Laser radar and receiving module and function detection method thereof

Abstract

The invention discloses a laser radar and a receiving module and a function detection method thereof, the receiving module is used for receiving echo light formed by reflection of detection light through a target, and the receiving module comprises a detection unit for collecting the echo light; the anti-interference structure allows light in a preset wavelength range to be transmitted and removes interference light; a detection light source that emits detection light; the anti-interference structure further reflects the detection light to form light to be detected, and the light to be detected enters the detection unit; and the detection unit collects the light to be detected so as to perform function detection of the detection unit. The relative positions of the detection unit, the anti-interference structure and the detection light source are appropriate, so that the anti-interference structure can reflect detection light generated by the detection light source to the detection unit to collect the detection light and then perform function detection. According to the technical scheme, the function detection accuracy of the detection unit can be effectively improved, and the design difficulty can be effectively reduced.

Description

Technical Field

[0001] The present disclosure relates to the field of laser radar, and in particular to a laser radar, a receiving module thereof, and a function detection method thereof. Background Art

[0002] LiDAR is a commonly used distance measurement sensor with the characteristics of long detection distance, high resolution, and low environmental interference. It is widely used in intelligent robots, drones, unmanned driving and other fields. In recent years, autonomous driving technology has developed rapidly, and LiDAR, as its core sensor for distance perception, has become indispensable.

[0003] To ensure the reliability of the lidar, it is necessary to test the functions of the detection unit, including determining whether the detection unit is in normal working condition, whether it can receive optical signals normally, whether it can respond normally to optical signals, etc., so as to timely determine whether the detection unit is functioning normally.

[0004] However, due to the limitations of the mechanical structure and optical devices of the lidar, the existing function detection methods attenuate the intensity of the optical signal used for function detection too seriously, so that some detection units may not be able to receive the optical signal and cannot complete the function detection. Summary of the invention

[0005] The problem solved by the present disclosure is how to improve the accuracy of function detection of the detection unit.

[0006] In order to solve the above problems, the present disclosure provides a receiving module of a laser radar, wherein the receiving module is used to receive echo light formed by the detection light reflected by the target, and the receiving module comprises:

[0007] A detection unit, the detection unit is used to collect the echo light; an anti-interference structure, the anti-interference structure is located upstream of the optical path of the echo light relative to the detection unit, the anti-interference structure extends in a plane basically parallel to the detection unit, the anti-interference structure is used to allow light in a preset wavelength range to be transmitted and remove interference light, the preset wavelength range includes the wavelength corresponding to the echo light; a detection light source, the detection light source is used to emit detection light; the anti-interference structure is also used to reflect the detection light to form light to be detected, and the light to be detected is incident on the detection unit; the detection unit is also used to collect the light to be detected to perform functional detection of the detection unit.

[0008] Optionally, the anti-interference structure includes: at least one of a filter and an aperture.

[0009] Optionally, the aperture includes: a shading portion, which extends in a plane basically parallel to the detection unit; a light-limiting hole, which is surrounded by the shading portion and the position of the light-limiting hole corresponds to the position of the detection unit; and the projection of the filter on the surface of the aperture covers the light-limiting hole.

[0010] Optionally, the wavelength of the detection light is outside the preset wavelength range.

[0011] Optionally, the filter has a preset reflectivity for the detection light.

[0012] Optionally, the shading portion of the aperture has a preset reflectivity for the detection light.

[0013] Optionally, the detection unit is fixed on a circuit board; the shading portion and the filter are arranged basically parallel to the surface of the circuit board; the detection light is reflected once or multiple times between the circuit board and the filter and / or the shading portion to form the light to be detected.

[0014] Optionally, the detection light source and the detection unit are arranged on the same circuit board.

[0015] Optionally, the receiving module includes a plurality of the detection units; the detection light source is located in an area where the plurality of detection units are distributed, or the detection light source is adjacent to an area where the plurality of detection units are distributed.

[0016] Optionally, a part of the detection units are arranged along the first direction, and a part of the detection units are arranged along the second direction; along at least one of the first direction and the second direction, at least one side of the detection light source has the detection unit.

[0017] Optionally, along at least one of the first direction and the second direction, both sides of the detection unit are provided with light isolation sheets.

[0018] Optionally, a preset distance is provided between a surface of the light-isolating sheet facing the anti-interference structure and the anti-interference structure, so that the detection unit collects the detection light reflected by the anti-interference structure.

[0019] Optionally, the detection light source is a scattered light source.

[0020] Optionally, the relative position relationship between the detection light source and the detection unit is determined based on a first position relationship and a second position relationship in combination with a light intensity distribution characteristic of the detection light source, wherein the first position relationship is the relative position relationship between the detection light source and the anti-interference structure, and the second position relationship is the relative position relationship between the detection unit and the anti-interference structure.

[0021] Optionally, it further includes: a receiving lens group, wherein the receiving lens group is used to transmit the echo light to the detection unit, and the receiving lens group is located upstream of the optical path of the echo light relative to the anti-interference structure.

[0022] Optionally, the laser radar also includes: a detection module, which is used to perform a channel function detection step, and the channel function detection step includes: driving the detection light source to emit detection light; activating the detection unit to collect the light to be detected formed by reflecting the detection light through the anti-interference structure to perform functional detection of the detection unit.

[0023] Accordingly, the present disclosure also provides a laser radar, comprising:

[0024] A transmitting module, the transmitting module is used to transmit detection light; a receiving module, the receiving module is used to receive echo light formed by the detection light reflected by the target, the receiving module includes: a detection unit, the detection unit is used to collect the echo light; an anti-interference structure, the anti-interference structure is located upstream of the optical path of the echo light relative to the detection unit, the anti-interference structure extends in a plane basically parallel to the detection unit, the anti-interference structure is used to allow light in a preset wavelength range to be transmitted and remove interference light, the preset wavelength range includes the wavelength corresponding to the echo light; a detection light source, the detection light source is used to emit detection light; the anti-interference structure is also used to reflect the detection light to form a light to be detected, and the light to be detected is incident on the detection unit; the detection unit is also used to collect the light to be detected to perform a functional test on the detection unit.

[0025] Optionally, it also includes: a detection module, which is used to execute a channel function detection step, and the channel function detection step includes: driving the detection light source to emit detection light; activating the detection unit to collect the light to be detected formed by reflecting the detection light through the anti-interference structure to perform a functional test on the detection unit.

[0026] In addition, the present disclosure also provides a laser radar function detection method, comprising:

[0027] The receiving module of the laser radar includes: a detection unit, which is used to collect echo light; an anti-interference structure, which is located upstream of the optical path of the echo light relative to the detection unit, and extends in a plane basically parallel to the detection unit, and is used to allow light in a preset wavelength range to be transmitted and remove interference light, wherein the preset wavelength range includes the wavelength corresponding to the echo light; a detection light source, which is used to emit detection light; the function detection method includes: a channel function detection step; the channel function detection step includes: driving the detection light source to emit detection light; activating the detection unit to collect the light to be detected formed by reflecting the detection light through the anti-interference structure to perform function detection of the detection unit.

[0028] Optionally, the step of driving the detection unit to collect the light to be detected formed by reflecting the detection light through the anti-interference structure for functional testing includes: driving the detection unit to collect the light to be detected, and the detection unit generating a corresponding detection signal according to the collected light to be detected; judging whether the function of the detection unit is normal based on the detection signal and a preset functional threshold.

[0029] Optionally, it also includes: detecting the noise baseline of the detection signal generated by the detection unit; in the step of judging whether the function of the detection unit is normal according to the detection signal, judging whether the function of the detection unit is normal according to the detection signal, in combination with the functional threshold and the noise baseline.

[0030] Optionally, the channel function detection step also includes: judging whether the function detection sensitivity is degraded based on the detection signal; when judging that the function detection sensitivity is degraded, executing at least one of the steps of increasing the intensity of the emitted detection light and reducing the function threshold.

[0031] Optionally, between two transmitting and receiving steps of the laser radar, the channel function detection step is performed at least once, wherein the transmitting and receiving steps include: driving the transmitting module of the laser radar to emit detection light; activating the receiving module of the laser radar to collect the echo light formed by the reflection of the detection light by the target.

[0032] Optionally, during one transceiver step of the laser radar, the channel function detection step is performed at least once, wherein the transceiver step includes: driving the transmitting module of the laser radar to emit detection light; activating the receiving module of the laser radar to collect the echo light formed by the reflection of the detection light by the target.

