Detection method, array detector, array transmitter, detection device and terminal

Abstract

The detection method, the array detector, the array transmitter, the detection device and the terminal can be applied to the fields of detection, intelligent surveying and mapping, intelligent driving and the like. The echo signals are received by dynamically adjusting the receiving area in the multiple detection signals, and / or the detection signals are transmitted in the dynamic transmitting area, so that the possibility of capturing echo light spots with position offset and / or energy dispersion is improved, the energy loss caused by light spot displacement is reduced, and the detection precision of the detection device is improved.

Description

Detection method, array detector, array transmitter, detection device and terminal Technical Field

[0001] The present application relates to the field of light detection technology, and in particular to a detection method, an array detector, an array transmitter, a detection device and a terminal. Background Art

[0002] With the advancement of information technology and computer vision, detection technology has made rapid progress. A wide variety of detection devices have brought great convenience to people's lives and travel. Detection devices can be thought of as the "eyes" that perceive the environment. They include vision sensors such as cameras and radar sensors such as millimeter-wave radar, laser radar, and ultrasonic radar. Among them, laser radar (light detection and ranging) technology offers significant advantages in detection range, ranging accuracy, and reliability, and its near-all-weather operation makes it a key sensor in the perception field, playing a vital role in intelligent driving, intelligent transportation, surveying and mapping, and intelligent manufacturing.

[0003] When the laser radar is detecting, the transmitting end sends multiple detection signals. The multiple detection signals are respectively irradiated on the target in the field of view, and are reflected on the target in the field of view to obtain echo signals corresponding to the multiple detection signals. The light spot of the echo signal will fall on the detector, which receives the echo signal and obtains its energy, thereby obtaining relevant information about the target.

[0004] LiDAR detectors are typically implemented as array detectors consisting of multiple detection elements. The location where the echo signal's spot lands on the array detector is related to the target's range and pointing angle (i.e., its position in the field of view). Therefore, by processing the energy captured at different locations on the array detector, information about targets within the corresponding range and pointing angle can be obtained. This allows for targeted distance and reflectivity compensation, improving detection accuracy.

[0005] However, due to changes in ambient temperature, target distance, and aging optical components, the position of the echo signal spot on the array detector often shifts. This shift not only results in an overall shift but also in its fragmentation and dispersion, easily causing the spot to drift outside the area capable of receiving the echo signal energy. This can lead to anomalies in subsequent distance and reflectivity compensation, compromising the LiDAR's detection accuracy.

[0006] Summary of the Invention

[0007] The embodiments of the present application provide a detection method, an array detector, an array transmitter, a detection device, and a terminal, which can reduce energy loss caused by light spot movement and improve the detection accuracy of the detection device.

[0008] In a first aspect, an embodiment of the present application provides a detection method, including:

[0009] A first area of ​​the array detector receives a first echo signal and obtains energy of the first echo signal, the first echo signal corresponds to a first detection signal, and the first detection signal is sent at a first moment;

[0010] The second area of ​​the array detector receives a second echo signal and obtains energy of the second echo signal, the second echo signal corresponds to a second detection signal, and the second detection signal is sent at a second moment;

[0011] The first region and the second region are included in the array detector, the first region and the second region respectively include at least two detection elements, and the first region and the second region do not completely overlap.

[0012] Optionally, the above method may be applied to an array detector or a controller, where the controller may control the array detector, and the array detector includes a plurality of detection elements.

[0013] In the embodiments of the present application, the first and second regions do not completely overlap, that is, there is an offset between the first and second regions. For the detection signal emitted at the first moment and the detection signal emitted at the second moment, the array detector can dynamically shift and adjust the position of the receiving area when receiving the echoes of the two. In the event that the light spot may shift, the dynamic adjustment of the receiving area can adapt to the distribution changes of the light spot and capture the echo light spot with position shift and / or energy dispersion, thereby reducing the energy loss caused by the shift of the echo signal light spot and improving the detection accuracy of the detection device.

[0014] In a possible implementation manner of the first aspect, the first detection signal and the second detection signal are signals transmitted within a detection duration.

[0015] Optionally, a detection duration may be a time slot, a wave position, a detection frame, or a detection subframe, wherein a time slot is the smallest time unit in the detection process, and multiple pulse signals can be transmitted in a time slot.

[0016] The beam position is related to the time it takes for a detection signal to complete a detection scan in one direction. For example, if the vertical pitch angle of the detection device is 0-20° and the beam width of the detection signal emitted by the detection device is 5°, at least four beam positions are required to cover the entire pitch space.

[0017] A detection frame refers to an image obtained when the detection device completes a scan of the entire field of view. A detection frame usually generates a point cloud image.

[0018] The detection subframe is obtained by dividing the detection frame. In some scenarios, for a detection device that performs two-dimensional scanning, completing a scan in one direction is a detection subframe, and completing the scan in two directions is a detection frame. For example, in a detection device that performs detection in the form of line scanning, the time it takes to complete the scan of a line is called a detection subframe (or a wave position), and completing the detection of the entire field of view is called a detection frame. For another example, in a detection device that performs detection in the form of point scanning, the time it takes to complete the detection of a "point" is called a detection subframe (or a wave position), and completing the detection of the entire field of view is called a detection frame.

[0019] In a possible implementation of the first aspect, the detection device transmits multiple detection signals within a period of time to detect the same detection area (or a detection area with an angle smaller than the angular resolution), and the first detection signal and the second detection signal belong to multiple detection signals transmitted within the same period of time.

[0020] In a possible implementation of the first aspect, the first area completely overlaps with the reference receiving area, the offset between the second area and the reference receiving area is a first distance, the first distance is a multiple of a unit width, and the unit width is the minimum resolution unit of the array detector.

[0021] Among them, the reference receiving area is an area for receiving the echo signal of the first detection signal and the echo signal of the second detection signal under a first environmental condition, the reference receiving area is included in the array detector, and the first environmental condition is a predefined working environment of the array detection.

[0022] Alternatively, the reference receiving area can be regarded as an ideal receiving position of the light spot. Optionally, the reference receiving area can be pre-set or pre-defined, for example, written by a manufacturer, developer, tester, etc.

[0023] In the above embodiment, during dynamic shifting, some receiving areas overlap with the reference receiving area, while other receiving areas are shifted using the reference receiving area as an anchor point. Considering that the echo spot may not shift, even if it does, the shifted echo spot will still fall near the reference receiving area. Therefore, the above embodiment can improve the efficiency of echo energy reception, increase the effective signal ratio, and enhance detection accuracy.

[0024] In a possible implementation of the first aspect, the offset between the first area and a preset reference receiving area is a second distance, the offset between the second area and the reference receiving area is a third distance, the second distance and the third distance are different multiples of a unit width, and the unit width is the minimum resolution unit of the array detector.

[0025] In the above embodiment, during dynamic shifting, the shifted area is offset with the reference receiving area as the anchor point. Considering that the echo spot after displacement will also fall near the reference receiving area, the above embodiment can improve the efficiency of receiving echo energy, increase the effective signal ratio, and improve detection accuracy.

[0026] In a possible implementation manner of the first aspect, the temperature of the environment in which the array detector is currently operating is higher than a first temperature threshold.

[0027] When the temperature is higher than or equal to the first temperature threshold, the area where the first echo signal and the second echo signal fall on the array detector deviates from the reference receiving area.

[0028] Temperature fluctuations are a significant factor in causing the echo spot to shift. In the aforementioned embodiment, when the temperature is above or equal to the first temperature threshold, the echo spot will deviate from the reference receiving area. Therefore, when the temperature is above or equal to the first threshold, dynamically shifting the receiving area allows for more accurate reception of the echo spot's energy, reducing energy loss caused by spot shifting and improving the detection accuracy of the detection device.

[0029] In a possible implementation of the first aspect, in the first direction, the directional angle of the first detection signal and the directional angle of the second detection signal fall within a first angle range, and the first angle range is a partial angle in the field of view.

[0030] The field of view is the field of view of the detection device. To detect the field of view, multiple detection signals at different angles are usually emitted. For example, taking a line-scanning detection device as an example, the detection device scans multiple lines to complete the detection of the field of view.

