Detection method and device

Abstract

The invention discloses a detection method and device, and the method comprises the steps: sequentially transmitting a transmitting signal through N rows of lighting channels which are arranged in the column direction in an array transmitter in the detection device, and receiving an echo signal of the transmitting signal through N rows of receiving channels which are arranged in the column direction in an array receiver in the detection device; wherein the corresponding relationship between the lighting channel of the array transmitter and the receiving channel of the array receiver is different from two parts, namely, the corresponding relationship between part of the lighting channel in the array transmitter and part of the receiving channel in the array receiver is changed. The detection method is applied to a scene in which the vertical field angle of the array transmitter is not matched with the vertical field angle of the array receiver, can solve the problem of receiving and transmitting field mismatching of the Flash laser radar, and is beneficial to improving the detection efficiency of the array receiver and the detection performance of the laser radar.

Description

Technical Field

[0001] This application relates to the field of lidar, and particularly to a detection method and device. Background Art

[0002] Pure solid-state Flash lidar has been widely used due to its advantages such as lower cost, smaller volume, and better stability. One-dimensional addressing Flash lidar realizes the scanning of the entire target surface by an array emitter and an array receiver through the method of sequentially lighting row by row and receiving row by row in the horizontal or vertical direction.

[0003] The optical system of Flash lidar is mainly divided into a transmitting optical system and a receiving optical system. The transmitting optical system shapes the laser emitted by the array emitter through a transmitting optical lens and maps the shaped laser to the target field of view. The receiving optical system receives the scattered light that the array emitter hits within the target field of view through a receiving optical lens and images it on the target surface of the array receiver.

[0004] However, due to the manufacturing and installation tolerances of the transmitting optical lens and the receiving optical lens, the transmitting and receiving fields of view of Flash lidar are mismatched, reducing the detection efficiency of the array receiver and also affecting the detection performance of the lidar. Summary of the Invention

[0005] This application discloses a detection method and device, which can solve the problem of the mismatch between the transmitting and receiving fields of view of Flash lidar, and is beneficial to improving the detection efficiency of the array receiver and the detection performance of the lidar.

[0006] In a first aspect, this application provides a detection method, which is applied to a detection device including an array emitter and an array receiver. The array emitter includes multiple rows of light-emitting channels, and the array receiver includes multiple rows of receiving channels. The method includes: sequentially emitting emission signals through N rows of light-emitting channels arranged in the column direction in the array emitter, and receiving echo signals of the emission signals through N rows of receiving channels arranged in the column direction in the array receiver;

[0007] Wherein, in the column direction of the array emitter, the corresponding relationship between the 1st to M-1 rows of light-emitting channels and the receiving channels in the column direction of the array receiver is different from the corresponding relationship between the Mth to Nth rows of light-emitting channels and the receiving channels in the column direction of the array receiver, or, in the column direction of the array receiver, the corresponding relationship between the 1st to M-1 rows of receiving channels and the light-emitting channels in the column direction of the array emitter is different from the corresponding relationship between the Mth to Nth rows of receiving channels and the light-emitting channels in the column direction of the array emitter; M and N are both positive integers greater than 2, and M is less than N.

[0008] Exemplarily, in the array emitter, each row of light-emitting channels includes a plurality of light-emitting elements, and the number of light-emitting elements included in each row of light-emitting channels is the same. In the array receiver, each row of receiving channels includes a plurality of detection elements, and the number of detection elements included in each row of receiving channels is the same.

[0009] Exemplarily, the above N rows of light-emitting channels may be part of the light-emitting channels in the array emitter.

[0010] In one implementation, the N rows of light-emitting channels arranged in the column direction in the array emitter sequentially emit emission signals, including: along the column direction of the array emitter, sequentially lighting one row of light-emitting channels or adjacent multiple rows of light-emitting channels in the N rows of light-emitting channels to emit emission signals.

[0011] In the above method, within the detection device, there are two or two parts of the correspondence between the light-emitting channels of the emitter and the receiving channels of the receiver that are different, that is, the correspondence between some of the light-emitting channels in the array emitter and some of the receiving channels in the array receiver is changed. Thus, the light-emitting channels are sequentially lit along the column direction of the array emitter to emit emission signals, and the echo signals of the emission signals are received by the receiving channels corresponding to the light-emitting channels in the array receiver. This detection method is applied to the scenario where the vertical field of view angle of the array emitter does not match the vertical field of view angle of the array receiver, can solve the problem of the mismatch between the transmitting and receiving fields of view of the Flash lidar, and is beneficial to improving the detection efficiency of the array receiver and the detection performance of the lidar.

[0012] Optionally, the correspondence between the first to M-1 rows of light-emitting channels and the receiving channels in the column direction of the array receiver is different from the correspondence between the M to N rows of light-emitting channels and the receiving channels in the column direction of the array receiver, including: the first to M-1 rows of light-emitting channels respectively correspond to the first to M-1 rows of receiving channels among the N rows of receiving channels; the M to N rows of light-emitting channels respectively correspond to the M+1 to N rows of receiving channels among the N rows of receiving channels.

[0013] As an example, the first to M-1 rows of light-emitting channels respectively correspond to the first to M-1 rows of receiving channels among the N rows of receiving channels, including: the jth row of light-emitting channels corresponds to the jth row of receiving channels, where j is an integer from 1 to M-1; the M to N rows of light-emitting channels respectively correspond to the M+1 to N rows of receiving channels among the N rows of receiving channels, including: the Mth row of light-emitting channels corresponds to the M+1th row of receiving channels, the (M+1)th row of light-emitting channels corresponds to the (M+2)th row of receiving channels,..., the (N-1)th row of light-emitting channels corresponds to the Nth row of receiving channels, and the Nth row of light-emitting channels corresponds to the Nth row of receiving channels.

[0014] In the above implementation, for the light-emitting channels in the M-th to (N-1)-th rows, the row number of the light-emitting channel is less than the row number of the corresponding receiving channel. This is applied to the scenario where the vertical field of view of the array emitter is greater than that of the array receiver, which can improve the matching degree between the vertical field of view of the light-emitting channel and that of the receiving channel, increase the energy received by the receiving channel, and solve the problem of the mismatch between the transmitting and receiving fields of view of the Flash lidar.

[0015] As another example, the light-emitting channels in the M-th to N-th rows respectively correspond to the (M+1)-th to N-th receiving channels among the above N receiving channels, including: the M-th light-emitting channel corresponds to the (M+1)-th and (M+2)-th receiving channels, the (M+1)-th light-emitting channel corresponds to the (M+2)-th and (M+3)-th receiving channels,..., the (N-2)-th light-emitting channel corresponds to the (N-1)-th and N-th receiving channels, the (N-1)-th light-emitting channel corresponds to the (N-2)-th and (N-1)-th receiving channels, and the N-th light-emitting channel corresponds to the (N-1)-th and N-th receiving channels.

[0016] Optionally, the correspondence between the light-emitting channels in the 1st to (M-1)-th rows and the receiving channels in the column direction of the array receiver is different from the correspondence between the light-emitting channels in the M-th to N-th rows and the receiving channels in the column direction of the array receiver, including: the light-emitting channels in the 1st to (M-1)-th rows respectively correspond to the 1st to (M-1)-th receiving channels among the N receiving channels; the light-emitting channels in the M-th to N-th rows respectively correspond to the (M-1)-th to (N-1)-th receiving channels among the N receiving channels.

[0017] As an example, the light-emitting channels in the 1st to (M-1)-th rows respectively correspond to the 1st to (M-1)-th receiving channels among the above N receiving channels, including: the j-th light-emitting channel corresponds to the j-th receiving channel, where j is an integer from 1 to (M-1); the light-emitting channels in the M-th to N-th rows respectively correspond to the (M-1)-th to (N-1)-th receiving channels among the N receiving channels, including: the M-th light-emitting channel corresponds to the (M-1)-th receiving channel, the (M+1)-th light-emitting channel corresponds to the M-th receiving channel,..., the (N-1)-th light-emitting channel corresponds to the (N-2)-th receiving channel, and the N-th light-emitting channel corresponds to the (N-1)-th receiving channel.

[0018] In the above implementation, for the light-emitting channels in the M-th to N-th rows, the row number of the light-emitting channel is greater than the row number of the corresponding receiving channel. This is applied to the scenario where the vertical field of view of the array emitter is less than that of the array receiver, which can improve the matching degree between the vertical field of view of the light-emitting channel and that of the receiving channel, increase the energy received by the receiving channel, and solve the problem of the mismatch between the transmitting and receiving fields of view of the Flash lidar.

[0019] Optionally, the correspondence between the first to M-1 row receiving channels and the light-emitting channels in the column direction of the array emitter is different from the correspondence between the M to N row receiving channels and the light-emitting channels in the column direction of the array emitter, including: the first to M-1 row receiving channels respectively correspond to the first to M-1 row light-emitting channels among the N row light-emitting channels; the M to N row receiving channels respectively correspond to the M-1 to N-1 row light-emitting channels among the N row light-emitting channels.

[0020] As an example, the first to M-1 row receiving channels respectively correspond to the first to M-1 row light-emitting channels among the above N row light-emitting channels, including: the j-th row receiving channel corresponds to the j-th row light-emitting channel, where j is an integer from 1 to M-1; the M to N row receiving channels respectively correspond to the M-1 to N-1 row light-emitting channels among the above N row light-emitting channels, including: the M-th row receiving channel corresponds to the M-1-th row light-emitting channel, the (M + 1)-th row receiving channel corresponds to the M-th row light-emitting channel,..., the (N - 1)-th row receiving channel corresponds to the (N - 2)-th row light-emitting channel, and the N-th row receiving channel corresponds to the (N - 1)-th row light-emitting channel.