[0033] Optionally, the receiving module of the laser radar includes a plurality of the detection units; the function detection method includes: executing the channel function detection step at least once to traverse all the detection units of the laser radar.

[0034] Optionally, the detection units activated in two consecutive executions of the channel function detection step are at least partially different.

[0035] Optionally, in the process of the laser radar obtaining a frame of point cloud, the channel function detection step is performed at least once to traverse all detection units of the laser radar.

[0036] Compared with the prior art, the technical solution disclosed in the present invention has the following advantages:

[0037] In the technical solution disclosed in the present invention, the relative positions between the detection unit, the anti-interference structure and the detection light source are appropriate, and the positions and distances between the detection unit, the anti-interference structure and the detection light source enable the anti-interference structure to reflect the detection light generated by the detection light source to the detection unit, and the detection unit can collect the light to be detected formed by the reflection. The optical path length of the light signal collected by the detection unit is shortened, and the energy loss is reduced, which can effectively improve the accuracy of the function detection of the detection unit; and the detection light and the light to be detected are both located on one side of the anti-interference structure, and there is no need to transmit the anti-interference structure, which can effectively reduce the design difficulty of the anti-interference structure.

[0038] In the optional solution of the present disclosure, the receiving module further includes: a receiving lens group, the receiving lens group is used to transmit the echo light to the detection unit, and the receiving lens group is located upstream of the optical path of the echo light relative to the anti-interference structure. During the functional detection process, the detection unit collects the light to be detected formed by the anti-interference structure reflecting the detection light, and does not involve the receiving lens group. There are no additional requirements for the position and properties of the receiving lens group, which can effectively reduce the design difficulty of the receiving lens group and the design difficulty of the receiving optical path of the echo light of the laser radar. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without creative work. The drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. They are used together with the embodiments of the present disclosure to explain the present disclosure and do not constitute a limitation on the present disclosure. In the drawings:

[0040] Figure 1 This is a schematic diagram of the optical path structure for function detection in a receiving module of a laser radar;

[0041] Figure 2It is a schematic diagram of the optical path structure of the first embodiment of the receiving module of the laser radar disclosed in the present invention;

[0042] Figure 3 yes Figure 2 Schematic diagram of the relationship between the filter wavelength and reflectivity in the receiving module of the laser radar shown;

[0043] Figure 4 It is a schematic diagram of the optical path structure of the second embodiment of the receiving module of the laser radar disclosed in the present invention;

[0044] Figure 5 is a schematic diagram of a top view of the structure of a third embodiment of a receiving module of a laser radar disclosed in the present invention;

[0045] Figure 6 yes Figure 5 A schematic cross-sectional structure diagram along line B1B2 of an embodiment of a receiving module of the laser radar shown;

[0046] Figure 7 is a schematic diagram of the three-dimensional structure of the fourth embodiment of the receiving module of the laser radar disclosed in the present invention;

[0047] Figure 8 is a timing diagram of light emission and light collection in the first embodiment of the laser radar disclosed in the present invention;

[0048] Fig. 9 is a timing diagram of light emission and light collection in the second embodiment of the laser radar disclosed in the present invention;

[0049] Fig.10 It is a flow chart of an embodiment of a function detection method of a laser radar disclosed in the present invention;

[0050] Fig.11 yes Fig.10 The schematic flowchart of the steps of activating the detection unit to collect the light to be detected formed by the detection light reflected by the anti-interference structure in the embodiment of the functional detection method of the laser radar to perform functional detection of the detection unit is shown. DETAILED DESCRIPTION

[0051] In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit or scope of the present disclosure. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0052] In the description of the present disclosure, 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 indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present disclosure. In addition, the terms "first" and "second" 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. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present disclosure, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0053] In the description of the present disclosure, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or can communicate with each other; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present disclosure can be understood according to specific circumstances.

[0054] In the present disclosure, unless otherwise expressly specified and limited, a first feature being “above” or “below” a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being “above”, “above”, and “above” a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0055] The disclosure below provides many different embodiments or examples to realize different structures of the present disclosure. In order to simplify the disclosure of the present disclosure, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present disclosure. In addition, the present disclosure can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplicity and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed. In addition, the present disclosure provides various specific examples of processes and materials, but those of ordinary skill in the art can be aware of the application of other processes and / or the use of other materials.

[0056] As can be seen from the background technology, the function detection of the detection unit of the laser radar in the prior art has the problem of low accuracy. Now, combined with the structure of a laser radar receiving module, the reasons for the low accuracy of its function detection are analyzed:

[0057] refer to Figure 1 , shows a schematic diagram of the optical path structure for functional detection in a receiving module of a laser radar.

[0058] During the function detection process, the detection light source 11 generates detection light, and the detection light is reflected to the detection unit 12 through the receiving lens group 13. The detection unit 12 collects the light to be detected to perform the function detection of the detection unit; wherein the receiving lens group 13 is an optical device for transmitting the echo light used by the laser radar for target detection to the detection unit 12. Specifically, after the detection light source 11 generates the detection light, when the detection unit 12 is able to collect and correctly respond to the light to be detected, the detection unit 12 passes the function detection.

[0059] like Figure 1 As shown, during the function detection process, the light to be detected collected by the detection unit 12 is formed by reflection of the receiving lens group 13. Usually, the distance between the receiving lens group 13 and the detection unit 12 is relatively far. The long optical path causes excessive loss of energy of the light to be detected. The intensity of the light to be detected received by the detection unit 12 may be too small to respond, thereby affecting the accuracy of the function detection.

[0060] Since the receiving lens group 13 needs to reflect the detection light to form the light to be detected, the reflection of the detection light by the receiving lens group 13 needs to be taken into account in the design of the receiving module. For example, the position of the receiving lens group 13 needs to be controlled to control the relative position relationship between the receiving lens group 13 and the detection unit 12 and the detection light source 11, and the reflectivity of the surface of the receiving lens group 13 facing the detection unit 12 to the detection light needs to be controlled, etc., which will increase the design difficulty of the receiving lens group 13 and the design difficulty of the receiving module of the laser radar.

[0061] The detection unit 12 is often covered with an anti-interference structure to remove interference light in the echo light and improve the signal-to-noise ratio of the collected echo light. Generally speaking, the anti-interference structure includes an aperture 15 and a filter 14. The anti-interference structure is located in the optical path between the receiving lens group 13 and the detection unit 12, and the detection unit 12 collects the light to be detected that is transmitted through the anti-interference structure.

[0062] Transmission of the anti-interference structure will further reduce the intensity of the light to be detected collected by the detection unit 12, affecting the accuracy of functional detection; and the design of the anti-interference structure and the selection of the detection light source 11 need to take into account the transmission of the detection light by the anti-interference structure. The detection light generated by the detection light source 11 needs to match the passband of the filter 14 in the anti-interference structure, and the central wavelength of the detection light needs to match the bandwidth of the filter to ensure that the detection light transmits the filter, thereby increasing the design difficulty of the anti-interference structure and limiting the selection range of the detection light source 11.

[0063] To solve the technical problem, the present disclosure provides a receiving module of a laser radar, wherein the receiving module is used to receive echo light formed by reflection of detection light by a target, and the receiving module includes: a detection unit, wherein the detection unit is used to collect the echo light; an anti-interference structure, wherein the anti-interference structure is located upstream of the optical path of the echo light relative to the detection unit, and the anti-interference structure extends in a plane basically parallel to the detection unit, and the anti-interference structure is used to allow light in a preset wavelength range to be transmitted and remove interference light, wherein the preset wavelength range includes the wavelength corresponding to the echo light; a detection light source, wherein the detection light source is used to emit detection light; the anti-interference structure is also used to reflect the detection light to form light to be detected, and the light to be detected is incident on the detection unit; the detection unit is also used to collect the light to be detected to perform functional detection of the detection unit.

[0064] In the technical solution disclosed in the present invention, the relative positions between the detection unit, the anti-interference structure and the detection light source are appropriate, and the positions and distances between the detection unit, the anti-interference structure and the detection light source enable the anti-interference structure to reflect the detection light generated by the detection light source to the detection unit, and the detection unit can collect the light to be detected formed by the reflection. The optical path length of the light signal collected by the detection unit is shortened, and the energy loss is reduced, which can effectively improve the accuracy of the function detection of the detection unit; and the detection light and the light to be detected are both located on one side of the anti-interference structure, and there is no need to transmit the anti-interference structure, which can effectively reduce the design difficulty of the anti-interference structure.