[0031] In the above implementation, dynamic offset is used to receive echo spots within a portion of the field of view; while other angles can be received using either a fixed reference receiving area or dynamic offset. This allows for more flexible control of echo spot reception, more accurately capturing the energy of the echo spot and improving detection accuracy.

[0032] For example, the array detector may select whether to use a dynamic receiving mode for detection at a certain horizontal angle based on the horizontal angle.

[0033] As a possible implementation, some angles are near the edge of the field of view. Since angles near the edge of the field of view are more likely to cause the light spot to shift, dynamically offsetting the echo light spot of the detection signal emitted to the edge of the field of view can more accurately receive the energy of the echo light spot, reduce energy loss caused by light spot shifting, and improve the detection accuracy of the detection device.

[0034] As another possible implementation, the detection device is further configured to receive an echo of a fourth detection signal through a reference receiving area and acquire energy of the echo of the fourth detection signal. The directional angle of the fourth detection signal is located in a middle area of ​​the field of view.

[0035] Considering that the echo spot from the middle area of ​​the field of view is less likely to shift position, the energy of the echo spot can be more accurately received through the reference receiving area, improving detection accuracy.

[0036] In one possible implementation of the first aspect, the maximum detection range of the first detection signal and the maximum detection range of the second detection signal are less than the maximum detection range of the third detection signal emitted at a third moment. The third moment is different from the first moment (e.g., far measurement and proximity measurement are performed in separate time periods) or the same as the first moment (e.g., far measurement and proximity measurement are performed in separate time periods). Similarly, the third moment is different from or the same as the first moment.

[0037] The maximum detection distance is related to the energy density and / or power of the signal. For example, the energy density and / or power of the first detection signal is less than that of the third detection signal. For another example, the energy density / power of the second detection signal is less than that of the third detection signal.

[0038] As a possible implementation, the array detector can determine whether to adopt a dynamic receiving mode based on long-range and short-range detection. For example, during short-range detection, the array detector can use a dynamic switching receiving area to receive echo signals.

[0039] Optionally, the echo of the third detection signal may also be received by dynamically shifting the receiving area.

[0040] In a possible implementation of the first aspect, the method further includes:

[0041] The array detector obtains an output electrical signal according to the first echo signal and the second echo signal;

[0042] The array detector obtains statistical histogram data according to the output electrical signal, and the statistical histogram data is used to obtain one or more pixels in the detection result of the field of view range.

[0043] Optionally, the first echo signal and the second echo signal correspond to pixels with the same detection result.

[0044] In a possible implementation of the first aspect, the method further includes:

[0045] The array detector adjusts the area for receiving echo signals to the second area at a third moment, and the third moment is prior to the second moment.

[0046] In this embodiment, the adjustment of the receiving area on the array detector should be performed before the detection signal is transmitted. This is because some detection elements require time to adjust their working state, for example, some detection elements need to be powered on or output channel gated, and these operations require a certain amount of time to stabilize.

[0047] In the above embodiment, the receiving area is adjusted to the second area before transmitting the second detection signal. When the detection element in the second area acquires the energy of the second echo signal, it will have higher accuracy and stronger stability, thereby improving the detection performance.

[0048] In a second aspect, an embodiment of the present application further provides a detection method, the method comprising:

[0049] The first region of the array transmitter transmits a first detection signal, wherein the first detection signal corresponds to a first echo signal.

[0050] The second area of ​​the array transmitter transmits a second detection signal, where the second detection signal corresponds to a second echo signal;

[0051] The first area and the second area are included in the array emitter, the first area and the second area respectively include at least two light-emitting elements, and the first area and the second area do not completely overlap.

[0052] The first detection signal and the second detection signal are used to detect the same detection area in the field of view. Alternatively, the first echo signal and the second echo signal correspond to the same pixel in the detection result. In other words, the first echo signal and the second echo signal are used to obtain statistical histogram data, and the statistical histogram data is used to obtain one or more pixels in the detection result of the field of view.

[0053] Optionally, the above method may be applied to an array transmitter or a controller, where the controller may control the array transmitter, where the array transmitter includes a plurality of light-emitting elements.

[0054] In the embodiment of the present application, for the same detection area (corresponding to the same pixel area in the detection results), different emission areas in the array emitter are used to emit light for detection. Different emission areas are pointed at different angles relative to the detection area, and the resulting echo spots will fall at different positions on the detector (or receiver).

[0055] At this time, when the echo spot corresponding to the detection signal moves (deviates from the reference receiving area), the movement of the spot can be offset left and right (or up and down) through different angles. Using detection signals with multiple pointing angles, it is very likely that there will be a spot that falls into the reference receiving area among the multiple echo spots corresponding to the multiple detection signals, so that the detector can obtain the energy of the echo spot from the reference receiving area. In short, using detection signals emitted from different emission areas achieves the effect of dynamically offsetting the receiving area, reducing the energy loss caused by the movement of the echo spot and improving the detection accuracy of the detection device.

[0056] In a possible implementation of the second aspect, the first detection signal and the second detection signal are signals transmitted within a detection duration.

[0057] Optionally, a detection duration may be a time slot, a wave bit, a detection frame, or a detection subframe.

[0058] In a possible implementation of the second aspect, the first area completely overlaps with the reference emission area, the offset between the second area and the reference emission area is a first distance, the first distance is a multiple of a unit width, and the unit width is the minimum resolution unit of the array transmitter.

[0059] Among them, under the first environmental conditions, the third echo signal corresponding to the fourth detection signal emitted by the reference emission area falls into the reference receiving area of ​​the array detector, and the reference receiving area is used to receive the third echo signal and obtain the energy of the third echo signal.

[0060] In a possible implementation of the second aspect, the offset between the first area and the reference emission area is a second distance, the offset between the second area and the reference emission area is a third distance, the second distance and the third distance are different multiples of a unit width, and the unit width is the minimum resolution unit of the array transmitter.

[0061] In a possible implementation manner of the second aspect, the temperature of the environment in which the array transmitter is currently operating is higher than a first temperature threshold.

[0062] When the temperature is higher than or equal to the first temperature threshold, the area where the first echo signal and the second echo signal fall on the array detector deviates from the reference receiving area.

[0063] In a possible implementation of the second aspect, in the first direction, the directional angle of the first detection signal and the directional angle of the detection signal fall within a first angle range,

[0064] The first angle range is a partial angle in the field of view range.

[0065] In a possible implementation of the second aspect, the first echo signal and the second echo signal are used to obtain statistical histogram data, and the statistical histogram data is used to obtain one or more pixels in the detection result of the field of view range.

[0066] In a possible implementation manner of the second aspect, the farthest detection distance of the first detection signal and the farthest detection distance of the second detection signal are smaller than the farthest detection distance of the third detection signal emitted at the third moment.

[0067] In a third aspect, an embodiment of the present application further provides an array detector, wherein the array detector comprises a plurality of detection elements;

[0068] The array detector is used to implement the method described in the first aspect or any possible implementation manner of the first aspect.

[0069] In a fourth aspect, an embodiment of the present application further provides an array transmitter, wherein the array transmitter comprises a plurality of light-emitting elements;

[0070] The array detector is used to implement the method described in the second aspect or any possible implementation manner of the second aspect.

[0071] In a fifth aspect, an embodiment of the present application further provides a detection device, comprising a transmitter and an array detector, wherein the transmitter is configured to transmit a first detection signal at a first moment and transmit a second detection signal at a second moment;

[0072] The array detector includes the array detector described in the third aspect.

[0073] In a sixth aspect, an embodiment of the present application further provides a detection device, the detection device comprising an array transmitter and a detector, the array transmitter comprising the array transmitter described in the fourth aspect;

[0074] The detector is used to receive a first echo signal and a second echo signal.

[0075] In the seventh aspect, an embodiment of the present application further provides a detection device, which includes an array detector, a transmitter and a controller, and the controller is used to control the transmitter and the array detector so that the detection device implements the detection method described in any one of the first aspects.

[0076] In an eighth aspect, an embodiment of the present application further provides a detection device, which includes an array transmitter, a detector, and a controller, wherein the controller is used to control the array transmitter and the detector so that the detection device implements the detection method described in any one of the second aspects.