[0021] In the above implementation, for the M to N row receiving channels, the row number of the receiving channel is greater than the row number of the corresponding light-emitting channel. In the scenario where the vertical field of view of the array emitter is greater than the vertical field of view of the array receiver, it can improve the matching degree between the vertical field of view of the light-emitting channel and the vertical field of view of the receiving channel, increase the energy received by the receiving channel, and solve the problem of the mismatch between the transmitting and receiving fields of view of the Flash lidar.

[0022] Optionally, the correspondence between the first to M-1 row receiving channels and the light-emitting channels in the column direction of the array emitter is different from the correspondence between the M to N row receiving channels and the light-emitting channels in the column direction of the array emitter, including: the first to M-1 row receiving channels respectively correspond to the first to M-1 row light-emitting channels among the N row light-emitting channels; the M to N row receiving channels respectively correspond to the M + 1 to N row light-emitting channels among the N row light-emitting channels.

[0023] As an example, the first to M-1 row receiving channels respectively correspond to the first to M-1 row light-emitting channels among the above N row light-emitting channels, including: the j-th row receiving channel corresponds to the j-th row light-emitting channel, where j is an integer from 1 to M-1; the M to N row receiving channels respectively correspond to the M + 1 to N row light-emitting channels among the above N row light-emitting channels, including: the M-th row receiving channel corresponds to the (M + 1)-th row light-emitting channel, the (M + 1)-th row receiving channel corresponds to the (M + 2)-th row light-emitting channel,..., the (N - 1)-th row receiving channel corresponds to the N-th row light-emitting channel, and the N-th row receiving channel corresponds to the N-th row light-emitting channel.

[0024] In the above implementation, the receiving channels in the Mth to (N-1)th rows have the line numbers of the rows where the receiving channels appear less than the line numbers of the corresponding light-emitting channels. This is applied to the scenario where the vertical field of view of the array emitter is less than the vertical field of view of the array receiver, which can improve the matching degree between the vertical field of view of the light-emitting channels and the vertical field of view of the receiving channels, increase the energy received by the receiving channels, and solve the problem of the mismatch between the transmitting and receiving fields of view of the Flash lidar.

[0025] Optionally, among the N light-emitting channels, multiple adjacent light-emitting channels emit light simultaneously to form a light-emitting area, and the receiving channels corresponding to the multiple adjacent light-emitting channels in the N receiving channels form a receiving area, and the receiving area includes multiple adjacent receiving channels.

[0026] In the above implementation, when multiple adjacent light-emitting channels are simultaneously lit to form a light-emitting area and emit a transmission signal, based on the corresponding relationship between the light-emitting channels and the receiving channels, the corresponding receiving channels also form a receiving area for receiving the echo signal of the transmission signal.

[0027] Optionally, the ratio of the number of light-emitting channels included in the light-emitting area to the number of receiving channels included in the receiving area is a first value, and the first value is the ratio of the total number of light-emitting channels included in the array emitter to the total number of receiving channels included in the array receiver.

[0028] Exemplarily, when the first value is 1, it means that the total number of light-emitting channels included in the array emitter is equal to the total number of receiving channels included in the array receiver. That is to say, although the corresponding relationship between some light-emitting channels in the array emitter and some receiving channels in the array receiver is changed, the number of light-emitting channels included in the light-emitting area can be equal to the number of receiving channels included in the receiving area.

[0029] Optionally, the first light-emitting area in the array emitter corresponds to the first receiving area in the array receiver, and the first light-emitting area and the first receiving area satisfy the following conditions: the ratio of the number of light-emitting channels included in the first light-emitting area to the number of receiving channels included in the first receiving area is greater than the first value; or the ratio of the number of light-emitting channels included in the first light-emitting area to the number of receiving channels included in the first receiving area is less than the first value; where the first value is the ratio of the total number of light-emitting channels included in the array emitter to the total number of receiving channels included in the array receiver.

[0030] In the above implementation, the ratio of the number of light-emitting channels included in the first light-emitting region to the number of receiving channels included in the first receiving region is greater than the first value, which indicates that the vertical field of view angle of the first light-emitting region is greater than the vertical field of view angle of the first receiving region. The energy emitted from the first light-emitting region increases, and the corresponding emission angle also expands, which can improve the power of the system and the detection performance of the lidar. When the ratio of the number of light-emitting channels included in the first light-emitting region to the number of receiving channels included in the first receiving region is less than the first value, it indicates that the vertical field of view angle of the first receiving region is greater than the vertical field of view angle of the first light-emitting region. The energy received by the receiving region increases, which can improve the power of the system and the detection performance of the lidar.

[0031] In a second aspect, the present application provides a detection method applied to a detection device including an array transmitter and an array receiver. The array transmitter includes A rows of light-emitting channels, and the array receiver includes B rows of receiving channels. The method includes: sequentially emitting transmission signals through S light-emitting regions arranged in the column direction in the array transmitter, and receiving echo signals of the transmission signals through S receiving regions arranged in the column direction in the array receiver. The i-th light-emitting region in the S light-emitting regions corresponds to the i-th receiving region in the S receiving regions.

[0032] Wherein, the ratio of the number of the light-emitting channels included in the i-th light-emitting region to the number of the receiving channels included in the i-th receiving region is greater than the ratio of A to B, or the ratio of the number of the light-emitting channels included in the i-th light-emitting region to the number of the receiving channels included in the i-th receiving region is less than the ratio of A to B. A, B, S, and i are all positive integers, i is less than or equal to S, and S is less than A.

[0033] Exemplarily, each light-emitting region includes adjacent multiple rows of light-emitting channels, and the light-emitting channels in the light-emitting region belong to the above A rows of light-emitting channels.

[0034] Exemplarily, A is equal to B, or A and B are in a multiple relationship.

[0035] In the above method, in the detection device, when the ratio of the number of light-emitting channels included in the light-emitting region of the transmitter to the number of receiving channels included in the corresponding receiving region of the receiver is not the ratio of A to B, and the detection device is applied to a scenario where the vertical field of view angle of the array transmitter does not match (i.e., is not equal to) the vertical field of view angle of the array receiver, it can improve the power of the system and is also beneficial to improving the detection performance of the lidar.

[0036] Optionally, when the ratio of the number of light-emitting channels included in the i-th light-emitting region to the number of receiving channels included in the i-th receiving region is greater than the ratio of A to B, any two adjacent light-emitting regions among the S light-emitting regions include overlapping light-emitting channels.

[0037] In the above implementation, the ratio of the number of light-emitting channels included in the i-th light-emitting region to the number of receiving channels included in the i-th receiving region is greater than the ratio of A to B, achieving that the vertical field of view of the i-th light-emitting region is greater than that of the i-th receiving region. The energy emitted from the i-th light-emitting region increases, and the corresponding emission angle also expands, which can improve the power of the system and the detection performance of the lidar.

[0038] Optionally, when the ratio of the number of light-emitting channels included in the i-th light-emitting region to the number of receiving channels included in the i-th receiving region is less than the ratio of A to B, any two adjacent receiving regions among the S receiving regions include overlapping receiving channels.

[0039] In the above implementation, the ratio of the number of light-emitting channels included in the i-th light-emitting region to the number of receiving channels included in the i-th receiving region is less than the ratio of A to B. The vertical field of view of the i-th receiving region is greater than that of the i-th light-emitting region, and the energy received by the receiving region increases, which can improve the power of the system and the detection performance of the lidar.

[0040] In a third aspect, the present application provides a detection device, which includes an array transmitter and an array receiver. The array transmitter is used to emit a transmission signal, and the array receiver is used to receive the echo signal corresponding to the transmission signal. The detection device is used to execute the method in the first aspect or any possible implementation manner of the first aspect, or execute the method in the second aspect or any possible implementation manner of the second aspect.

[0041] In a fourth aspect, the present application provides a lidar, which includes the detection device described in the third aspect above.

[0042] In a fifth aspect, the present application provides a terminal, which includes the detection device described in the third aspect, or includes the lidar described in the fourth aspect above.

[0043] Optionally, the terminal can be an intelligent terminal or a vehicle such as a vehicle, a drone, a robot, etc.