[0065] In order to make the above-mentioned objects, features and advantages of the present disclosure more obvious and easy to understand, the specific embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.

[0066] refer to Figure 2 , shows a schematic diagram of the optical path structure of an embodiment of a receiving module of the laser radar disclosed in the present invention.

[0067] The receiving module 100 is used to receive echo light formed by the reflection of the detection light by the target, and the receiving module 100 includes: a detection unit 110, and the detection unit 110 is used to collect the echo light; an anti-interference structure 120, and the anti-interference structure 120 is located upstream of the optical path of the echo light relative to the detection unit 110, and the anti-interference structure 120 extends in a plane basically parallel to the detection unit 110, and the anti-interference structure 120 is used to allow light in a preset wavelength range to be transmitted and remove interference light, and the preset wavelength range includes the wavelength corresponding to the echo light; a detection light source 130, and the detection light source 130 is used to emit detection light; the anti-interference structure 120 is also used to reflect the detection light to form a light to be detected, and the light to be detected is incident on the detection unit 110; the detection unit 110 is also used to collect the light to be detected to perform functional detection of the detection unit 110.

[0068] The light to be detected is formed by the detection light generated by the detection light source 130 and reflected by the anti-interference structure 120. The optical path length of the light signal collected by the detection unit 110 is shortened, and the energy loss is reduced, which can effectively improve the accuracy of the functional detection of the detection unit 110; and the detection light and the light to be detected are both located on one side of the anti-interference structure 120, and there is no need to transmit the anti-interference structure 120, which can effectively reduce the design difficulty of the anti-interference structure.

[0069] The specific technical solution of the receiving module embodiment of the laser radar disclosed in the present invention is described in detail below with reference to the accompanying drawings.

[0070] The detection unit 110 is used to collect optical signals and generate corresponding electrical signals to achieve photoelectric conversion.

[0071] In some embodiments of the present disclosure, the detection unit 110 includes at least one photodetector. The detection unit 110 includes a photoelectric device, which may be a photodiode (PD), a silicon photomultiplier (SiPM), an avalanche photodiode (APD), a single photon avalanche diode (SPAD), or other components capable of realizing photoelectric conversion.

[0072] It should be noted that, in some embodiments, each of the photoelectric detectors corresponds to a detection channel of the laser radar. In other embodiments of the present disclosure, the detection unit 110 may also include multiple detection elements, and several detection elements activated at the same time correspond to a detection channel of the laser radar.

[0073] The anti-interference structure 120 is used to remove interference light in the echo light to improve the signal-to-noise ratio.

[0074] The anti-interference structure 120 is located on the side of the detection unit 110 collecting light signals, and covers the detection unit 110; the anti-interference structure 120 is in the shape of a plate, and extends in a plane parallel to the surface of the detection unit 110 collecting light signals. The anti-interference structure 120 allows light in a preset wavelength range to pass through to remove the interference light, wherein the wavelength corresponding to the echo light is within the preset wavelength range of the anti-interference structure 120, so as to ensure that the echo light can pass through the anti-interference structure 120.

[0075] In some embodiments of the present disclosure, the anti-interference structure 120 includes: at least one of: a filter 122 and an aperture 121 .

[0076] The aperture 121 blocks interference light outside a preset range from being incident on the detection unit 110; the filter 122 prevents interference light outside a preset wavelength range from being incident on the detection unit 110. The aperture 121 and the filter 122 may be flat, extending in a plane parallel to the photosensitive surface of the detection unit 110, wherein the surface of the detection unit 110 receiving the incident light signal is its photosensitive surface.

[0077] The anti-interference structure 120 completely covers the light incident surface of the detection unit 110, and the projection of the detection unit 110 on the surface of the anti-interference structure 120 does not exceed the range of the anti-interference structure 120. Figure 2 In some of the embodiments shown, the coverage range of the anti-interference structure 120 exceeds the range of the light incident surface of the detection unit 110 , and the projection of the detection unit 110 on the surface of the anti-interference structure 120 is within the range of the anti-interference structure 120 .

[0078] like Figure 2 As shown, in some embodiments of the present disclosure, the aperture 121 includes: a light-shielding portion 121a, wherein the light-shielding portion 121a extends in a plane substantially parallel to the detection unit 110; a light-limiting hole 121h, wherein the light-limiting hole 121h is surrounded by the light-shielding portion 121a, and the position of the light-limiting hole 121h corresponds to the position of the detection unit 110; and the projection of the filter 122 on the surface of the aperture 121 covers the light-limiting hole 121h.

[0079] In some embodiments of the present disclosure, the detection unit 110 is fixed on the circuit board 101; Figure 2 As shown, the anti-interference structure 120 is arranged substantially parallel to the surface of the circuit board 101 , and the light shielding portion 121 a and the filter 122 are arranged substantially parallel to the surface of the circuit board 101 .

[0080] like Figure 2 As shown, the receiving module 100 further includes: a detection light source 130. The detection light source 130 generates detection light for performing function detection.

[0081] The relative positions of the detection light source 130, the anti-interference structure 120 and the detection unit 110 are appropriate, and the positions and distances between the detection light source 130, the anti-interference structure 120 and the detection unit 110 enable the anti-interference structure 120 to reflect the detection light generated by the detection light source 130 to the detection unit 110, and the detection unit 110 can collect the light to be detected formed by the reflection. Specifically, the detection light source 130 is, for example, a light emitting diode (LED) or a laser.

[0082] In some embodiments of the present disclosure, the wavelength of the detection light is outside the preset wavelength range. Specifically, the preset wavelength range at least covers the passband range of the filter 122 in the anti-interference structure 120, and the wavelength of the detection light may not match the filter 122, that is, the wavelength of the detection light is outside the passband range of the filter 122. Furthermore, without the need to match the wavelength of the detection light with the passband of the filter 122, the design difficulty of the filter 122 and the detection light source 130 can be effectively reduced, and the selection range of the detection light source 130 can be expanded to reduce costs.

[0083] In some embodiments of the present disclosure, the filter 122 has a preset reflectivity for the detection light, so as to increase the intensity of the light to be detected formed by reflection and improve the accuracy of function detection. Figure 3 As shown, the filter 122 has a higher reflectivity for light signals outside the passband range, and the detection light is almost completely reflected on the surface of the filter 122 .

[0084] In some embodiments of the present disclosure, the light shielding portion 121a of the aperture 121 has a preset reflectivity for the detection light. Figure 2As shown, part of the photosensitive surface of the detection unit 110 is covered with the shading portion 121a, so that the shading portion 121a has a higher reflectivity to the detection light, so as to improve the intensity of the light to be detected, thereby improving the accuracy of function detection.

[0085] In some embodiments of the present disclosure, the detection unit 110 is fixed on the circuit board 101, the anti-interference structure 120 covers the circuit board 101, and the detection light is reflected once or multiple times between the circuit board 101 and the filter 122 and / or the light shielding portion 121a to form the light to be detected. The detection light is reflected once or multiple times between the anti-interference structure 120 and the circuit board 101 until it is incident on the photosensitive surface of the detection unit 110, completing the light collection.

[0086] Specific as Figure 2 In some embodiments shown, the detection light source 130 and the detection unit 110 may be disposed on the same circuit board 101. The detection light source 130 and the detection unit 110 are integrated on the same board, which can improve the integration of the receiving module 100.

[0087] In some embodiments of the present disclosure, the detection light source 130 is a scattered light source, for example, the detection light source 130 is a scattered light emitting diode. The scattered light source has a large divergence angle, and the increase in the light emission angle does not cause a sharp decrease in light intensity. Even if the detection light is emitted at a large angle, the light intensity of the detection light is relatively large.

[0088] In some embodiments of the present disclosure, the relative position relationship between the detection light source 130 and the detection unit 110 is determined based on a first position relationship and a second position relationship in combination with the light intensity distribution characteristics of the detection light source 130, wherein the first position relationship is the relative position relationship between the detection light source 130 and the anti-interference structure 120, and the second position relationship is the relative position relationship between the detection unit 110 and the anti-interference structure 120. Based on the first position relationship and the second position relationship, the relative positions between the detection light source 130, the detection unit 110 and the anti-interference structure 120 are reasonably set, so that the anti-interference structure 120 can reflect the detection light generated by the detection light source 130 to the detection unit 110, and the detection unit 110 can collect the light to be detected formed by the reflection.