[0077] In the ninth aspect, an embodiment of the present application also provides a terminal, which includes the array detector described in the third aspect, or the array transmitter described in the fourth aspect, or the detection device described in the fifth aspect, or the detection device described in the sixth aspect, or the detection device described in the seventh aspect, or the detection device described in the eighth aspect.

[0078] Optionally, the terminal can be an intelligent terminal or transportation tool such as a vehicle, a drone, or a robot.

[0079] Some of the beneficial effects of the second to ninth aspects of this application can refer to the beneficial effects of the first aspect and will not be described one by one here. BRIEF DESCRIPTION OF THE DRAWINGS

[0080] The following is a brief introduction to the drawings used in describing the embodiments.

[0081] FIG1 is a schematic diagram of a transmitting optical path and a receiving optical path;

[0082] FIG2 is a schematic diagram of the relationship between the offset and distance of a light spot;

[0083] FIG3 is a schematic diagram of the position of a light spot on an array detector at different temperatures;

[0084] FIG4 is a schematic structural diagram of a detection device provided in an embodiment of the present application;

[0085] FIG5 is a schematic diagram of a laser transmitter provided in an embodiment of the present application;

[0086] FIG6A is a schematic diagram of another laser transmitter provided in an embodiment of the present application;

[0087] FIG6B is a schematic diagram of another laser transmitter provided in an embodiment of the present application;

[0088] FIG7 is a flow chart of a detection method provided in an embodiment of the present application;

[0089] FIG8 is a schematic diagram of a receiving area in an array detector provided in an embodiment of the present application;

[0090] FIG9 is a schematic diagram of an operating scenario of a detection device provided in an embodiment of the present application;

[0091] FIG10 is a schematic diagram of an operating scenario of another detection device provided in an embodiment of the present application;

[0092] FIG11 is a schematic diagram of a control signal provided in an embodiment of the present application;

[0093] FIG12 is a flow chart of another detection method provided in an embodiment of the present application;

[0094] FIG13 is a schematic diagram of an emission area in an array emitter provided in an embodiment of the present application;

[0095] FIG14 is a schematic diagram of an operating scenario of another detection device provided in an embodiment of the present application;

[0096] FIG15 is a schematic diagram of an operating scenario of another detection device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0097] The embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

[0098] For ease of understanding, the following examples provide some explanations of concepts related to the embodiments of the present application for reference.

[0099] 1. Detection device

[0100] The detection device mentioned in the embodiments of the present application can be a laser radar or other optical detection device, such as a fusion detection device (for example, a detection device integrating a radar detector and an image sensor). Its working principle is to detect targets within the field of view by emitting a detection signal and receiving an echo.

[0101] The detection device in the embodiment of the present application can be used in various fields such as intelligent driving, intelligent transportation, intelligent manufacturing, environmental detection, surveying and mapping, drones, etc., and can complete one or more functions of target detection, distance measurement, speed measurement, target tracking, imaging recognition, etc.

[0102] The detection device in the embodiments of the present application can be applied to vehicle-mounted detection devices (e.g., vehicle-mounted radar), roadside detection devices (e.g., intersection radar), etc., and can also be applied to other detection devices, such as detection devices installed on drones, robots, rail cars, bicycles, traffic lights, speed measuring devices, base stations, etc. This application does not limit the location where the detection device is installed.

[0103] 2. Field of view (FOV)

[0104] There needs to be a line of sight (LOS) between the transmitter of the detection device and the target object, and / or between the receiver of the detection device and the target object, where the signal (e.g., radio waves, laser) can be transmitted uninterruptedly. This line of sight can be understood as the field of view, or field of view.

[0105] In optics, the angle between the two edges of an instrument's lens, with the lens at its apex, and the maximum range through which the image of the object can pass, is called the field of view. The field of view determines the instrument's visual field; a larger angle means a wider field of view.

[0106] In some scenarios, the detection device scans the object space by rotating or swinging to form a larger field of view.

[0107] The above description of technical terms may be optionally used in the following embodiments.

[0108] The detection principle of the detection device is to obtain relevant information about the target by emitting a detection signal and receiving an echo signal corresponding to the detection signal (also referred to as an echo in some embodiments). Figure 1 is a schematic diagram of a possible transmitting optical path and a receiving optical path. The transmitting end of the detection device emits a detection signal 1, which is reflected on the target within the field of view, forming an echo signal 2. The echo signal 2 falls into the detector and is received by the detection element in the detector. The detection element receives the echo signal 2 and obtains the energy of the echo signal 2 (for example, obtaining an electrical signal with different characteristics, obtaining the number of photons, etc.), and then processes it to obtain information such as the distance, reflectivity, speed, color, shape, pattern, etc. of the target.

[0109] Since radar detection is multi-angle and covers a long distance, the light spot of the echo signal usually does not fall on a fixed area on the array detector.

[0110] First, the position falling on the array detector is related to the distance to the target and the pointing angle of the target (or the position of the target in the field of view). In some scenarios, the array detector contains multiple detection elements, and the array detector contains a reference receiving area. The detection elements in the reference receiving area can obtain the energy of the received echo signal. The reference receiving area is also called the region of interest (ROI). Figure 2 is a schematic diagram of the relationship between the possible offset of the light spot and the distance. Taking the horizontal offset as an example, the closer the target is to the detection device, the greater the offset between its echo light spot and the reference receiving area. The pointing angle of the target relative to the detection device also affects the offset of the light spot. When the target is at the edge of the field of view, the corresponding offset between the echo light spot and the reference receiving area is relatively large.

[0111] Secondly, the offset of the light spot is also related to factors such as the ambient temperature or the aging of optical components. Figure 3 is a schematic diagram of the possible positions of the light spot on the array detector at different temperatures. The gray grid in the detector is the ROI area, which can capture the energy of the echo. When the ambient temperature is 0°C, the echo light spot falls into the ROI area, and the light spot shape is normal and the energy is concentrated; when the ambient temperature is 45°C, the echo light spot shape changes, the energy is dispersed, the light spot is offset relative to 0°C, and a small part has exceeded the ROI area; when the ambient temperature is 75°C, the echo light spot changes further, the energy is drastically dispersed, and the degree of offset further changes. It should be understood that Figure 3 is a possible schematic diagram made to facilitate understanding of the position of the light spot on the array detector at different temperatures. In the specific implementation process, the size, energy distribution, position, or degree of offset of the light spot may have other situations.

[0112] Light spot displacement occurs when the light spot's position shifts, shape splits, and energy disperses. This can easily cause the light spot to move out of the area where it can receive echo signal energy, leading to anomalies in subsequent distance and reflectivity compensation, and thus affecting LiDAR detection accuracy.

[0113] As shown in Figure 3, the energy distribution of the echo spot changes significantly. Some of the spot's energy falls into an area where the echo energy cannot be received, resulting in missed signals and affecting the accuracy of the detection results. Furthermore, different receiving positions on the detection device correspond to different distance compensation and reflectivity compensation processes. Spot misalignment can also lead to processing errors such as abnormal distance and reflectivity compensation, further affecting detection accuracy.

[0114] In view of this, the embodiments of the present application provide a detection method, an array detector, an array transmitter, a detection device and a terminal, which can adapt to the energy distribution changes of the echo spot, reduce the energy loss caused by the movement of the spot, and improve the detection accuracy of the detection device.

[0115] The system architecture and business scenarios of this application are described below. It should be noted that the system architecture and business scenarios described in this application are intended to more clearly illustrate the technical solutions of this application and do not constitute a limitation on the technical solutions provided by this application. With the evolution of the system architecture and the emergence of new business scenarios, the technical solutions provided by this application are also applicable to similar technical problems.

[0116] Please refer to Figure 4, which is a schematic diagram of the structure of a possible detection device provided in an embodiment of the present application. The detection device 40 includes a transmitter 401 and a detector 402. Optionally, the detection device 40 further includes one or more of a controller 403, a modulator 404, a filter 405, a signal processing module 406, etc. The multiple modules of the detection device can be connected via wired and / or wireless means. The following is an exemplary introduction to each module:

[0117] (1) The transmitter 401 is used to generate a laser signal. For example, the transmitter 401 may include a light-emitting element such as a laser diode (LD), a vertical cavity surface emitting laser (VCSEL), a photonic crystal surface emitting semiconductor lasers (PCSEL), an edge emitting laser (EEL), a distributed feedback laser diode (DFB-LD), a grating coupled sampling reflection laser diode (GCSR-LD), or a micro opto electromechanical system laser diode (MOEMS-LD).