[0044] In a sixth aspect, the present application provides a computer-readable storage medium including computer instructions, which, when run by a processor, implement the method in the first aspect or any possible implementation manner of the first aspect, or implement the method in the second aspect or any possible implementation manner of the second aspect. Description of the Drawings

[0045] Figure 1 is a schematic structural diagram of a detection device provided by an embodiment of the present application;

[0046] Figure 2 is a schematic diagram of an array emitter provided by an embodiment of the present application;

[0047] Figure 3 is a schematic diagram of an array emitter provided by an embodiment of the present application;

[0048] Figure 4 is a schematic diagram of a light-emitting area of an array emitter provided by an embodiment of the present application;

[0049] Figure 5A is a schematic diagram of an operating scenario of a detection device provided by an embodiment of the present application;

[0050] Figure 5B is a schematic diagram of an operating scenario of another detection device provided by an embodiment of the present application;

[0051] Figure 6 is a schematic diagram of a configuration of a detection device without field-of-view mismatch provided by an embodiment of the present application;

[0052] Figure 7 is a schematic diagram of the distribution of the vertical field of view angle of the light-emitting area and the vertical field of view angle of the receiving area when there is a field-of-view mismatch in a detection device provided by an embodiment of the present application;

[0053] Figure 8 is a schematic diagram of the vertical field of view angle of some light-emitting areas and the vertical field of view angle of the receiving area provided by an embodiment of the present application;

[0054] Figure 9 is a flowchart of a detection method provided by an embodiment of the present application;

[0055] Figure 10 is a schematic diagram of the corresponding relationship between the light-emitting channels of the emitters and the receiving channels of the receivers in a detection device provided by an embodiment of the present application;

[0056] Figure 11 is a schematic diagram of the corresponding relationship between the light-emitting channels of the emitters and the receiving channels of the receivers in another detection device provided by an embodiment of the present application;

[0057] Figure 12 It is a schematic diagram of the correspondence between the light-emitting channel of the transmitter and the receiving channel of the receiver in another detection device provided by an embodiment of the present application;

[0058] Figure 13 It is a schematic diagram of the correspondence between the light-emitting channel of the transmitter and the receiving channel of the receiver in another detection device provided by an embodiment of the present application;

[0059] Figure 14 It is a schematic diagram of the correspondence between the light-emitting channel of the transmitter and the receiving channel of the receiver in another detection device provided by an embodiment of the present application;

[0060] Figure 15 It is a schematic diagram of the correspondence between the light-emitting channel of the transmitter and the receiving channel of the receiver in another detection device provided by an embodiment of the present application;

[0061] Figure 16 It is a flowchart of another detection method provided by an embodiment of the present application;

[0062] Figure 17 It is a schematic diagram of the correspondence between the light-emitting channel of the light-emitting area in the transmitter and the receiving channel of the receiving area in the receiver provided by an embodiment of the present application;

[0063] Figure 18 It is a schematic diagram of the correspondence between the light-emitting channel of the light-emitting area in the transmitter and the receiving channel of the receiving area in the receiver provided by an embodiment of the present application. Detailed implementation manners

[0064] It should be noted that in this application, prefix words such as "first" and "second" are only used to distinguish different described objects, and have no restrictive effect on the position, order, priority, quantity, content, etc. of the described objects. For example, if the described object is "field", the ordinal words before "field" in "the first field" and "the second field" do not limit the position or order between the "fields", and "first" and "second" do not limit whether the "fields" they modify are in the same message, nor do they limit the order of the "first field" and the "second field". For another example, if the described object is "level", the ordinal words before "level" in "the first level" and "the second level" do not limit the priority between the "levels". For another example, the quantity of the described object is not restricted by the prefix word, and can be one or more. Taking "the first device" as an example, the quantity of "device" can be one or more. In addition, the objects modified by different prefix words can be the same or different. For example, if the described object is "device", then "the first device" and "the second device" can be the same device, devices of the same type, or devices of different types; for another example, if the described object is "information", then "the first information" and "the second information" can be information with the same content or information with different content. In short, the use of prefix words for distinguishing described objects in the embodiments of this application does not constitute a restriction on the described objects. For the description of the described objects, refer to the description in the claims or the context of the embodiments, and no redundant restriction should be formed due to the use of such prefix words.

[0065] It should be noted that in the embodiments of this application, the description method such as "at least one (or at least one) of a1, a2,..., and an" includes the case where any one of a1, a2,..., and an exists alone, and also includes any combination of any number of a1, a2,..., and an, and each case can exist alone. For example, the description method of "at least one of a, b, and c" includes the cases of a alone, b alone, c alone, the combination of a and b, the combination of a and c, the combination of b and c, or the combination of a, b, and c.

[0066] Next, the technical solutions in this application will be described with reference to the accompanying drawings.

[0067] See Figure 1 , Figure 1 FIG. is a schematic structural diagram of a possible detection device provided by an embodiment of this application. The detection device 10 includes a transmitter 101 and a receiver 102. Optionally, the detection device 10 further includes one or more of a controller 103, a modulator 104, a filter 105, a signal processing module 106, etc. The multiple modules of the detection device can be connected by wired and / or wireless means. The following is an exemplary introduction to each module:

[0068] (1) The emitter 101 is used to generate a laser signal. For example, the emitter 101 may include a laser diode (LD), a vertical cavity surface emitting laser (VCSEL), a photonic crystal surface emitting semiconductor laser (PCSEL), an edge emitting laser (EEL), a distributed feedback laser diode (DFB-LD), a grating coupled sampling reflection LD (GCSR-LD), or a micro opto electromechanical system LD (MOEMS-LD), or other types of light-emitting elements.

[0069] The optical signal emitted by the emitter 101 can be irradiated onto the detection area (the detection area refers to a real area in the field of view) through the emission optical system.

[0070] Optionally, in the case where the emitter 101 includes multiple light-emitting elements, the multiple light-emitting elements can be arranged in an array, and at this time the emitter can be called an array emitter (or called a flash emitter). The embodiments of the present application do not limit the rules of the array. In the specific implementation process, the array emitter can be, for example, a 1×10 array, a 2×5 array, or an 8×9 array, etc.

[0071] See Figure 2 , Figure 2 is a schematic diagram of a possible array emitter provided by the embodiments of the present application. The emitter 101 includes an 8×8 array light source composed of 64 light-emitting elements. In Figure 2 , each small square in the emitter 101 represents a light-emitting element 201. When emitting light, one or more light-emitting elements in the emitter 101 emit optical signals, and the optical signals are irradiated onto the field of view through the emission optical system 202.

[0072] Based on the lighting method (or called the light-beaming method) of the emitter, the array emitter includes multiple row light-beaming channels (i.e., lighting in a row-by-row manner) or multiple column light-beaming channels (i.e., lighting in a column-by-column manner). See Figure 3 , Figure 3 is a schematic diagram of a possible array emitter provided by the embodiments of the present application. By Figure 3It can be seen that the array emitter includes 8 rows of light-emitting channels, which include the first row of light-emitting channels (hereinafter simply referred to as light-emitting channel 1, where "1" is the row number of this light-emitting channel), the second row of light-emitting channels (simply referred to as light-emitting channel 2), …, the eighth row of light-emitting channels (simply referred to as light-emitting channel 8), and each row of light-emitting channels contains corresponding light-emitting elements. Figure 3 Each circle in Figure 3 can, for example, represent a single light-emitting element, or can represent multiple light-emitting elements arranged in an array. Exemplarily, in

[0073] In the column direction of the array emitter, adjacent multiple rows of light-emitting channels emit light simultaneously to form a light-emitting area, that is, each light-emitting area includes two or more adjacent rows of light-emitting channels.

[0074] Exemplarily, the array emitter includes multiple light-emitting areas. These multiple light-emitting areas are arranged in sequence along the column direction of the array emitter. The laser signal emitted by each light-emitting area is irradiated into the field of view through the emission optical system.

[0075] Refer to Figure 4 , Figure 4 which is a schematic diagram of the light-emitting area of an array emitter provided by an embodiment of the present application. Assuming that along the column direction of the array emitter, two rows of light-emitting channels are lit simultaneously each time, and there is no overlap between the light-emitting channels lit in two adjacent times, then based on Figure 3 the shown array emitter includes 4 light-emitting areas. As shown in Figure 4 , these 4 light-emitting areas are arranged in sequence along the column direction of the array emitter. Each light-emitting area includes two adjacent rows of light-emitting channels, and for any two adjacent light-emitting areas, the light-emitting channels included therein do not overlap. Taking the first light-emitting area in Figure 4 as light-emitting area 1 as an example, light-emitting area 1 includes the above-mentioned light-emitting channel 1 and light-emitting channel 2. Correspondingly, light-emitting area 2 includes the above-mentioned light-emitting channel 3 and light-emitting channel 4, light-emitting area 3 includes the above-mentioned light-emitting channel 5 and light-emitting channel 6, and light-emitting area 4 includes the above-mentioned light-emitting channel 7 and light-emitting channel 8.

[0076] Here, Figure 4 is only an example of the light-emitting area of the array emitter, and does not limit that the number of light-emitting areas of the array emitter and the number of light-emitting channels included in the light-emitting area are only as Figure 4 shown. Whether the number of light-emitting channels included in different light-emitting areas is the same depends on whether the number of light-emitting channels lit simultaneously each time is the same.

[0077] In some possible embodiments, the light-emitting channels included in two adjacent light-emitting regions may also overlap. For example, the first time, light-emitting channels 1 and 2 are lit to form light-emitting region 1, the second time, light-emitting channels 2 and 3 are lit to form light-emitting region 3, the third time, light-emitting channels 3 and 4 are lit, and so on. Thus, based on Figure 3 the array emitter shown can form 7 light-emitting regions.

[0078] (2) The receiver 102 is used to receive optical signals. Further, the receiver 102 can obtain electrical signals based on the optical signals.

[0079] For example, the receiver 102 may include a single-photon avalanche diode (SPAD), a silicon photomultiplier (SiPM), an avalanche photo detector (APD), a multi-pixel photon counter (MPPC), or an electron multiplying charge-coupled device (EMCCD), or other types of detection elements.

[0080] After the optical signal irradiated to the detection area by the emission optical system encounters the target object, it interacts with the target object to form a reflected / scattered echo beam. After the echo beam is collected by the receiving optical system, it is received by the receiver 102, and the optical signal is converted into an electrical signal.

[0081] Optionally, when the receiver includes multiple detection elements, the multiple detection elements may be arranged in an array. In this case, the receiver may also be referred to as an array receiver (or an array detector). For example, it may be an array of specifications such as 1×10 array, 20×10 array, etc., and the present application does not limit the number of rows and columns of the array arrangement. As a possible implementation, the receiver 102 may specifically be an SPAD array, or a SiPM array, etc.