[0089] Continue to refer Figure 2In some embodiments, the laser radar further includes: a detection module 150, wherein the detection module 150 is used to perform a channel function detection step, wherein the channel function detection step includes: driving the detection light source 130 to emit detection light; activating the detection unit 110 to collect the light to be detected formed by reflecting the detection light through the anti-interference structure 120 to perform a functional detection of the detection unit 110.

[0090] In some embodiments of the present disclosure, the detection module 150 is connected to the detection light source 130, and drives the detection light source 130 to generate detection light; the detection module 150 is also connected to the detection unit 110, and drives the detection unit 110 to collect the light to be detected, and the detection unit 110 generates a corresponding detection signal based on the collected light to be detected; the detection module 150 determines whether the function of the detection unit 110 is normal based on the detection signal and a preset functional threshold.

[0091] Specifically, the detection module 150 determines whether there is a signal peak corresponding to the light to be detected based on the detection signal, and determines whether the signal peak exceeds the functional threshold. When the detection signal has a signal peak corresponding to the light to be detected, and the signal peak exceeds the functional threshold, the detection module 150 determines that the function of the detection unit 110 is normal; when the detection signal does not have a signal peak corresponding to the light to be detected, and / or the signal peak does not exceed the functional threshold, the detection module 150 determines that the function of the detection unit 110 is abnormal.

[0092] In some embodiments, the detection module 150 has a reference unit, which detects the noise baseline of the detection signal generated by the detection unit 110; the detection module 150 determines whether the function of the detection unit 110 is normal based on the detection signal, combined with the functional threshold and the noise baseline.

[0093] Specifically, the reference unit monitors the noise baseline of the detection signal generated by the detection unit 110 in real time, and the detection module 150 sets the function threshold according to the noise baseline to reduce the influence of noise on the accuracy of function detection.

[0094] In some embodiments, the detection module 150 further has a correction unit, which determines whether the sensitivity of the functional detection is degraded based on the detection signal; when it is determined that the sensitivity of the functional detection is degraded, the correction unit reduces the functional threshold and / or controls the detection light source 130 to increase the intensity of the emitted detection light.

[0095] With the long-term use of the laser radar, the performance of the detection light source 130 and the detection unit 110 may fluctuate. For example, the intensity of the detection light generated by the detection light source 130 may fluctuate, and the sensitivity of the detection unit 110 in collecting light signals may fluctuate. The correction unit can adjust the function threshold and / or the intensity of the detection light according to the change in the function detection sensitivity to avoid function detection errors and improve the accuracy of function detection.

[0096] In some specific embodiments, a detection calibration value is pre-stored in the correction unit, and the correction unit compares the relative sizes of the detection signal and the detection calibration value to determine whether the sensitivity of the functional detection is degraded: when the peak value of the detection signal is less than the detection calibration value, it is determined that the sensitivity of the functional detection is degraded; when the peak value of the detection signal is not less than the detection calibration value and the peak value of the detection signal is greater than or equal to the detection calibration value, it is determined that the sensitivity of the functional detection is not degraded.

[0097] It should be noted that, in some embodiments, during the factory calibration process of the laser radar, the detection module controls and drives the detection light source 130 to emit light, activates the detection unit 110 to collect light, and the detection signal generated after the light reflected by the anti-interference structure 120 is collected by the detection unit 110 is the detection calibration value.

[0098] In some other embodiments, the correction unit stores a historical peak value, and the correction unit compares the relative size of the detection signal and the historical peak value to determine whether the sensitivity of the function detection has degraded: when the peak value of the detection signal is less than the historical peak value, it is determined that the sensitivity of the function detection has degraded; when the peak value of the detection signal is not less than the historical peak value and the peak value of the detection signal is greater than or equal to the historical peak value, it is determined that the sensitivity of the function detection has not degraded. The historical peak value is the detection signal generated by the detection unit collecting the light to be detected when the receiving module of the laser radar performed a function detection last time.

[0099] It should be noted that if Figure 2 In some of the embodiments shown, the receiving module 100 further includes: a receiving lens group 140, wherein the receiving lens group 140 is used to transmit the echo light to the detection unit 110, and the receiving lens group 140 is located upstream of the optical path of the echo light relative to the anti-interference structure 120.

[0100] The receiving lens group 140 is only used to transmit the echo light to the detection unit 110. The receiving lens group 140 does not need to reflect the detection light and will not be limited by the detection light during the functional detection process. The position and surface reflectivity settings of the receiving lens group 140 do not need to take into account the reflection of the detection light. The design difficulty of the receiving lens group 140 is reduced, and the difficulty of designing the optical path for the receiving module 100 to transmit the echo light is reduced.

[0101] It should be noted that Figure 2 In some of the embodiments shown, the receiving module of the laser radar only shows one detection unit 110. However, in other embodiments of the present disclosure, the receiving module of the laser radar has multiple detection units.

[0102] refer to Figure 4 , shows a schematic diagram of the optical path structure of another embodiment of the receiving module of the laser radar disclosed in the present invention.

[0103] The same as the above embodiment, the present disclosure will not repeat it here. The difference from the above embodiment is that: Figure 4 In some of the embodiments shown, the receiving module includes a plurality of detection units.

[0104] In some embodiments, the receiving module includes a plurality of the detection units 210; the detection light source 230 is located in the area where the plurality of detection units 210 are distributed. Specifically, the plurality of detection units 210 of the receiving module are arranged along a preset direction; the detection light source 230 is located between the arranged plurality of detection units 210.

[0105] In some specific embodiments, the preset direction is a first direction, a portion of the detection units 210 are arranged along the first direction x, and along the first direction x, at least one side of the detection light source 230 has the detection unit 210 .

[0106] like Figure 4 In some specific embodiments shown, a plurality of the detection units 210 are arranged along the first direction x; along the first direction x, both sides of the detection light source 230 have the detection units 210 , and the detection light source 230 is located between two of the detection units 210 .

[0107] In addition, if Figure 4 As shown, the detection light generated by the detection light source 230 is reflected once or multiple times between the circuit board 201 and the anti-interference structure 220, and after being reflected once or multiple times by the filter 222 and the shading portion 221a of the aperture 221, the detection light is formed to be incident on the detection unit 210.

[0108] The area of ​​the circuit board 201 where no device is set can be designed for the detection light, for example, by selecting the surface material, color and surface treatment method, etc., so that the surface of the circuit board 201 has a higher reflectivity to the detection light, so as to reduce the loss of the detection light during the reflection process. The surface material and color can be the material and color of the solder mask layer on the surface of the circuit board 201. The surface treatment method can be selected at the position where reflection may occur, or in the area where no device is set, so that the circuit board 201 is exposed to copper. The reflectivity of the copper skin is higher than that of the matte solder mask layer. The light shielding part 221a of the aperture 221 surrounds a plurality of light-limiting holes 221h; the plurality of light-limiting holes 221h correspond to the plurality of detection units 210 one by one, and each light-limiting hole 221h is located above the corresponding detection unit 210.

[0109] Moreover, the detection light generated by the detection light source 230 has a preset light intensity. Among the multiple detection units 210, a preset number of the detection units 210 can collect the light to be detected with sufficient intensity to realize functional detection.

[0110] refer to Figure 5 , shows a schematic diagram of a top view of another embodiment of a receiving module of a laser radar disclosed in the present invention. Figure 6 , Figure 6 Shows Figure 5 A schematic diagram of the cross-sectional structure along line B1B2 of an embodiment of a receiving module of the laser radar shown.

[0111] The same as the above embodiment, the present disclosure will not repeat it here. The difference from the above embodiment is that: Figure 5 In some of the embodiments shown, the receiving module includes a plurality of detection units 310 , and the plurality of detection units 310 are distributed along a first direction and a second direction.

[0112] In some embodiments, in the receiving module, a part of the detection units 310 are arranged along a first direction x, and a part of the detection units 310 are arranged along a second direction y; along at least one of the first direction x and the second direction y, at least one side of the detection light source 330 has the detection unit 310.

[0113] Specifically, the receiving module includes a plurality of the detection light sources 330, and the plurality of the detection light sources 330 are distributed within the range where the plurality of the detection units 310 are distributed, and are located on one side of the detection unit 310 along the first direction x and / or the second direction y, or are located between two of the detection units along the first direction x and / or the second direction y.