[0118] Optionally, when emitter 401 includes multiple light-emitting elements, the multiple light-emitting elements can be arranged in an array. In this case, the emitter can be called an array emitter or a flash emitter. This application does not limit the rules of the array. In a specific implementation, the array emitter can be, for example, a 1×10 array, a 2×5 array, or an 8×9 array.

[0119] The light signal emitted by the transmitter 401 can be irradiated onto the detection area (the detection area refers to a real area in the field of view) through one or more optical elements. The following are three possible designs for the emission process:

[0120] Design 1: Emitter 401 can be an array emitter. See Figure 5, which is a schematic diagram of a possible laser emitter provided in an embodiment of the present application. Emitter 401 comprises an 8×8 array light source consisting of 64 light-emitting elements. As shown in Figure 5, each small square in emitter 401 represents a light-emitting element 501. During transmission, one or more light-emitting elements in emitter 401 emit a detection signal, which is then illuminated into the field of view through optical element 502.

[0121] Design 2: The optical signal emitted by laser emitter 401 can be irradiated onto the detection area via a scanner to achieve scanning detection of the detection area. Please refer to Figures 6A and 6B. Figure 6A is a schematic diagram of another possible emitter provided in an embodiment of the present application, and Figure 6B is a schematic diagram of another possible emitter provided in an embodiment of the present application. The detection signal emitted by emitter 401 can be irradiated onto the detection area in the field of view at one or more angles via scanner 601.

[0122] The scanner 601 may include one or more of a rotating mirror, a micro-vibrating mirror, or an oscillating mirror. The scanning mode of the scanner 601 may include point scanning, line scanning, or other scanning modes. This application does not limit the scanning order of the scanner, for example, it may be from top to bottom, from left to right, or from right to left. In addition, in some scenarios, the scanning effect can also be achieved by rotating the detection device itself.

[0123] For example, as shown in FIG6A , which is a schematic diagram of line scanning, the scanner can adjust the angle in one direction to scan and detect the field of view. As shown in FIG6B , which is a schematic diagram of point scanning, the scanner can adjust the angle in two directions to scan and detect the field of view.

[0124] Design 3: The emitter 401 may include one or more light sources (or referred to as flood light sources), and the detection signal emitted by the light source may illuminate the entire field of view at once.

[0125] (2) The detector 402 is used to receive the optical signal. Furthermore, the detector 402 can obtain an electrical signal based on the optical signal.

[0126] Optionally, the detector 402 may include one or more detection elements. For example, the detector 402 may include one or more of the following detection elements: a single-photon avalanche diode (SPAD), a silicon photomultiplier (SiPM), a semiconductor avalanche photodiode (APD), a multi-pixel photon counter (MPPC), or an electron multiplying charge-coupled device (EMCCD).

[0127] Furthermore, when the detector includes multiple detection elements, the multiple detection elements can be arranged in an array. For example, the array can be a 1×10 array, a 20×40 array, or other arrays. This application does not limit the number of rows and columns in the array arrangement. As a possible implementation, the detector 402 can specifically be a SPAD array or a SiPM array.

[0128] (3) The controller is used to generate control signals to control other modules to complete their functions.

[0129] For example, the controller may enable some detection elements in the array detector through a control signal, and the enabled detection elements may obtain electrical signals based on the optical signals.

[0130] For another example, the controller may control some of the light-emitting elements in the array transmitter to emit light at a certain moment through a control signal.

[0131] Optionally, filters, signal processing modules, etc. are used to process the received echo signals. Exemplarily, the filters include, but are not limited to, finite impulse response (FIR) filters, infinite impulse response (IIR) filters, low-pass filters, or band-pass filters. Exemplarily, the signal processing module performs signal processing including, but not limited to, one or more of analog-to-digital conversion, time-to-digital conversion, signal detection, TOF extraction, distance compensation, and reflectivity compensation.

[0132] In addition, the detection device also includes one or more optical elements, such as the receiving optical system and the transmitting optical system shown in Figure 4. Optical elements include but are not limited to collimators, lenses, filters, beam splitters, light homogenizers, reflectors, rotating mirrors, oscillating mirrors, or micro-vibration mirrors. This application does not limit the number or placement of optical elements.

[0133] The detection method provided by this application is introduced below.

[0134] Please refer to Figure 7, which is a flow chart of a detection method provided in an embodiment of the present application. Optionally, the detection method can be applied to the detection device shown in Figure 4. The method shown in Figure 7 includes at least the following steps:

[0135] Step S701: a first area of ​​an array detector receives a first echo signal and acquires energy of the first echo signal.

[0136] The first region is included in the array detector, and the first region includes at least two detection elements. For example, taking the array detector as a 100×100 SPAD array, the first region includes part of the SPADs.

[0137] The first echo signal corresponds to the first detection signal, and the first detection signal is sent at the first moment. That is, the first detection signal sent at the first moment has its corresponding echo received in the first area of ​​the array detector.

[0138] Optionally, when receiving the first echo signal, the detector elements outside the first region of the array detector may be configured not to receive signals, i.e., these detector elements may not be in operation. For example, the detector elements outside the first region may not be powered on, thereby reducing detector energy consumption and the amount of data output by the detection device.

[0139] Alternatively, when receiving the first echo signal, detection elements outside the first region of the array detector may receive the signal, but the electrical signals generated from these received signals are not used in processing. For example, in some scenarios, the energy of multiple echo signals is accumulated, and in this case, the electrical signals output by detection elements outside the first region are not included in the energy accumulation.

[0140] Step S702: The second area of ​​the array detector receives the second echo signal and acquires the energy of the second echo signal.

[0141] The second region is included in the array detector, and the second region includes at least two detection elements. For example, taking a 100×100 SPAD array as an example, the second region includes some of the SPADs.

[0142] The second echo signal corresponds to a second detection signal, which is transmitted at a second time. That is, the second detection signal transmitted at the second time corresponds to an echo received in a second region of the array detector. The first time and the second time may be different times.

[0143] Optionally, when receiving the first echo signal, the detection elements outside the first region of the array detector may be set not to receive the signal. Alternatively, when receiving the first echo signal, the detection elements outside the first region of the array detector may receive the signal, but the electrical signals obtained from the received signals are not used in processing or are not involved in obtaining target-related information.

[0144] In an embodiment of the present application, the first area and the second area do not completely overlap. The incomplete overlap may be completely non-overlapping (such as not containing the same detection elements), or partially overlapping and partially non-overlapping (that is, the same detection elements may be contained, but there are different detection elements). Please refer to Figure 8, which is a schematic diagram of a receiving area in an array detector provided in an embodiment of the present application, wherein each small square represents a detection element or a detection element group, and one detection element group may contain multiple detection elements. For example, the first area is area 1, which contains detection elements (or detection element groups) in columns 1 to 6; the second area is area 2, which contains detection elements (or detection element groups) in columns 3 to 8. It is not difficult to see that there are non-overlapping detection elements (or detection element groups) in area 1 and area 2, that is, there is at least one detection element (or detection element group) that does not belong to area 1 and area 2 at the same time.

[0145] Furthermore, the embodiment shown in Figure 7 uses the first detection signal and the second detection signal as an example to exemplify the dynamic shift receiving area. In a specific implementation, the array detector can use at least two areas for receiving in multiple detection.

[0146] For example, within a period of time, the transmitter of the detection device transmits N (N is an integer and N>1) detection signals. For example, the receiving areas shown in FIG8 are used to receive multiple detection signals, where N=12. For the first and seventh detection signals, the array detector uses area 1 to receive the echo signal; for the second and eighth detection signals, the array detector uses area 2 to receive the echo signal; for the third and ninth detection signals, the array detector uses area 3 to receive the echo signal; for the fourth and tenth detection signals, the array detector uses area 4 to receive the echo signal; for the fifth and eleventh detection signals, the array detector uses area 5 to receive the echo signal; and for the sixth and twelfth detection signals, the array detector uses area 6 to receive the echo signal. The area receiving the signals in the 12 detection signals covers a larger range on the array detector, thereby being able to adapt to changes in the distribution of the light spot and increasing the possibility of capturing the light spot of the echo signal.