[0082] Exemplarily, when the emitter 101 includes multiple rows of light-emitting channels, the receiver 102 includes multiple rows of receiving channels; when the emitter 101 includes multiple columns of light-emitting channels, the receiver 102 includes multiple columns of receiving channels.

[0083] Here, taking the example that the emitter 101 includes multiple rows of light-emitting channels and the receiver 102 includes multiple rows of receiving channels, there is a corresponding relationship between the light-emitting channels in the emitter and the receiving channels in the receiver, and this corresponding relationship is associated with the total number of rows of the light-emitting channels in the emitter and the total number of rows of the receiving channels in the receiver. This corresponding relationship can be, for example, one-to-one, one-to-many, or many-to-one, and no specific limitation is made here.

[0084] In one implementation, the total number of rows of the light-emitting channels in the emitter is the same as the total number of rows of the receiving channels in the receiver. In another implementation, there is a multiple relationship between the total number of rows of the light-emitting channels in the emitter and the total number of rows of the receiving channels in the receiver.

[0085] As an example, the emitter includes 90 rows of light-emitting channels and the receiver includes 90 rows of receiving channels. The vertical field of view angles of both the emitter and the receiver are 90 degrees. The vertical field of view angle of each row of light-emitting channels is 1 degree and the vertical field of view angle of each row of receiving channels is 1 degree. Then, one row of light-emitting channels in the emitter corresponds to one row of receiving channels in the receiver. For example, the first row of light-emitting channels in the emitter corresponds to the first row of receiving channels in the receiver, the second row of light-emitting channels in the emitter corresponds to the second row of receiving channels in the receiver,..., and the 90th row of light-emitting channels in the emitter corresponds to the 90th row of receiving channels in the receiver.

[0086] As another example, the emitter includes 45 rows of light-emitting channels and the receiver includes 90 rows of receiving channels. The vertical field of view angles of both the emitter and the receiver are 90 degrees. The vertical field of view angle of each row of light-emitting channels is 2 degrees and the vertical field of view angle of each row of receiving channels is 1 degree. Then, one row of light-emitting channels in the emitter corresponds to two rows of receiving channels in the receiver. For example, the first row of light-emitting channels in the emitter corresponds to the first and second rows of receiving channels in the receiver, the second row of light-emitting channels in the emitter corresponds to the second and third rows of receiving channels in the receiver,..., and the 45th row of light-emitting channels in the emitter corresponds to the 89th and 90th rows of receiving channels in the receiver.

[0087] Since there is a corresponding relationship between the light-emitting channels in the emitter and the receiving channels in the receiver, when adjacent multiple rows of light-emitting channels emit light simultaneously to form a light-emitting area, correspondingly, the receiving channels corresponding to the adjacent multiple rows of light-emitting channels form a receiving area, and this receiving area includes one row of receiving channels or adjacent multiple rows of receiving channels. This receiving area is used to receive the echo signal of the laser signal emitted by this light-emitting area. That is to say, the light-emitting area in the emitter and the receiving area in the receiver are in one-to-one correspondence.

[0088] Exemplarily, when the array emitter includes multiple light-emitting areas and these multiple light-emitting areas are arranged in sequence along the column direction of the array emitter, the array receiver includes multiple receiving areas, and these multiple receiving areas are arranged in sequence along the column direction of the array receiver.

[0089] Here, the receiving channels, receiving regions, etc. of the array receiver can be similarly referred to the description of the light-emitting channels and Figure 3 the light-emitting regions of the array transmitter shown above. For the sake of brevity of the specification, they will not be elaborated here. Figure 4 For the sake of brevity of the specification, they will not be elaborated here.

[0090] Refer to Figure 5A , Figure 5A which is a schematic diagram of the operation scenario of a detection device provided by an embodiment of the present application. The transmitter in the detection device is an array transmitter. It can be seen from Figure 5A that the array transmitter has S (S is a positive integer) light-emitting regions arranged in sequence along the column direction of the array transmitter, and the array receiver has S receiving regions arranged in sequence along the column direction of the array receiver. The i-th light-emitting region corresponds to the i-th receiving region, where i is an integer from 1 to S; the i-th light-emitting region of the array transmitter emits a transmission signal. Correspondingly, the i-th receiving region of the array receiver receives the echo signal of the transmission signal. Here, Figure 5A the operation scenario of the detection device shown is only taken as an example, and it does not limit that the array transmitter in the detection device only operates in the way of lighting row by row.

[0091] Refer to Figure 5B , Figure 5B which is a schematic diagram of the operation scenario of another detection device provided by an embodiment of the present application. The transmitter in the detection device is an array transmitter. It can be seen from Figure 5B that the array transmitter has S light-emitting regions arranged in sequence along the row direction of the array transmitter, and the array receiver has S receiving regions arranged in sequence along the row direction of the array receiver. The i-th light-emitting region corresponds to the i-th receiving region, where i is an integer from 1 to S. Figure 5B The array transmitter in the detection device shown operates in the way of lighting column by column.

[0092] (3) The controller is used to generate a control signal to control other modules to complete their functions.

[0093] For example, the controller can select some detection elements in the array receiver through the control signal, and the selected detection elements can obtain an electrical signal based on the optical signal.

[0094] For another example, the controller can control some light-emitting elements in the array transmitter to emit light at a certain moment through the control signal.

[0095] Optionally, filters, signal processing modules, etc. are all used to process the received echo signals. Exemplarily, the filter includes but is not limited to a finite impulse response (FIR) filter, an infinite impulse response (IIR) filter, a low-pass filter, a band-pass filter, etc. Exemplarily, the processing performed by the signal processing module on the signal includes but is not limited to one or more of analog-to-digital conversion, time-to-digital conversion, signal detection, TOF extraction, distance compensation, reflectivity compensation, etc.

[0096] In addition, the detection device further includes one or more optical elements, such as Figure 4 the shown receiving optical system and transmitting optical system. The optical elements include but are not limited to a collimating mirror, a lens, a filter, a beam splitter, a light homogenizing plate, a reflecting mirror, a rotating mirror, a swinging mirror, or a micro-vibrating mirror, etc. This application does not limit the number, placement position, etc. of the optical elements.

[0097] In the embodiment of the present application, the array transmitter is used to exemplarily illustrate the solution in a row-by-row lighting manner (as Figure 5A shown). In this case, the above-mentioned transceiver field-of-view mismatch refers to the mismatch between the vertical field-of-view angle of the array transmitter and the vertical field-of-view angle of the array receiver. However, it is not limited that the embodiment of the present application is only applicable to Figure 5A the shown operating scenario. For example, it is also applicable to the scenario where the array transmitter operates in a column-by-column lighting manner (as Figure 5B shown). In this case, the above-mentioned transceiver field-of-view mismatch refers to the mismatch between the horizontal field-of-view angle of the array transmitter and the horizontal field-of-view angle of the array receiver.

[0098] Before introducing the detection method provided by the embodiment of the present application, first introduce the correspondence relationship between the lighting channels of the array transmitter and the receiving channels of the array receiver in the case where the vertical field-of-view angle of the array transmitter (denoted as TX_FOV) and the vertical field-of-view angle of the array receiver (denoted as RX_FOV) have no mismatch (i.e., TX_FOV = RX_FOV). For example, it can be seen in Figure 6 shown.

[0099] See Figure 6 , Figure 6 is a schematic configuration diagram of a detection device without field-of-view mismatch provided by the embodiment of the present application. In Figure 6In this case, take the example where the array emitter includes 40 rows of lighting channels and the array receiver includes 40 rows of receiving channels. Assume that the vertical field of view angle of the array emitter matches that of the array receiver. For example, TX_FOV = RX_FOV = 80 degrees. Then, the size of the vertical field of view angle of each row of lighting channels is the same as that of each row of receiving channels, both being 2 degrees. It can be known that the correspondence between the lighting channels of the array emitter and the receiving channels of the array receiver is one-to-one, specifically including: the first row of lighting channels corresponds to the first row of receiving channels, the second row of lighting channels corresponds to the second row of receiving channels,..., and the 40th row of lighting channels corresponds to the 40th row of receiving channels.

[0100] Furthermore, assume that the array emitter lights up 2 rows of lighting channels each time along the column direction to form a lighting area, and similarly, the array receiver correspondingly has 2 rows of receiving channels each time along the column direction to form a receiving area. From Figure 6 the shown mapping table, it can be seen that there is no repetition in the lighting channels lit up in two adjacent times. To achieve detection with a vertical field of view angle of 80 degrees, this array emitter has 20 lighting areas and the array receiver has 20 receiving areas. Among them, the size of the vertical field of view angle of each lighting area is 4 degrees and the size of the vertical field of view angle of each receiving area is 4 degrees. For the correspondence between the row numbers of the lighting channels in the lighting area and the row numbers of the receiving channels in the receiving area, please refer to Figure 6 the shown mapping table. This mapping table shows the serial number i, the row numbers of the lighting channels in the i-th lighting area, and the row numbers of the receiving channels in the i-th receiving area. Taking the correspondence "1-(1, 2)-(1, 2)" as an example, it means that the first lighting area includes the first row of lighting channels and the second row of lighting channels, and the first receiving area includes the first row of receiving channels and the second row of receiving channels.