[0114] Specifically, the plurality of detection light sources 330 may emit light simultaneously to perform functional detection on all the detection units 310 ; the plurality of detection light sources 330 may also emit light in different time periods to perform functional detection on some of the detection units 310 .

[0115] In some embodiments of the present disclosure, along at least one of the first direction x and the second direction y, both sides of the detection unit 310 are provided with light isolation sheets 311. The light isolation sheets 211 are used to block the echo light incident at a large angle from being incident on the adjacent detection unit 310 to suppress signal crosstalk.

[0116] Specific as Figure 5 As shown, the light isolation sheet 311 extends along the second direction y, a plurality of the light isolation sheets 311 are arranged in parallel along the first direction x, the detection unit 311 is located between two adjacent light isolation sheets along the first direction x, and the light isolation sheets 311 are located on both sides of the detection unit 310 along the first direction x.

[0117] like Figure 6 As shown, the light isolation sheet 311 extends in a direction away from the circuit board 301, extending from the side of the detection unit 310 close to the circuit board 301 to the anti-interference structure 320, and the side of the light isolation sheet 311 close to the anti-interference structure 320 exceeds the surface of the detection unit 310, and the height of the light isolation sheet 311 is greater than the height of the detection unit 310.

[0118] In some embodiments, the light isolation sheet 311 is separated from the anti-interference structure 320 on the side facing the anti-interference structure 320; specifically, there is a preset distance g between the surface of the light isolation sheet 311 facing the anti-interference structure 320 and the anti-interference structure 320, so that the detection unit 310 collects the detection light reflected by the anti-interference structure 320.

[0119] It should be noted that, in the above embodiments, the detection light sources are all located within the range where the multiple detection units are distributed. In other embodiments of the present disclosure, the detection light sources may also be adjacent to the area where the multiple detection units are distributed. Figure 7 In some of the embodiments shown, the detection unit 510 is a planar array detector; the detection light source 530 and the planar array detector are integrated on the surface of the circuit board 501; and the anti-interference structure 520 including an aperture 521 and a filter 522 is arranged parallel to the surface of the circuit board 501.

[0120] The relative positions of the detection unit 510, the anti-interference structure 520 and the detection light source 530 are appropriate, and the detection light generated by the detection light source 530 is reflected toward the area array detector by the anti-interference structure to form the detection light incident on the area array detector.

[0121] Specifically, Figure 7 As shown, the light shielding portion of the aperture 521 not only covers the top of the area array detector, but also extends to the top of the detection light source 530 to reflect the detection light and form the light to be detected.

[0122] Correspondingly, the present disclosure also provides a laser radar.

[0123] like Figure 2 As shown, the laser radar includes:

[0124] A transmitting module, the transmitting module is used to transmit detection light; a receiving module 100, the receiving module 100 is used to receive echo light formed by the detection light reflected by the target, and the receiving module includes: a detection unit 110, the detection unit 110 is used to collect the echo light; an anti-interference structure 120, the anti-interference structure 120 is located upstream of the optical path of the echo light relative to the detection unit 110, the anti-interference structure 120 extends in a plane basically parallel to the detection unit 110, the anti-interference structure 120 is used to allow light in a preset wavelength range to be transmitted and remove interference light, the preset wavelength range includes the wavelength corresponding to the echo light; a detection light source 130, the detection light source 130 is used to emit detection light; the anti-interference structure 120 is also used to reflect the detection light to form a light to be detected, and the light to be detected is incident on the detection unit 110; the detection unit 110 is also used to collect the light to be detected to perform a functional test of the detection unit 110.

[0125] In some specific embodiments, the receiving module 100 of the laser radar is the receiving module 100 of the present disclosure. The specific technical solution of the receiving module 100 refers to the specific embodiment of the receiving module 100 of the laser radar mentioned above, which will not be described in detail in the present disclosure.

[0126] In some embodiments, the laser radar also includes: a detection module 150, wherein the detection module 150 is used to perform a channel function detection step, wherein the channel function detection step includes: driving the detection light source 130 to emit detection light; activating the detection unit 110 to collect the light to be detected formed by reflecting the detection light through the anti-interference structure 120 to perform a functional detection of the detection unit 110.

[0127] Specific as Figure 2In some of the embodiments shown, the detection module 150 is connected to the detection light source 130 to drive the detection light source 130 to generate detection light; the detection module 150 is also connected to the detection unit 110 to drive the detection unit 110 to collect the light to be detected, and the detection unit 110 generates a corresponding detection signal based on the collected light to be detected; the detection module 150 determines whether the function of the detection unit 110 is normal based on the detection signal and a preset functional threshold.

[0128] Specifically, the detection module 150 determines whether there is a signal peak of the light to be detected corresponding to the detection light according to the detection signal, and determines whether the signal peak exceeds the functional threshold. When the detection signal has a signal peak corresponding to the light to be detected, and the signal peak exceeds the functional threshold, the detection module 150 determines that the function of the detection unit 110 is normal; when the detection signal does not have a signal peak corresponding to the light to be detected, and / or the signal peak does not exceed the functional threshold, the detection module 150 determines that the function of the detection unit 110 is abnormal.

[0129] In some embodiments, the detection module 150 has a reference unit, which detects the noise baseline of the detection signal generated by the detection unit 110; the detection module 150 determines whether the function of the detection unit 110 is normal based on the detection signal, combined with the functional threshold and the noise baseline.

[0130] Specifically, the reference unit monitors the noise baseline of the detection signal generated by the detection unit 110 in real time, and the detection module 150 sets the function threshold according to the noise baseline to reduce the influence of noise on the accuracy of function detection.

[0131] In some embodiments, the detection module 150 further has a correction unit, which determines whether the sensitivity of the functional detection is degraded based on the detection signal; when it is determined that the sensitivity of the functional detection is degraded, the correction unit reduces the functional threshold and / or controls the detection light source 130 to increase the intensity of the emitted detection light.

[0132] With the long-term use of the laser radar, the performance of the detection light source 130 and the detection unit 110 may fluctuate. For example, the intensity of the detection light generated by the detection light source 130 may fluctuate, and the sensitivity of the detection unit 110 in collecting light signals may fluctuate. The correction unit can adjust the function threshold and / or the intensity of the detection light according to the change in the function detection sensitivity to avoid function detection errors and improve the accuracy of function detection.

[0133] In some specific embodiments, a detection calibration value is pre-stored in the correction unit, and the correction unit compares the relative sizes of the detection signal and the detection calibration value to determine whether the sensitivity of the functional detection is degraded: when the peak value of the detection signal is less than the detection calibration value, it is determined that the sensitivity of the functional detection is degraded; when the peak value of the detection signal is not less than the detection calibration value and the peak value of the detection signal is greater than or equal to the detection calibration value, it is determined that the sensitivity of the functional detection is not degraded.

[0134] It should be noted that, in some embodiments, during the factory calibration process of the laser radar, the detection module controls and drives the detection light source 130 to emit light, activates the detection unit 110 to collect light, and the detection signal generated after the light reflected by the anti-interference structure 120 is collected by the detection unit 110 is the detection calibration value.

[0135] In some other embodiments, the correction unit stores a historical peak value, and the correction unit compares the relative size of the detection signal and the historical peak value to determine whether the sensitivity of the function detection has degraded: when the peak value of the detection signal is less than the historical peak value, it is determined that the sensitivity of the function detection has degraded; when the peak value of the detection signal is not less than the historical peak value and the peak value of the detection signal is greater than or equal to the historical peak value, it is determined that the sensitivity of the function detection has not degraded. The historical peak value is the detection signal generated by the detection unit collecting the light to be detected when the receiving module of the laser radar performed a function detection last time.

[0136] In some embodiments of the present disclosure, during one transmission and reception process of the laser radar, the detection module 150 performs the channel function detection step at least once, wherein one transmission and reception process includes: the transmitting module of the laser radar transmits detection light; and the receiving module of the laser radar receives echo light formed by the reflection of the detection light by the target.

[0137] Specific as Figure 8 In some of the embodiments shown, during one transmission and reception process of the laser radar, the transmitting module of the laser radar can emit a single pulse for target detection, for example, emitting detection light a1 at time t1; the receiving module of the laser radar receives the echo light a11 formed by the detection light a1 emitted at time t1 being reflected by the target at time t2; during the next transmission and reception process of the laser radar, the transmitting module of the laser radar emits the next detection light a3 at time t3; wherein time t2 is later than time t1 and earlier than time t3.