[0147] Please refer to Figure 9, which is a schematic diagram of an operating scenario of a possible detection device provided by an embodiment of the present application. The transmitter of the detection device transmits multiple detection signals (solid lines with arrows as shown in Figure 9), and the multiple detection signals are irradiated into the field of view (optionally through the transmitting optical system, scanner, etc.) to form multiple emission spots; the target in the field of view can respectively reflect multiple detection signals to form multiple echoes (dashed lines with arrows as shown in Figure 9), and the multiple echoes are received in different receiving areas of the array detector. In the process of receiving the echoes of the multiple detection signals, the array detector dynamically adjusts the receiving area of ​​the echo signal, thereby increasing the possibility of capturing the light spot of the echo signal. By dynamically adjusting the receiving area instead of simultaneously selecting all detection elements of the entire array detector, not only the energy consumption of the detection device is greatly reduced, but also the effective proportion of the received signal is improved, the amount of data processed simultaneously by the detection device is reduced, the computational burden is reduced, and the demand for the computing power of the chip is reduced.

[0148] It should be noted that the spacing between different detection signals is illustrated here to facilitate the description of the light spots of different detection signals. In specific implementations, the time interval between different detection signals may be set to be extremely small, such as microseconds or nanoseconds, so the light spots of different detection signals are relatively close to each other.

[0149] As a possible implementation, the difference in pointing angles between the light spot formed by the first detection signal and the light spot formed by the second detection signal is smaller than the minimum angle that can be resolved by the detection device.

[0150] As a possible implementation, the transmitter of the detection device is an array transmitter. The multiple light-emitting elements in the array transmitter form multiple emission areas, each emission area emits multiple detection signals, and each emission area forms an emission angle. In some scenarios, multiple emission areas are directly illustrated as multiple emission angles. For multiple detection signals emitted by a certain emission area (a certain angle), the array detector can dynamically adjust the receiving area to use different receiving areas to receive multiple detection signals emitted by the same emission angle.

[0151] Please refer to Figure 10, which is a schematic diagram of an operating scenario of another detection device provided in an embodiment of the present application. The transmitter of the detection device is an array transmitter, which can transmit detection signals at multiple angles (for example, M, M is an integer and M>1); at the first angle, the array detector transmits multiple detection signals; and the receiving end dynamically adjusts the area of ​​​​receiving the echo light spot in the multiple detection signals at one angle, thereby increasing the possibility of capturing the light spot of the echo signal.

[0152] As a possible implementation, the first area and the second area are offset near the reference receiving area. The reference receiving area refers to the area for receiving the echo signal of the first detection signal and the echo signal of the second detection signal under the first environmental condition, which can be regarded as an ideal receiving area, such as the aforementioned ROI. The reference receiving area is included in the array detector, and the first environmental condition is a predefined working environment of the array detector. For example, the first environmental condition is 0°C, or normal temperature and pressure, and the first environmental condition is the test environmental condition of the array detector. Optionally, the reference receiving area can be pre-set or pre-defined, such as written by manufacturers, developers, testers, etc.

[0153] Optionally, when the transmitter is an array transmitter and transmits the detection signal through M angles during transmission, the reference receiving areas may include M, and each angle of the array transmitter corresponds to a reference receiving area of ​​the array detector.

[0154] As a possible implementation, the first area and the second area are offset in a first direction with the reference receiving area as an anchor point, wherein the first direction includes but is not limited to left-right direction, up-down direction, or diagonal direction.

[0155] As a possible implementation, when the first area or the second area is offset relative to the reference receiving area, the offset is a multiple of a unit width, where the unit width is the minimum resolution unit of the array detector, such as one detection element.

[0156] Optionally, the offset is smaller than the difference between the minimum length and unit width of the echo spot imaged on the array detector, that is, the full offset n is sufficient to satisfy the following formula: La ≥ n ≥ a, where L (L is a real number and L > 0) is the minimum length (or width) of the echo spot imaged on the array detector, and a is the length (or width) of the minimum resolution unit of the array detector.

[0157] As an example of an offset situation, the first area completely overlaps with the reference receiving area, and the offset between the second area and the reference receiving area is a first distance, which is a multiple of the unit width, and the unit width is the minimum resolution unit of the array detector. Furthermore, the first distance is less than the difference between the minimum length of the echo spot imaged on the array detector and the unit width. That is, the first area is the reference receiving area, and the second area is offset compared to the reference receiving area. Considering that the echo spot may not move, even if it moves, the echo spot after the movement will fall near the reference receiving area. Therefore, the above embodiment can improve the reception efficiency of the echo energy, increase the effective ratio of the signal, and improve the detection accuracy.

[0158] As another example of an offset situation, the offset between the first area and the preset reference receiving area is a second distance, the offset between the second area and the reference receiving area is a third distance, the second distance and the third distance are different multiples of the unit width, and the unit width is the minimum resolution unit of the array detector. Furthermore, the second distance is less than the difference between the minimum length of the echo spot imaged on the array detector and the unit width, and the third distance is less than the difference between the minimum length of the echo spot imaged on the array detector and the unit width. That is, both the first area and the second area are offset from the reference receiving area, but the offsets are different. Considering that the echo spot after displacement will also fall near the reference receiving area, the above embodiment can adapt to changes in the spot energy distribution, improve the efficiency of receiving echo energy, increase the effective ratio of the signal, and improve detection accuracy.

[0159] As one possible implementation, the temperature of the array detector's current operating environment is higher than a first temperature threshold. When the temperature is higher than or equal to the first temperature threshold, the area on the array detector where the first and second echo signals fall deviates from the reference receiving area. In the above implementation, when the temperature is higher than or equal to the first temperature threshold, the echo spot deviates from the reference receiving area. Therefore, when the temperature is higher than or equal to the first threshold, dynamically shifting the receiving area allows for more accurate reception of the echo spot's energy, reducing energy loss caused by spot displacement and improving the detection accuracy of the detection device.

[0160] As a possible implementation, when the echo signal's spot energy distribution is uneven, the consistency between the multiple channels acquiring energy is poor. By dynamically offsetting the receiving area, the echo spot energy can be made equivalently uniform, improving channel consistency. A channel typically corresponds to one or more adjacent detector elements. For example, a 3×3 array of detector elements is considered a pixel, and each pixel is a channel. Therefore, the 3×3 array of detector elements is considered a channel.

[0161] Exemplarily, when the emission spot formed by the emission signal is a line spot or an array spot, there is a gap in the line spot or the array spot. The energy obtained by the detection element in the gap is low, and accordingly, the energy of the channel corresponding to the detection element is low. At this time, by dynamically offsetting the receiving area (for example, offsetting one or several rows of detection elements), the detection elements in the gap can be made to correspond to different channels, so that the energy of the echo spots received by different channels is equivalent and uniform, thereby improving the channel consistency. As a possible implementation method, in the first direction, the pointing angle of the first detection signal and the pointing angle of the second detection signal fall into a first angle range, and the first angle range is a partial angle in the field of view.

[0162] The field of view refers to the field of view of the detection device. To detect the field of view, the detection device typically emits detection signals at multiple different angles. For example, using a line-scanning detection device as an example, the detection device scans multiple lines to complete the detection of the field of view. In the above embodiment, the echo spot is received through dynamic offset at some angles within the field of view; while other angles can be received through a fixed reference receiving area or using dynamic offset reception. This allows for more flexible control of the echo spot reception method, more accurate reception of the echo spot energy, and improved detection accuracy.

[0163] Optionally, the array detector may select whether to use a dynamic receiving mode for detection at a certain horizontal angle based on the horizontal angle.

[0164] As a possible implementation, some angles are near the edge of the field of view. Since angles near the edge of the field of view are more likely to cause the light spot to shift, dynamically offsetting the echo light spot of the detection signal emitted to the edge of the field of view can more accurately receive the energy of the echo light spot, reduce energy loss caused by light spot shifting, and improve the detection accuracy of the detection device.

[0165] As another possible implementation, the detection device is further configured to receive an echo of a fourth detection signal through a reference receiving area and acquire energy of the echo of the fourth detection signal. The directional angle of the fourth detection signal is located in a middle area of ​​the field of view.