[0101] Figure 6 The shown mapping table is just an example. In some possible embodiments, when the number of lighting channels lit up simultaneously each time is 2, there is repetition in the lighting channels included in two adjacent lighting areas. For example, Figure 6 the correspondence "2-(3, 4)-(3, 4)" in the shown mapping table can be changed to "2-(2, 3)-(2, 3)", that is, it means that the second lighting area includes the second row of lighting channels and the third row of lighting channels, and the second receiving area includes the second row of receiving channels and the third row of receiving channels. In some possible embodiments, the number of lighting channels lit up simultaneously each time is 3, 4, or other values. Compared with Figure 6 the shown mapping table, then the number of lighting channels in the lighting area and the row numbers of the lighting channels will change. Correspondingly, the number of receiving channels in the corresponding receiving area and the row numbers of the receiving channels will change, and the number of lighting areas may change.

[0102] Assume that the energy of each lighting channel is 1 and is evenly distributed within the angular space. If the reflectivity of the target is a, since there is no mismatch between the vertical field of view angle of the array emitter and the vertical field of view angle of the array receiver, based on Figure 6 the two-dimensional plan view of the sequence number and the received energy as shown, it can be seen that the received energy of each receiving area can be stably maintained at 2a.

[0103] In addition, from Figure 6 the two-dimensional plan view of the sequence number - vertical angle as shown, it can be seen that the size of the vertical field of view angle of each light-emitting area is the same as that of each receiving area, both being 4 degrees. Therefore, the distribution of TX (representing the emitter) in the vertical angle completely coincides with the distribution of RX (representing the receiver) in the vertical angle, and the vertical field of view angle of each light-emitting area completely matches the vertical field of view angle of the corresponding receiving area of that light-emitting area. Based on Figure 6 the configuration of the mapping table as shown, when the vertical field of view angle of the emitter is greater than the vertical field of view angle of the receiver (for example, the vertical field of view angle of the emitter = 81 degrees, and the vertical field of view angle of the receiver = 80 degrees), then the two-dimensional plan view of the sequence number and the vertical angle can be seen in, for example, Figure 7 (1). It can be seen that the distribution of TX in the vertical angle does not completely coincide with the distribution of RX in the vertical angle. As the sequence number i increases, the difference between the vertical field of view angle of the i-th light-emitting area and the vertical field of view angle of the i-th receiving area becomes larger and larger. Based on Figure 6 the configuration of the mapping table as shown, when the vertical field of view angle of the emitter is less than the vertical field of view angle of the receiver (for example, the vertical field of view angle of the emitter = 80 degrees, and the vertical field of view angle of the receiver = 81 degrees), then the two-dimensional plan view of the sequence number and the vertical angle can be seen in, for example, Figure 7 (2). It can be seen that the distribution of TX in the vertical angle does not completely coincide with the distribution of RX in the vertical angle. As the sequence number i increases, the difference between the vertical field of view angle of the i-th light-emitting area and the vertical field of view angle of the i-th receiving area becomes larger and larger.

[0104] Whether the vertical field of view angle of the emitter is greater than the vertical field of view angle of the receiver or the vertical field of view angle of the emitter is less than the vertical field of view angle of the receiver, it belongs to the mismatch between the vertical field of view angle of the emitter and the vertical field of view angle of the receiver, and will cause the received energy attenuation in at least some of the multiple receiving areas of the receiver.

[0105] The corresponding situation between the vertical field of view angle of the light-emitting area and the vertical field of view angle of the receiving area can be referred to Figure 8 , Figure 8 which is a schematic diagram of the vertical field of view angle of some light-emitting areas and the vertical field of view angle of the receiving area provided by the embodiments of the present application. Figure 8 Among them, based on Figure 6Configuration of the mapping table shown. Taking i = P as an example, the P-th light-emitting region corresponds to the P-th receiving region. The P-th light-emitting region includes the light-emitting channels of the r-th row and the (r + 1)-th row, and the P-th receiving region includes the receiving channels of the r-th row and the (r + 1)-th row. Figure 8 (1) of shows the corresponding relationship between the vertical field of view angle of the P-th light-emitting region and the vertical field of view angle of the P-th receiving region when the vertical field of view angle of the transmitter matches the vertical field of view angle of the receiver. Figure 8 (2) of shows the corresponding relationship between the vertical field of view angle of the P-th light-emitting region and the vertical field of view angle of the P-th receiving region when the vertical field of view angle of the transmitter is greater than the vertical field of view angle of the receiver. Figure 8 (3) of shows the corresponding relationship between the vertical field of view angle of the P-th light-emitting region and the vertical field of view angle of the P-th receiving region when the vertical field of view angle of the transmitter is less than the vertical field of view angle of the receiver. Figure 8 (2) of and Figure 8 (3) of will both result in the received energy of the P-th receiving region being lower than the energy lower limit value, affecting the detection performance of the lidar.

[0106] Exemplarily, when the vertical field of view angle of the transmitter does not match the vertical field of view angle of the receiver, assuming based on Figure 6 the configuration of the mapping table shown, through the use test of the lidar, it is determined that starting from i = P, the energy of the echo signal received by the i-th receiving region is less than the energy lower limit value. To solve this problem, based on the core of changing the corresponding relationship between some of the light-emitting channels in the array transmitter and some of the receiving channels in the array receiver, the embodiments of the present application propose a variety of compensation schemes:

[0107] Compensation scheme 1: Adjust the gating timing of the receiving channels;

[0108] Compensation scheme 2: Adjust the lighting timing of the light-emitting channels;

[0109] Compensation scheme 3: Increase the number of simultaneously lit light-emitting channels; and

[0110] Compensation scheme 4: Increase the number of simultaneously opened receiving channels.

[0111] Based on the above compensation scheme 1 or compensation scheme 2, when the transceiver mismatch reaches a certain degree, the matching degree between the vertical field of view of the light-emitting area and the vertical field of view of the corresponding receiving area can be improved as much as possible, so that the received energy of the receiving area can be increased. Based on the above compensation scheme 3, it can be ensured that the transient vertical field of view of the array transmitter is greater than the transient vertical field of view of the array receiver. The more energy is emitted from the light-emitting area of the array transmitter, the corresponding emission angle also expands. Although the mismatch problem still exists, the power of the system can be increased and the detection performance of the lidar can be improved. Based on the above compensation scheme 4, it can be ensured that the transient vertical field of view of the array receiver is greater than the transient vertical field of view of the array transmitter. The vertical field of view of the receiving area of the array receiver becomes larger, which can increase the power of the system and improve the detection performance of the lidar.

[0112] The following specifically describes the application of the above compensation schemes.

[0113] See Figure 9 , Figure 9 which is a flowchart of a detection method provided by an embodiment of the present application. This method is applied to a detection device including an array transmitter and an array receiver (such as Figure 1 the detection device 10 shown), where the array transmitter includes multiple rows of light-emitting channels, and the array receiver includes multiple rows of receiving channels. This method includes but is not limited to the following steps:

[0114] S901: Sequentially send out transmission signals through N rows of light-emitting channels arranged in the column direction in the array transmitter.

[0115] Exemplarily, the above N rows of light-emitting channels can be part of the multiple rows of light-emitting channels in the array transmitter.

[0116] Exemplarily, if the total number of rows of light-emitting channels included in the array transmitter is A, then N is less than or equal to A, and N is a positive integer greater than 2.

[0117] In one implementation, sequentially sending out transmission signals through N rows of light-emitting channels arranged in the column direction in the array transmitter includes: along the column direction of the array transmitter, sequentially lighting one row of light-emitting channels or adjacent multiple rows of light-emitting channels in the N rows of light-emitting channels to send out transmission signals. Exemplarily, "sequentially" is understood as lighting the light-emitting channels in a preset order.

[0118] Exemplarily, sequentially lighting one row of light-emitting channels in the N rows of light-emitting channels can refer to the following lighting methods 1 - 3:

[0119] Lighting method 1:

[0120] Light the first row of light-emitting channels for the first time, light the second row of light-emitting channels for the second time,..., and light the Nth row of light-emitting channels for the Nth time.

[0121] Lighting method 2:

[0122] The first time, light the light-emitting channels of the first row. The second time, light the light-emitting channels of the second row,..., the jth time, light the light-emitting channels of the jth row, the (j + 1)th time, light the light-emitting channels of the jth row again, the (j + 2)th time, light the light-emitting channels of the (j + 1)th row,..., the (N + 1)th time, light the light-emitting channels of the Nth row.

[0123] It can be seen that in lighting method 2, when the light-emitting channels are lit in sequence, the light-emitting channels of a certain row (for example, the jth row) can be lit continuously multiple times.

[0124] Lighting method 3:

[0125] The first time, light the light-emitting channels of the first row. The second time, light the light-emitting channels of the second row,..., the (j - 1)th time, light the light-emitting channels of the (j - 1)th row, the jth time, light the light-emitting channels of the (j + 1)th row, the (j + 1)th time, light the light-emitting channels of the (j + 2)th row,..., the (N - 1)th time, light the light-emitting channels of the Nth row.

[0126] It can be seen that in lighting method 3, when the above N light-emitting channels are lit in sequence, the light-emitting channels of a certain row (for example, the jth row) can be skipped without being lit.

[0127] Exemplarily, to light adjacent multiple light-emitting channels among the N light-emitting channels in sequence, the following lighting methods one to four can be referred to:

[0128] Lighting method one:

[0129] The first time, light the light-emitting channels of the 1st and 2nd rows simultaneously. The second time, light the light-emitting channels of the 3rd and 4th rows simultaneously. The third time, light the light-emitting channels of the 5th and 6th rows simultaneously,..., the jth time, light the light-emitting channels of the (2j - 1)th and 2jth rows,..., and so on until the light-emitting channels of the Nth row are lit. Here, it is not limited that the number of light-emitting channels lit each time is only 2, and it can also be 3, 4, or other values.