[0138] After time t1 and before time t3, the detection module 150 performs the channel function detection step at least once. Figure 8In some of the embodiments shown, the detection module 150 can drive the detection light source 230 to emit detection light a2 at time t1; the detection unit 110 activated by the detection module 150 collects the light a21 to be detected formed by the reflection of the detection light a2 by the anti-interference structure 120 at time t4 to perform functional detection of the detection unit 110.

[0139] During the time window (such as Figure 8 In the embodiment, the function test of the detection unit 110 is performed within t1 (after time t1 and before time t3). Since the anti-interference structure 120 is located at the most downstream of the optical path of the echo light and is very close to the detection unit 110, the time taken for the light to be detected formed by the reflection to enter the detection unit 110 is very short, which is much shorter than the time taken for the normal echo light to enter the detection unit 110. Time t4 is earlier than time t2. Therefore, based on the time when the light signal collected by the detection unit 110 generates a corresponding electrical signal, it is determined whether the signal collected by the detection unit 110 is the light to be detected or the echo light to determine the function of the detection unit 110.

[0140] The area of ​​the circuit board 201 where no device is set can be designed for the detection light, for example, by selecting the surface material, color and surface treatment method, etc., so that the surface of the circuit board 201 has a higher reflectivity to the detection light, so as to reduce the loss of the detection light during the reflection process. The surface material and color can be the material and color of the solder mask layer on the surface of the circuit board 201. The surface treatment method can be selected at the position where reflection may occur, or in the area where no device is set, so that the circuit board 201 is exposed to copper. The reflectivity of the copper skin is higher than that of the matte solder mask layer. In other embodiments, during a transceiver of the laser radar, the transmitting module of the laser radar can also transmit multiple pulses for target detection, that is, the transmitting module can transmit multiple detection pulses, and correspondingly, multiple echo pulses are detected within the time window of echo detection. In this transceiver process, the detection module 150 performs at least one channel function detection step to determine the function of the detection unit 110.

[0141] It should be noted that Figure 8 The solid line shows Figure 2 The signal timing diagram of the light emission of the laser radar shown in the figure; the dotted line shows Figure 2 The signal timing diagram of the laser radar light collection is shown.

[0142] In other embodiments of the present disclosure, between two transmission and reception processes of the laser radar, the detection module performs the channel function detection step at least once, wherein one transmission and reception process includes: the transmitting module of the laser radar transmits detection light; and the receiving module of the laser radar receives echo light formed by the reflection of the detection light by the target.

[0143] Specific as Fig. 9 In some of the embodiments shown, during one transmission and reception process of the laser radar, the transmitting module of the laser radar transmits the detection light b1 at time t11, and the receiving module of the laser radar receives the echo light b11 formed by the detection light b1 emitted at time t11 being reflected by the target at time t12; during the next transmission and reception process of the laser radar, the transmitting module of the laser radar transmits the next detection light b3 at time t13, and the receiving module of the laser radar receives the echo light b31 formed by the detection light b3 emitted at time t13 being reflected by the target at time t14.

[0144] The time period between two adjacent detection light emission moments, that is, the time period between moment t11 ​​and moment t13, can be divided into two parts, one of which, the time period Δt1, is used for target scanning detection: the moment t12 when the receiving module of the laser radar receives the echo light b11 is within the time period Δt1 used for scanning detection.

[0145] Another part of the time period between the time t11 and the time t13 between two adjacent detection light emission moments is used to perform a function test on at least one detection channel in at least one detection unit, and the detection module performs the channel function test step at least once within the time period Δt2. Fig. 9 In some specific embodiments shown, the detection module drives the detection light source to emit detection light b2 at time t15; the detection unit activated by the detection module collects the light to be detected b21 formed by the anti-interference structure reflecting the detection light b2 at time t16 to perform a functional test of the detection unit. Wherein, both time t15 and time t16 are within the time period Δt2.

[0146] It should be noted that Fig. 9 The solid line in the middle shows a signal timing diagram of light emission of another embodiment of the laser radar disclosed in the present invention; the dotted line shows a signal timing diagram of light collection of another embodiment of the laser radar disclosed in the present invention.

[0147] Continue to refer Figure 5 , the receiving module of the laser radar includes a plurality of the detection units 310; in some embodiments, the detection module performs the channel function detection step at least once to traverse all the detection units 310 of the laser radar.

[0148] In some specific embodiments, the detection module executes the channel function detection step multiple times, and in two adjacent executions of the channel function detection step, the detection units 310 activated by the detection module are at least partially different.

[0149] In addition, in some embodiments, when the laser radar obtains a frame of point cloud, the detection module executes the channel function detection step at least once to traverse all detection units 310 of the laser radar.

[0150] In some specific embodiments, the laser radar is a mechanical rotating laser radar, and the rotation frequency of the laser radar is 10Hz. Every time a certain angle (for example, 0.1°) is rotated, all detection channels in all detection units of the laser radar are polled once. At every preset angle, that is, one or more detection channels are functionally tested, then after the laser radar rotates a certain angle (for example, 60°, 120°, etc.), a round of functional testing of all detection channels can be completed. In some embodiments, every time 120° is rotated, a round of functional testing of the detection channels of all detection units is completed, and the laser radar can complete 30 rounds of functional testing of the detection channels of all detection units within 1 second.

[0151] In addition, the present disclosure also provides a function detection method of a laser radar.

[0152] The laser radar function detection method is used to perform function detection on the detection unit of the receiving module in the laser radar. Figure 1 As shown, the receiving module of the laser radar includes: a detection unit 110, which is used to collect echo light; an anti-interference structure 120, which is located upstream of the optical path of the echo light relative to the detection unit 110, and the anti-interference structure 120 extends in a plane basically parallel to the detection unit 110, and the anti-interference structure 120 is used to allow light in a preset wavelength range to be transmitted and remove interference light, and the preset wavelength range includes the wavelength corresponding to the echo light; a detection light source 130, which is used to emit detection light.

[0153] like Fig.10 As shown, the function detection method includes: step S110, a channel function detection step; executing step S110, the channel function detection step includes: executing step S111, driving the detection light source 130 to emit detection light; executing step S112, activating the detection unit 110 to collect the light to be detected formed by reflecting the detection light through the anti-interference structure 120 to perform function detection of the detection unit 110.

[0154] It should be noted that in some embodiments of the present disclosure, the function detection method is a function detection method adopted by the detection module of the laser radar of the present disclosure, and the specific technical solution of the function detection method can refer to the aforementioned laser radar embodiments.

[0155] Combined with reference Fig.11 , wherein the step of executing step S112, activating the detection unit 110 to collect the light to be detected formed by reflecting the detection light by the anti-interference structure 120 to perform a functional test on the detection unit 110 includes: executing step S112a, activating the detection unit 110 to collect the light to be detected, the detection unit 110 generating a corresponding detection signal according to the collected light to be detected; executing step S112b, judging whether the function of the detection unit 110 is normal according to the detection signal and a preset functional threshold.

[0156] Wherein, in the step of executing step S112b, judging whether the function of the detection unit 110 is normal according to the detection signal and the preset function threshold, judging whether there is a signal peak of the light to be detected corresponding to the detection light according to the detection signal, and judging whether the signal peak exceeds the function threshold. Specifically, when there is a signal peak of the light to be detected corresponding to the detection light in the detection signal, and the signal peak exceeds the function threshold, it is judged that the function of the detection unit 110 is normal; when there is no signal peak of the light to be detected corresponding to the detection light in the detection signal, and / or the signal peak does not exceed the function threshold, it is judged that the function of the detection unit 110 is abnormal.

[0157] Continue to refer Fig.10 In some embodiments, the function detection method further includes: executing step S120 to detect the noise baseline of the detection signal generated by the detection unit 110; in the step of judging whether the function of the detection unit 110 is normal according to the detection signal, judging whether the function of the detection unit 110 is normal according to the detection signal, combining the function threshold and the noise baseline.

[0158] In some specific embodiments, step S120 is executed to detect the noise baseline of the detection signal generated by the detection unit 110, and the noise baseline of the detection signal generated by the detection unit 110 is monitored in real time; in the step of judging whether the function of the detection unit 110 is normal based on the detection signal, combined with the functional threshold and the noise baseline, the functional threshold is set according to the noise baseline to reduce the impact of noise on the accuracy of function detection.