[0166] Considering that the echo spot from the middle area of ​​the field of view is less likely to shift position, the energy of the echo spot can be more accurately received through the reference receiving area, improving detection accuracy.

[0167] As a possible implementation, the maximum detection range of the first detection signal and the maximum detection range of the second detection signal are less than the maximum detection range of the third detection signal emitted at a third moment. The third moment is different from the first moment (e.g., far measurement and proximity measurement are performed in separate time periods) or the same as the first moment (e.g., far measurement and proximity measurement are performed in separate time periods). Similarly, the third moment is different from or the same as the first moment.

[0168] The maximum detection distance is related to the energy density and / or power of the signal. For example, the energy density and / or power of the first detection signal is less than that of the third detection signal. For another example, the energy density / power of the second detection signal is less than that of the third detection signal.

[0169] In this case, the array detector can determine whether to adopt a dynamic receiving mode according to whether the signal is suitable for long-distance measurement or short-distance measurement. For example, the echo signal is received by dynamically switching the receiving area during short-distance detection. In some scenarios, the maximum detection distance of the first detection signal and the second detection signal is relatively small, which is suitable for short-distance detection. Since the difference in the echo light spots of short-distance detection and long-distance detection is relatively large, the light spots corresponding to long-distance targets are relatively concentrated, while the light spots corresponding to short-distance targets are relatively diffuse. By dynamically offsetting the reception of the echo of the short-distance target, the difference in the light spots of long-distance and short-distance targets can be reduced, and the accuracy of short-distance detection can be improved.

[0170] Optionally, the echo of the third detection signal may also be received by dynamically shifting the receiving area.

[0171] In one possible implementation, the array detector generates an output electrical signal based on the first and second echo signals. The array detector then generates statistical histogram data based on the output electrical signal. The statistical histogram data is used to obtain one or more pixels in a detection result for the field of view. That is, the first and second echo signals correspond to pixels with the same detection result.

[0172] As a possible implementation, the receiving area is switched before the corresponding detection signal is transmitted. Exemplarily, the array detector adjusts the area for receiving the echo signal to the second area at a third moment, and the third moment is prior to the second moment. That is, the adjustment of the receiving area on the array detector is earlier than the transmission time of the detection signal. Since some detection elements need time to adjust their working state, for example, some detection elements need to be powered on or the output channel is selected, these operations require a certain amount of time to stabilize. Therefore, before transmitting the second detection signal, the receiving area is adjusted to the second area, and when the detection elements in the second area obtain the energy of the second echo signal, they will have higher accuracy and stronger stability, thereby improving the detection performance.

[0173] Please refer to Figure 11, which is a schematic diagram of a control signal provided by an embodiment of the present application. The receiving area switching control signal is used to switch the receiving area, and the lighting control signal is used to instruct the emission of the detection signal. The time difference between the generation time of the receiving area switching control signal and the generation time of the corresponding lighting control signal is t △ That is, before transmitting a detection signal, the array detector is instructed to adjust the receiving area. For example, before transmitting a first detection signal, the array detector is instructed to adjust the area receiving the echo of the first detection signal to the first area; before transmitting a second detection signal, the array detector is instructed to adjust the area receiving the echo of the second detection signal to the second area.

[0174] In the control signal shown in Figure 11, the array detector adjusts its receiving area for each detection signal. This is an exemplary frequency for adjusting the receiving area. In specific implementations, the frequency of adjusting the receiving area can be designed in other ways, and this application does not strictly limit this. For example, the receiving area on the array detector may be adjusted every two detection signals, or before the first, second, fourth, fifth, seventh, and so on detection signals are transmitted.

[0175] As a possible implementation, the first detection signal and the second detection signal may be signals transmitted within the same detection duration. Optionally, a detection duration may be a time slot (or time slice), a wave position, a detection frame, or a detection subframe.

[0176] A time slot is the smallest unit of time in the detection process, and multiple detection signals can be transmitted within a time slot. As shown in Figure 11, N (N is an integer, and N>1) detection signals are transmitted in a time slot, and at least two receiving areas are used to receive these N detection signals.

[0177] The beam position is related to the time it takes for a detection signal to complete a detection scan in one direction. For example, if the vertical field of view of a detection device is 0-20° and the beam width of the detection signal emitted by the detection device is 5°, at least four beam positions are required to cover the entire elevation space.

[0178] A detection frame refers to an image obtained when the detection device completes a scan of the entire field of view. A detection frame usually generates a point cloud image.

[0179] The detection subframe is obtained by dividing the detection frame. In some scenarios, for a detection device that performs two-dimensional scanning, completing a scan in one direction is a detection subframe, and completing the scan in two directions is a detection frame. For example, in a detection device that performs detection in the form of line scanning, the time it takes to complete the scan of a line is called a detection subframe (or a wave position), and completing the detection of the entire field of view is called a detection frame. For another example, in a detection device that performs detection in the form of point scanning, the time it takes to complete the detection of a "point" is called a detection subframe (or a wave position), and completing the detection of the entire field of view is called a detection frame.

[0180] In the embodiment shown in FIG7 , the first and second regions do not completely overlap, that is, there is an offset between the first and second regions. For the detection signal emitted at the first moment and the detection signal emitted at the second moment, the array detector can dynamically offset and adjust the position of the receiving region when receiving the echoes of the two signals. In the event of a possible light spot shift, this dynamic adjustment of the receiving region allows the receiving region to adapt to changes in the light spot distribution, thereby capturing echo spots with shifted positions and / or energy dispersion. This reduces energy loss caused by the shifted light spot of the echo signal and improves the detection accuracy of the detection device.

[0181] Please refer to Figure 12, which is a flow chart of another detection method provided in an embodiment of the present application. Optionally, the detection method can be applied to the detection device shown in Figure 4. The method shown in Figure 12 includes at least the following steps:

[0182] Step S1201: The first region of the array transmitter transmits a first detection signal.

[0183] The first region is included in the array emitter and includes at least two light-emitting elements. For example, in an array emitter having 8×8 light-emitting elements, the first region includes a portion of the light-emitting elements. For example, the first region includes a column or a row of light-emitting elements in the array emitter.

[0184] The first echo signal corresponding to the first detection signal is the first echo signal. That is, the first detection signal is emitted into the field of view, and after being reflected by the target in the field of view, the echo formed is the first echo signal.

[0185] Step S1202: The second region of the array transmitter transmits a second detection signal.

[0186] The second region is included in the array emitter, and the first region includes at least two light-emitting elements. For example, if the array emitter is an 8×8 array of light-emitting elements, the second region includes a portion of the light-emitting elements. For example, the second region includes a column or a row of light-emitting elements in the array emitter.

[0187] The second detection signal corresponds to the second echo signal. That is, the echo formed by the second detection signal being emitted into the field of view and reflected by an object within the field of view is the second echo signal. The first detection signal and the second detection signal are used to detect the same detection area within the field of view. Alternatively, the first echo signal and the second echo signal correspond to the same pixel in the detection result.

[0188] As a possible embodiment, the detection device further includes an array detector. The array detector generates an output electrical signal based on the first echo signal and the second echo signal. The array detector also generates statistical histogram data based on the output electrical signal. The statistical histogram data is used to obtain one or more pixels in the detection result for the field of view. In other words, the first echo signal and the second echo signal correspond to pixels with the same detection result.

[0189] In step S1201 and step S1202, the first region emitting the first detection signal and the second region emitting the second detection signal do not completely overlap. The incomplete overlap may be completely non-overlapping (e.g., not including the same light-emitting element), or partially overlapping and partially non-overlapping (i.e., possibly including the same light-emitting element, but some different light-emitting elements).

[0190] In the embodiment shown in Figure 12, different emission areas in the array transmitter are used to transmit detection signals to detect the detection area. Different emission areas are pointed at different angles relative to the detection area, and the resulting echo spots will fall at different positions on the detector (or receiver).

[0191] At this time, when the echo spot corresponding to the detection signal moves (deviates from the reference receiving area), the movement of the spot can be offset left and right (or up and down) through different angles. Using detection signals with multiple pointing angles, it is very likely that there will be a spot that falls into the reference receiving area among the multiple echo spots corresponding to the multiple detection signals, so that the detector can obtain the energy of the echo spot from the reference receiving area. In short, using detection signals emitted from different emission areas achieves the effect of dynamically offsetting the receiving area, reducing the energy loss caused by the movement of the echo spot and improving the detection accuracy of the detection device.