[0130] That is to say, in lighting method one, it satisfies that each time adjacent multiple light-emitting channels are lit simultaneously, and the light-emitting channels lit in two adjacent times are not repeated.

[0131] Lighting method two:

[0132] The first time, light the light-emitting channels of the 1st, 2nd, and 3rd rows simultaneously. The second time, light the light-emitting channels of the 2nd, 3rd, and 4th rows simultaneously. The third time, light the light-emitting channels of the 3rd, 4th, and 5th rows simultaneously,..., the jth time, light the light-emitting channels of the jth, (j + 1)th, and (j + 2)th rows,..., and so on until the light-emitting channels of the Nth row are lit.

[0133] That is to say, in lighting method two, it satisfies that each time adjacent multiple light-emitting channels are lit simultaneously, and the light-emitting channels lit in two adjacent times have repetitions.

[0134] Lighting method three:

[0135] For the first time, the first and second row lighting channels are lit simultaneously. For the second time, the third and fourth row lighting channels are lit simultaneously. For the third time, the fifth and sixth row lighting channels are lit simultaneously, …, for the jth time, the (2j - 1)th and 2jth row lighting channels are lit. For the (j + 1)th time, the 2jth and (2j + 1)th row lighting channels are lit. For the (j + 2)th time, the (2j + 2)th and (2j + 3)th row lighting channels are lit, …, and so on until the Nth row lighting channel is lit.

[0136] It can be seen that in lighting method three, when the lighting channels are lit in sequence, a certain row (such as the 2jth row) of lighting channels may be lit continuously for multiple times.

[0137] Lighting method four:

[0138] For the first time, the first and second row lighting channels are lit simultaneously. For the second time, the third and fourth row lighting channels are lit simultaneously. For the third time, the fifth and sixth row lighting channels are lit simultaneously, …, for the jth time, the (2j - 1)th and 2jth row lighting channels are lit. For the (j + 1)th time, the (2j + 2)th and (2j + 3)th row lighting channels are lit. For the (j + 2)th time, the (2j + 4)th and (2j + 5)th row lighting channels are lit, …, and so on until the Nth row lighting channel is lit.

[0139] It can be seen that in lighting method four, when the lighting channels are lit in sequence, it is possible to skip lighting a certain row (such as the (2j + 1)th row) of lighting channels. Here, it is not limited to only skipping one row of lighting channels without lighting. In some possible embodiments, it may also occur that multiple consecutive rows of lighting channels are skipped without lighting.

[0140] In one implementation, among the above N row lighting channels, multiple adjacent row lighting channels emit light simultaneously (i.e., are lit simultaneously) to form a lighting area, that is, the lighting area includes multiple adjacent row lighting channels.

[0141] S902: Receive the echo signal of the transmitted signal through N row receiving channels arranged in the column direction in the array receiver.

[0142] In the embodiments of the present application, since there is a corresponding relationship between the lighting channels of the array transmitter and the receiving channels of the array receiver, when a lighting channel in the array transmitter emits a transmitted signal, correspondingly, the receiving channel corresponding to this lighting channel in the array receiver receives the echo signal of this transmitted signal.

[0143] In one implementation, in the column direction of the array emitter, the correspondence between the light-emitting channels of the first to M-1 rows and the receiving channels in the column direction of the array receiver is different from the correspondence between the light-emitting channels of the M to N rows and the receiving channels in the column direction of the array receiver. M and N are both positive integers greater than 2, and M is less than N.

[0144] As an example, the correspondence between the light-emitting channels of the first to M-1 rows and the receiving channels in the column direction of the array receiver is different from the correspondence between the light-emitting channels of the M to N rows and the receiving channels in the column direction of the array receiver, including: the light-emitting channels of the first to M-1 rows respectively correspond to the first to M-1 receiving channels among the above N receiving channels, and the light-emitting channels of the M to N rows respectively correspond to the M+1 to N receiving channels among the above N receiving channels.

[0145] For example, the light-emitting channels of the first to M-1 rows respectively correspond to the first to M-1 receiving channels among the above N receiving channels, including: the light-emitting channels of the first to M-1 rows are in one-to-one correspondence with the first to M-1 receiving channels, that is, the light-emitting channel of the first row corresponds to the first receiving channel, the light-emitting channel of the second row corresponds to the second receiving channel,..., the light-emitting channel of the jth row corresponds to the jth receiving channel,..., and the light-emitting channel of the M-1th row corresponds to the M-1th receiving channel. The light-emitting channels of the M to N rows respectively correspond to the M+1 to N receiving channels among the above N receiving channels, including: the light-emitting channel of the Mth row corresponds to the M+1th receiving channel, the light-emitting channel of the M+1th row corresponds to the M+2th receiving channel,..., the light-emitting channel of the N-1th row corresponds to the Nth receiving channel, and the light-emitting channel of the Nth row corresponds to the Nth receiving channel.

[0146] See Figure 10 , Figure 10 is a schematic diagram of the correspondence between the light-emitting channels of the emitter and the receiving channels of the receiver in a detection device provided by an embodiment of the present application. Based on Figure 6 the configuration shown in the mapping table in, when it is detected that the vertical field of view angle of the emitter is greater than the vertical field of view angle of the receiver, by applying the above compensation scheme 1 (that is, adjusting the gating timing of the receiving channels), the correspondence between some of the light-emitting channels in the array emitter and some of the receiving channels in the array receiver is changed. The correspondence between the light-emitting channels and the receiving channels can be seen, for example, in Figure 10 the mapping table of (1).

[0147] In Figure 10In (1) of , since the number of light-emitting channels included in the transmitter is equal to the number of receiving channels included in the receiver, both being 40. Before adjustment, the 40 rows of light-emitting channels correspond one-to-one with the 40 rows of receiving channels, that is, the j-th row of light-emitting channels corresponds to the j-th row of receiving channels. For example, if the "light-emitting method 1" described in S901 is used to light the light-emitting channels, the transmitter has 20 light-emitting regions and the receiver correspondingly has 20 receiving regions. If the energy of the echo signal received by the receiving region is lower than the energy lower limit value starting from the 12th (i.e., the above P = 12) receiving region, the corresponding relationship between some light-emitting channels and receiving channels is changed by adjusting the gating timing of the receiving channels. Based on Figure 10 It can be seen from (1) of that after this adjustment, in the column direction of the transmitter, the corresponding relationship between the light-emitting channels in the 1st to 22nd rows and the receiving channels in the column direction of the receiver is different from the corresponding relationship between the light-emitting channels in the 23rd to 38th rows and the receiving channels in the column direction of the array receiver, that is, the light-emitting channels in the 1st to 22nd rows respectively correspond to the receiving channels in the 1st to 22nd rows (satisfying that the a-th row of light-emitting channels corresponds to the a-th row of receiving channels, where a is an integer from 1 to 22) and the light-emitting channels in the 23rd to 38th rows correspond to the receiving channels in the 24th to 39th rows (satisfying that the b-th row of light-emitting channels corresponds to the (b + 1)-th row of receiving channels, where b is an integer from 23 to 38).

[0148] Here, (1) of is only an example of changing the corresponding relationship between some light-emitting channels and receiving channels by adjusting the gating timing of the receiving channels, and does not limit that the difference value of the row numbers corresponding to the receiving channels and the light-emitting channels after the corresponding relationship is changed is only "1", and it can also be "2" or other values, which are not specifically limited here.

[0149] It can be understood that since the light-emitting method of the light-emitting channels is still the "light-emitting method 1" described in S901, and the corresponding relationship between some light-emitting channels of the transmitter and some receiving channels of the receiver is changed after this adjustment, it will also cause the row numbers of the receiving channels included in the receiving regions corresponding to some light-emitting regions to change. For example, in Figure 10 of (1), the row numbers of the receiving channels included in the 12th to 19th receiving regions change compared with before the adjustment.

[0150] From Figure 10 It can be seen from (1) of that the ratio of the number of light-emitting channels included in each light-emitting region to the number of receiving channels included in the receiving region corresponding to this light-emitting region is a first value, and the first value is the ratio of the total number of rows of light-emitting channels included in the transmitter (for example, "40") to the total number of rows of receiving channels included in the receiver (for example, "40"), and the first value is, for example, 1.

[0151] Exemplarily, the interval between two adjacent receiving regions is defined as the difference between the maximum row number of the receiving channels in the P-th receiving region and the minimum row number of the receiving channels in the previous (P - 1)-th receiving region. In some possible embodiments, the interval between two adjacent receiving regions is defined as the difference between the row numbers of the receiving channels in the P-th receiving region and the (P - 1)-th receiving region, or the distance between the centers of the P-th receiving region and the (P - 1)-th receiving region in the column direction, which is not specifically limited herein. From the perspective of the interval between two adjacent receiving regions, in Figure 10 in (1) of

[0152] Figure 10 the interval between any two adjacent receiving regions among the first 11 receiving regions is the same, the interval between the 12th receiving region and the 11th receiving region is greater than the interval between the 11th receiving region and the 10th receiving region, and the interval between any two adjacent receiving regions among the 12th to 19th receiving regions is the same. Figure 10 in (2) of Figure 10 in (1) of

[0153] the 12th light-emitting region includes the 23rd and 24th light-emitting channels, and the 12th receiving region includes the 23rd and 24th receiving channels before adjustment. After adjustment, the corresponding relationship between the light-emitting channels and the receiving channels changes, so that the 12th receiving region includes the 24th and 25th receiving channels. It can be seen that the matching degree between the vertical field of view of the 12th light-emitting region and the vertical field of view of the 12th receiving region is much higher than that before adjustment, so that the received energy of the 12th receiving region can exceed the energy lower limit value. In this way, the problem of mismatch between the transmitting and receiving fields of view of the Flash lidar can be solved to a certain extent.