[0159] like Fig.11As shown, in some embodiments of the present disclosure, step S110 is executed, and the channel function detection step also includes: executing step S113, judging whether the function detection sensitivity is degraded based on the detection signal; when it is judged that the function detection sensitivity is degraded, executing at least one of step S114a to increase the intensity of the emitted detection light and step S114b to reduce the function threshold.

[0160] With the long-term use of the laser radar, the performance of the detection light source 130 and the detection unit 110 may fluctuate. For example, the intensity of the detection light generated by the detection light source 130 may fluctuate, and the sensitivity of the detection unit 110 in collecting light signals may fluctuate. According to the changes in the function detection sensitivity, the function threshold and / or the intensity of the detection light may be adjusted to avoid function detection errors and improve the accuracy of function detection.

[0161] In some specific embodiments, during the factory calibration of the laser radar, the detection light source 130 is driven to emit light, the detection unit 110 is activated to collect light, and the light reflected by the anti-interference structure 120 is collected by the detection unit 110, and the detection signal generated is used as a pre-stored detection calibration value.

[0162] Execute step S113, in the step of judging whether the function detection sensitivity is degraded according to the detection signal, compare the relative size of the detection signal and the detection calibration value to judge whether the sensitivity of the function detection is degraded. Specifically, in the step of comparing the relative size of the detection signal and the detection calibration value to judge whether the sensitivity of the function detection is degraded, when the peak value of the detection signal is less than the detection calibration value, it is judged that the sensitivity of the function detection is degraded; when the peak value of the detection signal is not less than the detection calibration value and the peak value of the detection signal is greater than or equal to the detection calibration value, it is judged that the sensitivity of the function detection is not degraded.

[0163] In other embodiments of the present disclosure, in the step of executing step S113 and determining whether the function detection sensitivity is degraded according to the detection signal, the relative size of the detection signal and the historical peak value may be compared to determine whether the function detection sensitivity is degraded.

[0164] Specifically, the detection signal generated by the light to be detected is collected as the stored historical peak value when the detection channel of the detection unit in the receiving module of the laser radar performs the function detection last time. Execute step S113, in the step of judging whether the function detection sensitivity is degraded according to the detection signal, compare the relative size of the detection signal and the historical peak value to judge whether the function detection sensitivity is degraded: when the peak value of the detection signal is less than the historical peak value, judge that the function detection sensitivity is degraded; when the peak value of the detection signal is not less than the historical peak value and the peak value of the detection signal is greater than or equal to the historical peak value, judge that the function detection sensitivity is not degraded.

[0165] Continue to refer Fig.10 In some embodiments of the present disclosure, during a transceiver step of the laser radar, step S110, the channel function detection step, is executed at least once, wherein the transceiver step includes: executing step S130, driving the transmitting module of the laser radar to emit detection light; executing step S140, activating the receiving module of the laser radar to receive the echo light formed by the reflection of the detection light by the target.

[0166] Specific as Figure 8 In some of the embodiments shown, during a transceiver process of the laser radar, at time t1, step S130 is executed to drive the transmitting module of the laser radar to transmit the detection light a1; step S140 is activated to activate the receiving module of the laser radar to collect the echo light a11 at time t2, wherein the echo light a11 is the echo light a11 formed by the detection light a1 emitted at time t1 and reflected by the target; at time t3, the next transceiver process is started, and step S130 is executed again to transmit the detection light a3 through the transmitting module of the laser radar; wherein, time t2 is later than time t1 and earlier than time t3.

[0167] After time t1 and before time t3, step S110, the channel function detection step, is performed at least once. Figure 8 As shown, at time t1, step S111 is executed to drive the detection light source 130 to emit the detection light a2; step S111 is executed to activate the detection unit 110 to collect the light a21 to be detected at time t4 to perform a functional test on the detection unit 110, and the light a21 to be detected is formed by the detection light a2 being reflected by the anti-interference structure 120.

[0168] During the time window (such as Figure 8In the embodiment, the function test of the detection unit 110 is performed within t1 (after time t1 and before time t3). Since the anti-interference structure 120 is located at the most downstream of the optical path of the echo light and is very close to the detection unit 110, the time taken for the light to be detected formed by the reflection to enter the detection unit 110 is very short, which is much shorter than the time taken for the normal echo light to enter the detection unit 110. Time t4 is earlier than time t2. Therefore, based on the time when the light signal collected by the detection unit 110 generates a corresponding electrical signal, it is determined whether the signal collected by the detection unit 110 is the light to be detected or the echo light to determine the function of the detection unit 110.

[0169] It should be noted that Figure 8 The solid line shows Figure 2 The signal timing diagram of the light emission of the laser radar shown in the figure; the dotted line shows Figure 2 The signal timing diagram of the laser radar light collection is shown.

[0170] It should be noted that in other embodiments of the present disclosure, the channel function detection step is performed at least once between two sending and receiving steps of the laser radar, wherein the sending and receiving step includes: driving the transmitting module of the laser radar to emit detection light; activating the receiving module of the laser radar to collect the echo light formed by the reflection of the detection light by the target.

[0171] Specific as Fig. 9 In some of the embodiments shown, one transceiver step of the laser radar includes: at time t11, driving the transmitting module of the laser radar to transmit the detection light b1; the activated receiving module of the laser radar collects the echo light b11 at time t12, wherein the echo light b11 is formed by the detection light b1 emitted at time t11 being reflected by the target. The next transceiver step of the laser radar includes: at time t13, driving the transmitting module of the laser radar again to transmit the detection light b3; the activated receiving module of the laser radar collects the echo light b31 at time t14, wherein the echo light b31 is formed by the detection light b3 emitted at time t13 being reflected by the target.

[0172] The time period between two adjacent detection light emission moments, that is, the time period between moment t11 ​​and moment t13, is divided into two parts, one of which, the time period Δt1, is used for scanning detection: the moment when the receiving module of the laser radar collects the echo light b11 is within the time period for scanning detection, and the moment t12 is within the time period Δt1.

[0173] Another part of the time period between the two adjacent detection light emission moments, that is, between the moment t11 ​​and the moment t13, is used to perform a function test on at least one detection channel in at least one detection unit, and the channel function test step is performed at least once. Fig. 9 In some specific embodiments shown, at time t15, the detection light source is driven to emit detection light b2; the activated detection unit collects the light to be detected b21 formed by the detection light b2 reflected by the anti-interference structure at time t16 to perform a functional test of the detection unit. Wherein, both time t15 and time t16 are within the time period Δt2.

[0174] It should be noted that Fig. 9 The solid line in the middle shows a signal timing diagram of light emission of another embodiment of the laser radar disclosed in the present invention; the dotted line shows a signal timing diagram of light collection of another embodiment of the laser radar disclosed in the present invention.

[0175] Combined with reference Figure 5 In other embodiments of the present invention, the receiving module of the laser radar includes multiple detection units 310; in some embodiments, the function detection method includes: executing the channel function detection step at least once to traverse all detection units 310 of the laser radar.

[0176] In some specific embodiments, the detection module executes the channel function detection step multiple times, and the detection units 310 activated in two adjacent executions of the channel function detection step are at least partially different.

[0177] In addition, in some embodiments, when the laser radar obtains a frame of point cloud, the channel function detection step is performed at least once to traverse all detection units 310 of the laser radar.

[0178] For example, in some embodiments, the laser radar is a mechanical rotating laser radar, and the rotation frequency of the laser radar is 10Hz. Every time a certain angle (for example, 0.1°) is rotated, all detection channels in all detection units of the laser radar are polled once. At every preset angle, that is, one or more detection channels are functionally tested, then after the laser radar rotates a certain angle (for example, 60°, 120°, etc.), a round of functional testing of all detection channels can be completed. In some embodiments, every time 120° is rotated, a round of functional testing of the detection channels of all detection units is completed, and the laser radar can complete 30 rounds of functional testing of the detection channels of all detection units within 1s.

[0179] In summary, the relative positions of the detection unit, the anti-interference structure and the detection light source are appropriate, and the positions and distances between the detection unit, the anti-interference structure and the detection light source enable the anti-interference structure to reflect the detection light generated by the detection light source to the detection unit, and the detection unit can collect the light to be detected formed by the reflection. The optical path length of the optical signal collected by the detection unit is shortened, and the energy loss is reduced, which can effectively improve the accuracy of the functional detection of the detection unit; and the detection light and the light to be detected are both located on one side of the anti-interference structure, and there is no need to transmit the anti-interference structure, which can effectively reduce the design difficulty of the anti-interference structure.