[0192] Furthermore, the embodiment shown in Figure 12 uses the first detection signal and the second detection signal as examples to exemplify the dynamic shift transmission area. In a specific implementation, the array transmitter can use at least two transmission areas to transmit detection signals in multiple detection.

[0193] Please refer to Figure 13, which is a schematic diagram of the emission area in an array transmitter provided in an embodiment of the present application, wherein each small square represents a light-emitting element or a light-emitting element group, and a light-emitting element group can contain multiple light-emitting elements. For example, the first area is area 1, which contains the light-emitting elements (or light-emitting element groups) in the 1st column, 1st to 6th rows; the second area is area 2, which contains the light-emitting elements (or light-emitting element groups) in the 1st column, 2nd to 7th rows. It is not difficult to see that there are non-overlapping light-emitting elements (or detection element groups) in area 1 and area 2, that is, there is at least one light-emitting element (or light-emitting element group) that does not belong to area 1 and area 2 at the same time.

[0194] As a possible example, within a period of time, the array transmitter transmits 12 detection signals, each using the transmission area shown in Figure 12. For the first and seventh detection signals, the array transmitter uses area 1; for the second and eighth detection signals, the array transmitter uses area 2; for the third and ninth detection signals, the array transmitter uses area 3; for the fourth and tenth detection signals, the array transmitter uses area 4; for the fifth and eleventh detection signals, the array transmitter uses area 5; and for the sixth and twelfth detection signals, the array transmitter uses area 6. During the 12 detection signals, the array transmitter dynamically adjusts the transmission area. When the light spot shifts, the transmission area is fine-tuned to increase the probability that the echo signal light spot falls within the effective reception area.

[0195] Please refer to Figure 14, which is a schematic diagram of another possible operating scenario of a detection device provided by an embodiment of the present application. The transmitting end of the detection device is an array transmitter, which can form multiple transmission angles. For the multiple detection signals emitted at each transmission angle, the array transmitter dynamically adjusts the transmission area. The multiple detection signals are irradiated into the field of view (optionally through the transmission optical system, scanner, etc.), forming multiple emission spots; the target in the field of view can respectively reflect the multiple detection signals, forming multiple echoes, and the multiple echoes are received in different receiving areas of the array detector.

[0196] As a possible implementation, when the transmitting area is dynamically adjusted, the receiving area can also be dynamically adjusted. Optionally, the adjustment method of the transmitting area and the adjustment method of the receiving area can be synchronized or asynchronous.

[0197] Please refer to Figure 15, which is a schematic diagram of a possible operating scenario provided by an embodiment of the present application. The array transmitter in the detection device dynamically adjusts the transmission area for each transmission angle to transmit multiple detection signals; the array detector dynamically adjusts the receiving area for the multiple echoes corresponding to each transmission angle to receive the echo spots of the multiple detection signals.

[0198] It should be noted that the spacing between different detection signals is illustrated here to facilitate the description of the light spots of different detection signals. In specific implementations, the time interval between different detection signals may be set to an extremely small level, such as microseconds or nanoseconds, in which case the light spots of different detection signals are also relatively close.

[0199] As a possible implementation, the difference in pointing angles between the light spot formed by the current detection signal and the light spot formed by the next detection signal is smaller than the minimum angle that can be resolved by the detection device.

[0200] As a possible implementation, the first area and the second area are offset near the reference emission area. The echo signal (e.g., the third echo signal) corresponding to the detection signal (e.g., the fourth detection signal) emitted by the reference emission area under the first environmental condition falls into the reference receiving area of ​​the array detector. The reference emission area is included in the array emitter, and the first environmental condition is a predefined working environment of the array emitter. For example, the first environmental condition is 0°C, or an environmental condition such as normal temperature and pressure. For another example, the first environmental condition is a test environmental condition of the array emitter.

[0201] Optionally, when the array transmitter transmits detection signals through M angles, the reference transmission area may include M. Furthermore, each angle of the array transmitter corresponds to a reference receiving area of ​​the array detector.

[0202] As a possible implementation, the first area and the second area are offset in a first direction with the reference emission area as an anchor point, wherein the first direction includes but is not limited to left-right direction, up-down direction, diagonal direction, etc.

[0203] As a possible implementation, when the first area or the second area is offset relative to the reference emission area, the offset is a multiple of a unit width, where the unit width is the minimum resolution unit of the array emitter, such as a light-emitting element.

[0204] As an example of an offset situation, the first area completely overlaps with the reference emission area, and the second area is offset from the reference emission area by a first distance, where the first distance is a multiple of the unit width. That is, the first area is the reference emission area, and the second area is offset from the reference emission area.

[0205] As another example of an offset situation, the first area is offset from the reference emission area by a second distance, and the second area is offset from the reference emission area by a third distance, where the second and third distances are different multiples of the unit width. That is, both the first and second areas are offset from the reference emission area, but by different amounts.

[0206] As one possible implementation, the temperature of the environment in which the array transmitter is currently operating is higher than a first temperature threshold. When the temperature is higher than or equal to the first temperature threshold, the area on the array detector where the first and second echo signals fall deviates from the reference emission area. In the above implementation, when the temperature is higher than or equal to the first temperature threshold, the echo spot will deviate from the reference emission area. Therefore, when the temperature is higher than or equal to the first threshold, by dynamically shifting the emission area, the energy of the echo spot can be more accurately received, reducing energy loss caused by spot displacement and improving the detection accuracy of the detection device.

[0207] As a possible implementation, when the energy distribution of the echo signal's spot corresponding to the transmitted signal is uneven, the consistency between the multiple channels acquiring energy is poor. By dynamically offsetting the transmitting area, the energy of the echo spot can be made equivalently uniform, improving channel consistency. A channel typically corresponds to one or more adjacent detector elements. For example, a 3×3 array of detector elements is considered a pixel, and each pixel is a channel. Therefore, the 3×3 array of detector elements is considered a channel.

[0208] In addition, the above-mentioned channel refers to a receiving channel. In some scenarios, the array transmitter may include multiple transmitting channels, each transmitting channel corresponding to one or more adjacent light-emitting elements.

[0209] As a possible implementation, in the first direction, the directional angle of the first detection signal and the directional angle of the second detection signal fall within a first angle range, and the first angle range is a partial angle in the field of view range.

[0210] Optionally, the array transmitter may select whether to use a dynamic receiving mode for detection at a certain horizontal angle based on the horizontal angle.

[0211] As a possible implementation, the partial angle is an angle close to the edge of the field of view.

[0212] As another possible implementation, the detection device is further configured to transmit a fourth detection signal through the reference emission area. The directional angle of the fourth detection signal is located in the middle area of ​​the field of view.

[0213] As a possible implementation, the maximum detection ranges of the first and second detection signals are less than the maximum detection range of the third detection signal emitted at a third moment. The third moment is different from the first moment (e.g., far and near measurement are performed in separate time periods) or the same as the first moment (e.g., far and near measurement are performed in separate time periods). Similarly, the third moment is different from the first moment or the same as the first moment.

[0214] The maximum detection distance is related to the energy density and / or power of the signal. For example, the energy density and / or power of the first detection signal is less than that of the third detection signal. For another example, the energy density / power of the second detection signal is less than that of the third detection signal.

[0215] In this case, the array transmitter can determine whether to adopt a dynamic transmission mode based on the distance measurement and the proximity measurement. For example, during close-range detection, the detection signal is transmitted by dynamically switching the transmission area.

[0216] Optionally, the third detection signal may also be transmitted in a manner of dynamically shifting the transmission area.

[0217] As a possible implementation, the first detection signal and the second detection signal may be signals transmitted within the same detection duration. Optionally, a detection duration may be a time slot, a wave position, a detection frame, or a detection subframe.

[0218] A time slot is the smallest time unit in the detection process, and multiple detection signals can be transmitted in one time slot. As shown in FIG10 , N detection signals are transmitted in one time slot, and at least two transmission areas are used for transmitting the N detection signals.

[0219] The following is an introduction to the device provided in the embodiments of the present application.