[0153] Here, the embodiments of the present application do not limit the number of adjustments. Figure 10The mapping table of (1) is the result after one adjustment. After this adjustment, if the received energy of each of these 20 receiving regions is not lower than the energy lower limit value, the process ends. In some possible embodiments, it is also possible that after this adjustment, only the first 16 of these 20 receiving regions meet the requirement that the received energy of each receiving region is not lower than the energy lower limit value. Then, a second adjustment can be performed starting from the 17th receiving region. This means that in the column direction of the transmitter, the correspondence between the light-emitting channels and the receiving channels of the 1st to 22nd rows and the correspondence between the light-emitting channels and the receiving channels of the 23rd to 32nd rows may be different, and the correspondence between the light-emitting channels and the receiving channels of the 23rd to 32nd rows and the correspondence between the light-emitting channels and the receiving channels of the 33rd to 40th rows may be different. Exemplarily, when performing multiple adjustments, it is not required that the compensation schemes applied each time must be the same.

[0154] For another example, the light-emitting channels of the 1st to M - 1 rows respectively correspond to the receiving channels of the 1st to M - 1 rows among the above-mentioned N receiving channels, including: the light-emitting channels of the 1st to M - 1 rows are in one-to-one correspondence with the receiving channels of the 1st to M - 1 rows, that is, the jth light-emitting channel corresponds to the jth receiving channel, where j is an integer from 1 to M - 1. The light-emitting channels of the Mth to Nth rows respectively correspond to the receiving channels of the (M + 1)th to Nth rows among the above-mentioned N receiving channels, including: the Mth light-emitting channel corresponds to the (M + 1)th and (M + 2)th receiving channels, the (M + 1)th light-emitting channel corresponds to the (M + 2)th and (M + 3)th receiving channels,..., the (N - 2)th light-emitting channel corresponds to the (N - 1)th and Nth receiving channels, the (N - 1)th light-emitting channel corresponds to the (N - 2)th and (N - 1)th receiving channels, and the Nth light-emitting channel corresponds to the (N - 1)th and Nth receiving channels.

[0155] See Figure 11 , Figure 11 is a schematic diagram showing the correspondence between the light-emitting channels of the transmitter and the receiving channels of the receiver in another detection device provided by the embodiments of the present application. Based on Figure 6 the configuration shown in the mapping table in, when the vertical field of view angle of the transmitter is greater than the vertical field of view angle of the receiver, by applying the above compensation scheme 1 and compensation scheme 4, the correspondence between some light-emitting channels in the array transmitter and some receiving channels in the array receiver is changed. The correspondence between the light-emitting channels and the receiving channels can be seen, for example, in Figure 11 the mapping table shown in (1) of. [[ID=I6]]

[0156] In Figure 11In (1), by adjusting the gating timing of the receiving channels to change the correspondence between some of the light-emitting channels and the receiving channels, it can be seen that in the column direction of the emitter, the correspondence between the light-emitting channels in the 1st to 22nd rows and the receiving channels in the column direction of the receiver is different from the correspondence between the light-emitting channels in the 23rd to 40th rows and the receiving channels in the column direction of the receiver. For example, the light-emitting channels in the 1st to 22nd rows respectively correspond to the receiving channels in the 1st to 22nd rows, specifically, the light-emitting channel in the a-th row corresponds to the receiving channel in the a-th row, where a is an integer from 1 to 22; the light-emitting channels in the 23rd to 40th rows correspond to the receiving channels in the 24th to 40th rows, where the light-emitting channel in the b-th row corresponds to the receiving channels in the (b + 1)-th and (b + 2)-th rows, b is an integer from 23 to 38, the light-emitting channel in the 39th row corresponds to the receiving channels in the 38th and 39th rows, and the light-emitting channel in the 40th row corresponds to the receiving channels in the 39th and 40th rows.

[0157] Exemplarily, if the light-emitting channels in the 23rd and 24th rows are simultaneously lit to form the above-mentioned 12th light-emitting region, the light-emitting channel in the 23rd row corresponds to the receiving channels in the 24th and 25th rows, and the light-emitting channel in the 24th row corresponds to the receiving channels in the 25th and 26th rows, then the 12th receiving region corresponding to the 12th light-emitting region includes the receiving channels in the 24th, 25th, and 26th rows. The ratio of the number of light-emitting channels included in the 12th light-emitting region to the number of receiving channels included in the 12th receiving region is less than the above first value.

[0158] Furthermore, when the detection device is operating, the light-emitting channels in the 1st to 22nd rows of the emitter are lit in the "lighting method one" described in S901 to form 11 light-emitting regions. Please refer to Figure 11 the first 11 light-emitting regions in (1) of, and based on the correspondence between the light-emitting channels in the 1st to 22nd rows and the receiving channels in the 1st to 22nd rows, 11 receiving regions are formed. Please refer to Figure 11 the first 11 receiving regions in (1) of (each receiving region includes 2 receiving channels); the light-emitting channels in the 23rd to 40th rows of the emitter are lit in the "lighting method two" described in S901 to form 9 light-emitting regions. Please refer to Figure 11 the 12th - 20th light-emitting regions in (1) of, and based on the correspondence between the light-emitting channels in the 23rd to 40th rows and the receiving channels in the 24th to 40th rows, 9 receiving regions are formed. Please refer to Figure 11 the 12th - 20th receiving regions in (1) of (each receiving region includes 3 receiving channels).

[0159] In addition, Figure 11 the mapping table shown in (1) of is applied to the scenario where the vertical field of view of the emitter is greater than the vertical field of view of the receiver. Figure 11(2) shows a schematic diagram of the vertical field of view angle of the light-emitting area and the vertical field of view angle of the receiving area when the vertical field of view angle of the transmitter is greater than that of the receiver. In Figure 11 (2), the 12th light-emitting area includes the 23rd and 24th light-emitting channels. Before adjustment, the 12th receiving area includes the 23rd and 24th receiving channels. After adjustment, the corresponding relationship between the light-emitting channels and the receiving channels changes, so that the 12th receiving area includes the 24th, 25th, and 26th receiving channels after adjustment, realizing that the vertical field of view angle of the 12th receiving area is greater than that of the 12th light-emitting area. In this way, the 12th receiving area can fully receive the energy emitted by the 12th light-emitting area, which is beneficial to improving the power of the system and enhancing the detection performance of the Flash lidar.

[0160] As an example, the corresponding relationship between the light-emitting channels in the 1st to M-1st rows and the receiving channels in the column direction of the array receiver is different from the corresponding relationship between the light-emitting channels in the Mth to Nth rows and the receiving channels in the column direction of the array receiver, including: the light-emitting channels in the 1st to M-1st rows respectively correspond to the 1st to M-1st receiving channels among the above-mentioned N receiving channels, and the light-emitting channels in the Mth to Nth rows respectively correspond to the M-1st to N-1st receiving channels among the above-mentioned N receiving channels.

[0161] For example, the light-emitting channels in the 1st to M-1st rows respectively correspond to the 1st to M-1st receiving channels among the above-mentioned N receiving channels, including: the light-emitting channels in the 1st to M-1st rows are in one-to-one correspondence with the 1st to M-1st receiving channels, that is, the 1st light-emitting channel corresponds to the 1st receiving channel, the 2nd light-emitting channel corresponds to the 2nd receiving channel,..., the jth light-emitting channel corresponds to the jth receiving channel,..., and the (M-1)th light-emitting channel corresponds to the (M-1)th receiving channel. The light-emitting channels in the Mth to Nth rows respectively correspond to the M-1st to N-1st receiving channels among the above-mentioned N receiving channels, including: the Mth light-emitting channel corresponds to the (M-1)th receiving channel, the (M+1)th light-emitting channel corresponds to the Mth receiving channel,..., the (N-1)th light-emitting channel corresponds to the (N-2)th receiving channel, and the Nth light-emitting channel corresponds to the (N-1)th receiving channel.

[0162] See Figure 12 , Figure 12 is a schematic diagram of the corresponding relationship between the light-emitting channels of the transmitter and the receiving channels of the receiver in another detection device provided by the embodiment of the present application. Based on the configuration shown in the mapping table in Figure 6 , when the vertical field of view angle of the transmitter is less than that of the receiver, by applying the above compensation scheme 1 (i.e., adjusting the gating timing of the receiving channels), the corresponding relationship between some of the light-emitting channels in the array transmitter and some of the receiving channels in the array receiver is changed. The corresponding relationship between the light-emitting channels and the receiving channels can be seen, for example, inFigure 12 Mapping table of (1).

