the frequency range of the reflected light do not overlap or at least partially do not overlap.

8. The light detection and ranging device according to claim 7, characterized in that: The first detector is used to measure the distance to the object in response to the emitter only, and the second detector is used to obtain color information of the object in response to the environment except the emitter.

9. The light detection and ranging device according to claim 7, characterized in that: The first detector and the second detector are silicon-based single photon avalanche diodes adjacent to each other or Geiger-mode avalanche diodes adjacent to each other.

10. The light detection and ranging device according to claim 7, characterized in that: The light and the reflected light are invisible light, and the first external light is visible light.

11. The light detection and ranging device according to claim 7, characterized in that: The first detector is shielded by an invisible light bandpass filter to capture the reflected light, and the second detector is shielded by a color filter to capture the first external light.

12. The light detection and ranging device according to claim 7, characterized in that: Each of the at least one detector macrocell further comprises: a third detector for capturing a second external light reflected by the object; and a fourth detector for capturing a third external light reflected by the object, wherein the first to fourth detectors are arranged in an array to form the detector macro unit, wherein the first to third external lights and the reflected light are acquired simultaneously, Among them, the first external light, the second external light and the third external light are red, green and blue respectively; or, the first external light, the second external light and the third external light are red, green and yellow respectively; or, the first external light, the second external light and the third external light are cyan, magenta and yellow respectively.

13. The light detection and ranging device according to claim 7, characterized in that: The ratio of the spacing between a first detector and another adjacent first detector in a first direction to the width of the first detector in the first direction is proportional to the ratio of the spacing between a light source and another adjacent light source in a second direction to the width of the light source in the second direction, and the first direction is parallel or non-parallel to the second direction.

14. The light detection and ranging device according to claim 7, characterized in that: The light detection and ranging device is a coaxial light detection and ranging device or a non-coaxial light detection and ranging device, and the emitter is used to scan or flash a two-dimensional field of view.

15. The light detection and ranging device according to claim 7, characterized in that: Also includes: A beam steering unit is used to redirect the light or the reflected light, wherein the at least one first detector is arranged in a one-dimensional array or a two-dimensional array, and the at least one light source is arranged in a one-dimensional array or a two-dimensional array.

16. A color depth integration method, characterized in that: include: Using a first detector of a detector macro unit to capture a reflected light, wherein the reflected light represents a light emitted by a transmitter and reflected by an object; and A second detector of the detector macro unit is used to capture a first external light reflected by the object, wherein the first detector and the second detector are arranged in an array to form the detector macro unit, and the frequency range of the first external light and the frequency range of the reflected light do not overlap or at least partially do not overlap.

17. The color depth integration method according to claim 16, wherein: Also includes: The distance to a point in space is linked to color information of the point, wherein the first detector is used to measure the distance to the point in response to the emitter only, and the second detector is used to obtain the color information of the point in response to the environment other than the emitter.

18. The color depth integration method according to claim 16, wherein: The first detector and the second detector are silicon-based single photon avalanche diodes adjacent to each other or Geiger-mode avalanche diodes adjacent to each other.

19. The color depth integration method according to claim 16, wherein: The light and the reflected light are invisible light, and the first external light is visible light.

20. The color depth integration method according to claim 16, wherein: Also includes: capturing a second external light reflected by the object using a third detector of the detector macro unit; as well as A fourth detector of the detector macro unit is used to capture a third external light reflected by the object, wherein the first to fourth detectors are arranged in an array to form the detector macro unit, wherein the first to third external lights and the reflected light are acquired simultaneously, Among them, the first external light, the second external light and the third external light are red, green and blue respectively; or, the first external light, the second external light and the third external light are red, green and yellow respectively; or, the first external light, the second external light and the third external light are cyan, magenta and yellow respectively.

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