[0220] An array detector provided in an embodiment of the present application includes a plurality of detection elements and is used to implement the aforementioned detection method, such as the detection method in the embodiments shown in FIG. 7 and FIG. 12 .

[0221] An embodiment of the present application provides an array transmitter, comprising a plurality of light-emitting elements, for implementing the aforementioned detection method, such as the detection method in the embodiments shown in FIG. 7 and FIG. 12 .

[0222] An embodiment of the present application also provides a detection controller, which includes a processor and a communication interface, wherein the processor can generate a control signal, and the communication interface is used to output the control signal generated by the processor.

[0223] Optionally, the control signal is used to control the array detector to implement the aforementioned detection method.

[0224] Alternatively, the control signal is used to control the array transmitter to implement the aforementioned detection method.

[0225] Exemplarily, the processor includes but is not limited to a central processing unit (CPU), a microprocessor unit (MPU), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), a complex programmable logic device (CPLD), a coprocessor (assisting the central processing unit to complete corresponding processing and applications), a microcontroller unit (MCU), and / or a neural-network processing unit (NPU), etc., or a combination of one or more of the above.

[0226] Optionally, the processor can implement the aforementioned detection method by calling computer instructions. In this case, the detection controller further includes a memory, and the memory is used to store the computer instructions.

[0227] An embodiment of the present application further provides a terminal, which includes one or more of the aforementioned array transmitter, array detector, detection device (such as detection device 40), detection controller, etc.

[0228] Optionally, the terminal can be an intelligent terminal or transportation tool such as a vehicle, a drone, or a robot.

[0229] In the description of this application, the terms "center", "up", "down", "vertical", "horizontal", "inside", "outside", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they should not be understood as limitations on this application.

[0230] In the embodiments of this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described in this application as "exemplary" or "for example" should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0231] The “at least one” mentioned in the embodiments of this application refers to one or more, and “plurality” refers to two or more. “At least one of the following items” or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can represent: a, b, c, (a and b), (a and c), (b and c), or (a and b and c), where a, b, c can be single or multiple. “And / or” describes the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character “ / ” generally indicates that the previous and next associated objects are in an “or” relationship.

[0232] Furthermore, unless otherwise indicated, ordinal numbers such as "first" and "second" in the embodiments of this application are used to distinguish multiple objects and are not used to limit the order, timing, priority, or importance of multiple objects. For example, the first detection signal and the second detection signal are only for ease of description and do not indicate a difference in the source, order, or importance of the first and second detection signals.

[0233] In the above embodiments, the term "when" can be interpreted to mean "if...", "after...", "in response to determining...", or "in response to detecting...", depending on the context. The above are merely optional embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the concepts and principles of the present application shall be included in the scope of protection of the present application.

[0234] Those skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware, or by a program to instruct the relevant hardware, and the program may be stored in a computer-readable storage medium, which may be a read-only memory, a disk, or an optical disk, etc.

Claims

1. A detection method, characterized in that: The method is used for an array detector, wherein the array detector comprises a plurality of detection elements; the method comprises: The first area of ​​the array detector receives a first echo signal and obtains energy of the first echo signal, the first echo signal corresponds to a first detection signal, and the first detection signal is sent at a first moment; The second area of ​​the array detector receives a second echo signal and obtains energy of the second echo signal, the second echo signal corresponds to a second detection signal, and the second detection signal is sent at a second moment; The first region and the second region are included in the array detector, the first region and the second region respectively include at least two detection elements, and the first region and the second region do not completely overlap.

2. The method according to claim 1, characterized in that The first area completely overlaps with the reference receiving area, the offset between the second area and the reference receiving area is a first distance, the first distance is a multiple of a unit width, and the unit width is the minimum resolution unit of the array detector; Alternatively, the offset between the first area and the reference receiving area is a second distance, the offset between the second area and the reference receiving area is a third distance, the second distance and the third distance are different multiples of a unit width, and the unit width is the minimum resolution unit of the array detector; Among them, the reference receiving area is an area for receiving the echo signal of the first detection signal and the echo signal of the second detection signal under a first environmental condition, the reference receiving area is included in the array detector, and the first environmental condition is a predefined working environment of the array detection.

3. The method according to claim 2, characterized in that The temperature of the environment in which the array detector is currently working is higher than a first temperature threshold, When the temperature is higher than or equal to the first temperature threshold, the area where the first echo signal and the second echo signal fall on the array detector deviates from the reference receiving area.

4. The method according to any one of claims 1 to 3, characterized in that In a first direction, the directional angle of the first detection signal and the directional angle of the second detection signal fall within a first angle range, The first angle range is a partial angle in the field of view range.

5. The method according to any one of claims 1 to 4, characterized in that The farthest detection distances of the first detection signal and the second detection signal are smaller than the farthest detection distance of the third detection signal, and the third detection signal is transmitted at a third moment.

6. The method according to any one of claims 1 to 5, characterized in that The method further comprises: The array detector obtains an output electrical signal according to the first echo signal and the second echo signal; The array detector obtains statistical histogram data according to the output electrical signal, and the statistical histogram data is used to obtain one or more pixels in the detection result of the field of view range.

7. The method according to any one of claims 1 to 6, characterized in that The method further comprises: The array detector adjusts the area for receiving echo signals to the second area at a fourth moment, and the fourth moment is prior to the second moment.

8. A detection method, characterized in that: The method is used for an array emitter, wherein the array emitter includes a plurality of light-emitting elements, and the method comprises: The first area of ​​the array transmitter transmits a first detection signal, and the first detection signal corresponds to a first echo signal. The second region of the array transmitter emits a second detection signal, the second detection signal corresponds to a second echo signal, the first echo signal and the second echo signal are used to obtain statistical histogram data, and the statistical histogram data is used to obtain one or more pixels in the detection result of the field of view; The first area and the second area are included in the array emitter, the first area and the second area respectively include at least two light-emitting elements, and the first area and the second area do not completely overlap.

9. The method according to claim 8, characterized in that The first area completely overlaps with the reference emission area, the offset between the second area and the reference emission area is a first distance, the first distance is a multiple of a unit width, and the unit width is the minimum resolution unit of the array emitter; Alternatively, the offset between the first area and the reference emission area is a second distance, the offset between the second area and the reference emission area is a third distance, the second distance and the third distance are different multiples of a unit width, and the unit width is the minimum resolution unit of the array emitter; Among them, under the first environmental conditions, the third echo signal corresponding to the fourth detection signal emitted by the reference emission area falls into the reference receiving area of ​​the array detector, and the reference receiving area is used to receive the third echo signal and obtain the energy of the third echo signal.

10. The method according to claim 8 or 9, characterized in that The temperature of the environment in which the array transmitter is currently operating is higher than a first temperature threshold, When the temperature is higher than or equal to the first temperature threshold, the area where the first echo signal and the second echo signal fall on the array detector deviates from the reference emission area.

11. The method according to any one of claims 8 to 10, characterized in that: In a first direction, the directional angle of the first detection signal and the directional angle of the detection signal fall within a first angle range, The first angle range is a partial angle in the field of view range.

12. The method according to any one of claims 8 to 11, characterized in that The method further comprises: The array detector transmits a third detection signal at a third moment, and the farthest detection distance of the first detection signal and the farthest detection distance of the second detection signal are smaller than the farthest detection distance of the third detection signal.

13. An array detector, characterized in that: The array detector comprises a plurality of detection elements; The array detector is used to implement the method according to any one of claims 1 to 7.

14. An array transmitter, characterized in that: The array transmitter comprises a plurality of light-emitting elements; The array transmitter is used to implement the method according to any one of claims 8 to 12.

15. A detection device, characterized in that: The detection device comprises a transmitter and an array detector, wherein the transmitter is configured to transmit a first detection signal at a first moment and transmit a second detection signal at a second moment; The array detector is the array detector according to claim 13.

16. A detection device, characterized in that: The detection device comprises an array transmitter and a detector, wherein the array transmitter is the array transmitter according to claim 14; The detector is used to receive a first echo signal and a second echo signal.

17. A terminal, characterized in that: The terminal includes the array detector according to claim 13, or includes the array transmitter according to claim 14, or includes the detection device according to claim 15, or includes the detection device according to claim 16. The terminal according to claim 17 , wherein: The terminal is a vehicle, a drone or a robot.

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