[0180] Moreover, the receiving module further includes: a receiving lens group, the receiving lens group is used to transmit the echo light to the detection unit, and the receiving lens group is located upstream of the optical path of the echo light relative to the anti-interference structure. During the functional detection process, the detection unit collects the light to be detected formed by the anti-interference structure reflecting the detection light, and does not involve the receiving lens group. There are no additional requirements for the position and properties of the receiving lens group, which can effectively reduce the design difficulty of the receiving lens group and the design difficulty of the receiving optical path of the echo light of the laser radar.

[0181] Although the disclosure is disclosed as above, the disclosure 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 disclosure, so the protection scope of the disclosure should be based on the scope defined by the claims.

Claims

1. A receiving module of a laser radar, characterized in that: The receiving module is used to receive the echo light formed by the detection light reflected by the target, and the receiving module includes: A detection unit, the detection unit is used to collect the echo light; an anti-interference structure, the anti-interference structure being located upstream of the optical path of the echo light relative to the detection unit, the anti-interference structure extending in a plane substantially parallel to the detection unit, the anti-interference structure being used to allow light in a preset wavelength range to be transmitted and to remove interference light, the preset wavelength range including a wavelength corresponding to the echo light; A detection light source, the detection light source is used to emit detection light; The anti-interference structure is also used to reflect the detection light to form the light to be detected, and the light to be detected is incident on the detection unit; The detection unit is further used to collect the light to be detected to perform a functional test of the detection unit.

2. The receiving module according to claim 1, characterized in that: The anti-interference structure includes: at least one of a filter and an aperture.

3. The receiving module according to claim 2, characterized in that: The aperture includes: a light shielding portion extending in a plane substantially parallel to the detection unit; a light limiting hole surrounded by the light shielding portion, and a position of the light limiting hole corresponding to a position of the detection unit; The projection of the filter on the aperture surface covers the light-limiting hole.

4. The receiving module according to claim 1, characterized in that: The wavelength of the detection light is outside the preset wavelength range.

5. The receiving module according to any one of claims 2 or 3, characterized in that: The filter has a preset reflectivity for the detection light.

6. The receiving module according to any one of claims 2 or 3, characterized in that: The light shielding portion of the aperture has a preset reflectivity with respect to the detection light.

7. The receiving module according to claim 3, characterized in that: The detection unit is fixed on the circuit board; the shading portion and the filter are arranged basically parallel to the surface of the circuit board; the detection light is reflected once or multiple times between the circuit board and the filter and / or the shading portion to form the light to be detected.

8. The receiving module according to claim 7, characterized in that: The detection light source and the detection unit are arranged on the same circuit board.

9. The receiving module according to claim 1, characterized in that: The receiving module includes a plurality of the detection units; the detection light source is located in an area where the plurality of detection units are distributed, or the detection light source is adjacent to an area where the plurality of detection units are distributed.

10. The receiving module according to claim 9, characterized in that: A part of the detection units are arranged along the first direction, and a part of the detection units are arranged along the second direction; At least one side of the detection light source is provided with the detection unit along at least one of the first direction and the second direction.

11. The receiving module according to claim 10, characterized in that: Along at least one of the first direction and the second direction, two sides of the detection unit are provided with light isolation sheets.

12. The receiving module according to claim 11, characterized in that: A preset distance is provided between the surface of the light isolation sheet facing the anti-interference structure and the anti-interference structure, so that the detection unit can collect the detection light reflected by the anti-interference structure.

13. The receiving module according to claim 1, characterized in that: The detection light source is a scattered light source.

14. The receiving module according to claim 13, characterized in that: The relative position relationship between the detection light source and the detection unit is determined on the basis of the first position relationship and the second position relationship in combination with the light intensity distribution characteristics of the detection light source, wherein the first position relationship is the relative position relationship between the detection light source and the anti-interference structure, and the second position relationship is the relative position relationship between the detection unit and the anti-interference structure.

15. The receiving module according to claim 1, characterized in that: Also includes: A receiving lens group, wherein the receiving lens group is used to transmit the echo light to the detection unit, and the receiving lens group is located upstream of the optical path of the echo light relative to the anti-interference structure.

16. The receiving module according to claim 1, characterized in that: The laser radar also includes: a detection module, which is used to perform a channel function detection step, and the channel function detection step includes: driving the detection light source to emit detection light; activating the detection unit to collect the light to be detected formed by reflecting the detection light through the anti-interference structure to perform a function detection of the detection unit.

17. A laser radar, characterized in that: include: A transmitting module, wherein the transmitting module is used to transmit detection light; A receiving module, the receiving module is used to receive the echo light formed by the detection light reflected by the target, the receiving module comprises: a detection unit, the detection unit is used to collect the echo light; An anti-interference structure, wherein the anti-interference structure is located upstream of the optical path of the echo light relative to the detection unit, and the anti-interference structure extends in a plane substantially parallel to the detection unit, and the anti-interference structure is used to allow light in a preset wavelength range to be transmitted and to remove interference light, wherein the preset wavelength range includes the wavelength corresponding to the echo light; a detection light source, wherein the detection light source is used to emit detection light; the anti-interference structure is also used to reflect the detection light to form light to be detected, and the light to be detected is incident on the detection unit; the detection unit is also used to collect the light to be detected to perform functional detection of the detection unit.

18. The laser radar according to claim 17, characterized in that: Also includes: A detection module, the detection module is used to perform a channel function detection step, the channel function detection step includes: driving the detection light source to emit detection light; The detection unit is activated to collect the light to be detected formed by the detection light reflected by the anti-interference structure to perform a functional test of the detection unit.

19. A method for detecting the function of a laser radar, characterized in that: The receiving module of the laser radar includes: a detection unit, the detection unit is used to collect echo light; an anti-interference structure, the anti-interference structure is located upstream of the optical path of the echo light relative to the detection unit, the anti-interference structure extends in a plane substantially parallel to the detection unit, the anti-interference structure is used to allow light in a preset wavelength range to be transmitted and remove interference light, the preset wavelength range includes the wavelength corresponding to the echo light; a detection light source, the detection light source is used to emit detection light; The function detection method comprises: a channel function detection step; The channel function detection step comprises: driving the detection light source to emit detection light; The detection unit is activated to collect the light to be detected formed by the detection light reflected by the anti-interference structure to perform a functional test of the detection unit.

20. The function detection method according to claim 19, characterized in that: The step of driving the detection unit to collect the light to be detected formed by the detection light reflected by the anti-interference structure to perform functional detection includes: Driving the detection unit to collect the light to be detected, and the detection unit generating a corresponding detection signal according to the collected light to be detected; According to the detection signal and in combination with a preset function threshold, it is determined whether the function of the detection unit is normal.

21. The function detection method according to claim 20, characterized in that: Also includes: detecting a noise baseline of a detection signal generated by the detection unit; In the step of judging whether the function of the detection unit is normal according to the detection signal, judging whether the function of the detection unit is normal according to the detection signal in combination with the function threshold and the noise baseline.

22. The function detection method according to claim 20, characterized in that: The channel function detection step also includes: judging whether the function detection sensitivity is degraded according to the detection signal; when judging that the function detection sensitivity is degraded, executing at least one of the steps of increasing the intensity of the emitted detection light and reducing the function threshold.

23. The function detection method according to claim 19, characterized in that: The channel function detection step is performed at least once between two transmitting and receiving steps of the laser radar, wherein the transmitting and receiving steps include: driving the transmitting module of the laser radar to emit detection light; activating the receiving module of the laser radar to collect the echo light formed by the reflection of the detection light by the target.

24. The function detection method according to claim 19, characterized in that: During one transceiver step of the laser radar, the channel function detection step is performed at least once, wherein the transceiver step includes: driving the transmitting module of the laser radar to emit detection light; activating the receiving module of the laser radar to collect the echo light formed by the reflection of the detection light by the target.

25. The function detection method according to claim 19, characterized in that: The receiving module of the laser radar includes a plurality of the detection units; The function detection method includes: executing the channel function detection step at least once to traverse all detection units of the laser radar.

26. The function detection method according to claim 25, characterized in that: The detection units activated in two consecutive executions of the channel function detection step are at least partially different.

27. The function detection method according to claim 25, characterized in that: During the process of the laser radar obtaining a frame of point cloud, the channel function detection step is performed at least once to traverse all detection units of the laser radar.

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