[0163] In Figure 12 of (1), before adjustment, the 40 light-emitting channels of the transmitter correspond one-to-one with the 40 receiving channels of the receiver, that is, the j-th light-emitting channel corresponds to the j-th receiving channel. Using the "Lighting Method 1" described in S901 to light the light-emitting channels, the 20 light-emitting areas of the transmitter and the 20 receiving areas of the receiver can be seen in Figure 12 shown in (1). If the energy of the echo signal received by the receiving area is lower than the lower energy limit value starting from the 12th (i.e., the above P = 12) receiving area, the corresponding relationship between some light-emitting channels and receiving channels is changed by adjusting the gating timing of the receiving channels. Based on Figure 12 of (1), it can be seen that after this adjustment, in the column direction of the transmitter, the corresponding relationship between the 1st to 22nd row light-emitting channels and the receiving channels in the column direction of the receiver is different from the corresponding relationship between the 23rd to 40th row light-emitting channels and the receiving channels in the column direction of the array receiver, that is, the 1st to 22nd row light-emitting channels respectively correspond to the 1st to 22nd row receiving channels (satisfying that the a-th row light-emitting channel corresponds to the a-th row receiving channel, where a is an integer from 1 to 22) and the 23rd to 40th row light-emitting channels correspond to the 22nd to 39th row receiving channels (satisfying that the b-th row light-emitting channel corresponds to the (b - 1)-th row receiving channel, where b is an integer from 23 to 40).

[0164] Here Figure 11 of (1) is only an example of changing the corresponding relationship between some light-emitting channels and receiving channels by adjusting the gating timing of the receiving channels, and does not limit that the difference value of the row numbers corresponding to the receiving channels and light-emitting channels after the change of the corresponding relationship is only "-1", and it can also be "-2" or other values, which are not specifically limited here.

[0165] It can be understood that since the lighting method of the light-emitting channels is still the "Lighting Method 1" described in S901, and the corresponding relationship between some light-emitting channels of the transmitter and some receiving channels of the receiver is changed after this adjustment, it will also cause the row numbers of the receiving channels included in the receiving areas corresponding to some light-emitting areas to change. For example, in Figure 12 of (1), the row numbers of the receiving channels included in the 12th to 20th receiving areas change compared with before the adjustment.

[0166] From the perspective of the interval between adjacent two receiving areas, in Figure 12In (1), after adjustment, the intervals between any two adjacent receiving regions among the first 11 receiving regions are the same, the interval between the 12th receiving region and the 11th receiving region is less than the interval between the 11th receiving region and the 10th receiving region, and the intervals between any two adjacent receiving regions among the 12th receiving region to the 20th receiving region are the same.

[0167] Figure 12 The mapping table shown in (1) can be applied to the scenario where the vertical field of view angle of the transmitter is less than that of the receiver. Figure 12 (2) shows a schematic diagram of the vertical field of view angle of the light-emitting region and the vertical field of view angle of the receiving region when the vertical field of view angle of the transmitter is less than that of the receiver. In Figure 12 (2), the 12th light-emitting region includes the 23rd and 24th light-emitting channels. Before adjustment, the 12th receiving region includes the 23rd and 24th receiving channels. After adjusting the gating timing of the receiving channels, the correspondence between the light-emitting channels and the receiving channels changes, so that the 12th receiving region includes the 22nd and 23rd receiving channels. It can be seen that the matching degree between the vertical field of view angle of the 12th light-emitting region and the vertical field of view angle of the 12th receiving region is much higher than that before adjustment, so that the received energy of the 12th receiving region can be higher than the energy lower limit value. In this way, the problem of mismatch between the transmitting and receiving fields of view of the Flash lidar can be solved to a certain extent.

[0168] The above Figure 12 The mapping table in (1) is the result after one adjustment. The embodiments of the present application do not limit the number of adjustments, nor do they limit that the compensation schemes applied each time must be the same.

[0169] In some possible embodiments, when the vertical field of view angle of the transmitter is less than that of the receiver, in addition to using Compensation Scheme 1 (i.e., adjusting the gating timing of the receiving channels) to perform the Figure 12 adjustment shown in (1), Compensation Scheme 1 and Compensation Scheme 4 (i.e., increasing the number of simultaneously enabled receiving channels) can also be combined to change the correspondence between some light-emitting channels and some receiving channels. For example, in Figure 12In (1) below, taking the light-emitting channels of the 23rd row and the 24th row as examples, applying compensation scheme 1 makes the light-emitting channel of the 23rd row correspond to the receiving channel of the 22nd row and the light-emitting channel of the 24th row correspond to the receiving channel of the 23rd row. Assume that applying compensation scheme 1 and compensation scheme 4 makes the light-emitting channel of the 23rd row correspond to the receiving channels of the 22nd and 23rd rows and the light-emitting channel of the 24th row correspond to the receiving channels of the 23rd and 24th rows. Correspondingly, the light-emitting channels of the 23rd row and the 24th row are lit simultaneously to form the 12th light-emitting area, and the 12th receiving area corresponding to the 12th light-emitting area includes the receiving channels of the 22nd, 23rd, and 24th rows, achieving that the vertical field of view of the 12th receiving area is greater than the vertical field of view of the 12th light-emitting area. In this way, the 12th receiving area can fully receive the energy emitted by the 12th light-emitting area, which is beneficial to improving the power of the system and enhancing the detection performance of the Flash lidar. It can be seen that the above compensation scheme 4 is applicable not only to the scenario where the vertical field of view of the array emitter is smaller than the vertical field of view of the array receiver, but also to the scenario where the vertical field of view of the array emitter is greater than the vertical field of view of the array receiver.

[0170] In another implementation, in the column direction of the array receiver, the correspondence between the receiving channels of the 1st to M - 1st rows and the light-emitting channels in the column direction of the array emitter is different from the correspondence between the receiving channels of the Mth to Nth rows and the light-emitting channels in the column direction of the array emitter, where M and N are positive integers greater than 2 and M is less than N.

[0171] As an example, the correspondence between the receiving channels of the 1st to M - 1st rows and the light-emitting channels in the column direction of the array emitter is different from the correspondence between the receiving channels of the Mth to Nth rows and the light-emitting channels in the column direction of the array emitter, including: the receiving channels of the 1st to M - 1st rows respectively correspond to the light-emitting channels of the 1st to M - 1st rows among the above N light-emitting channels, and the receiving channels of the Mth to Nth rows respectively correspond to the light-emitting channels of the M - 1st to N - 1st rows among the above N light-emitting channels.

[0172] For example, the receiving channels of the 1st to M - 1st rows respectively correspond to the light-emitting channels of the 1st to M - 1st rows among the above N light-emitting channels, including: the receiving channels of the 1st to M - 1st rows are in one-to-one correspondence with the light-emitting channels of the 1st to M - 1st rows, that is, the receiving channel of the jth row corresponds to the light-emitting channel of the jth row, where j is an integer from 1 to M - 1. The receiving channels of the Mth to Nth rows respectively correspond to the light-emitting channels of the M - 1st to N - 1st rows among the above N light-emitting channels, including: the receiving channel of the Mth row corresponds to the light-emitting channel of the M - 1st row, the receiving channel of the M + 1st row corresponds to the light-emitting channel of the Mth row, …, the receiving channel of the N - 1st row corresponds to the light-emitting channel of the N - 2nd row, and the receiving channel of the Nth row corresponds to the light-emitting channel of the N - 1st row.

[0173] See Figure 13 , Figure 13It is a schematic diagram of the correspondence between the light-emitting channels in the transmitter and the receiving channels in the receiver of another detection device provided by an embodiment of the present application. Based on Figure 6 the configuration shown in the mapping table in Figure 6 , when it is detected that the vertical field of view angle of the transmitter is greater than the vertical field of view angle of the receiver, by applying the above compensation scheme 2 (i.e., adjusting the lighting sequence of the light-emitting channels), the correspondence between some of the light-emitting channels in the array transmitter and some of the receiving channels in the array receiver is changed. The correspondence between the light-emitting channels and the receiving channels can be seen, for example, in Figure 13 the mapping table of (1) in Figure 13 .

[0174] In Figure 13 (1) in Figure 13 , by adjusting the lighting sequence of the light-emitting channels to change the correspondence between some of the light-emitting channels and the receiving channels, it can be seen that in the column direction of the receiver, the correspondence between the receiving channels in the 1st to 22nd rows and the light-emitting channels in the column direction of the transmitter is different from the correspondence between the receiving channels in the 23rd to 40th rows and the light-emitting channels in the column direction of the transmitter. For example, the receiving channels in the 1st to 22nd rows respectively correspond to the light-emitting channels in the 1st to 22nd rows, specifically, the receiving channel in the a-th row corresponds to the light-emitting channel in the a-th row, where a is an integer from 1 to 22; the receiving channels in the 23rd to 40th rows correspond to the light-emitting channels in the 22nd to 39th rows, where the receiving channel in the b-th row corresponds to the light-emitting channel in the (b - 1)-th row, and b is an integer from 23 to 40.

[0175] Here, (1) in is only an example of changing the correspondence between some of the light-emitting channels and the receiving channels by adjusting the gating sequence of the light-emitting channels, and does not limit that the difference value of the row numbers corresponding to the receiving channels and the light-emitting channels after the correspondence is changed is only "1", and it can also be "2" or other values, which are not specifically limited here.

[0176] For example, when the detection device is running, the light-emitting channels in the 1st to 22nd rows of the transmitter are lit in the "lighting mode 1" described in S901 to form 11 light-emitting regions. Please refer to Figure 13 the first 11 light-emitting regions in (1) in Figure 13 . Based on the correspondence between the light-emitting channels in the 1st to 22nd rows and the receiving channels in the 1st to 22nd rows, 11 receiving regions are formed. Please refer to Figure 13 the first 11 receiving regions in (1) in Figure 13 ; adjust the lighting sequence of the light-emitting channels, and continue to use the "lighting mode 1" described in S901 to light the light-emitting channels in the 22nd to 39th rows of the transmitter to form 9 light-emitting regions. Please refer to Figure 13 the 12th - 20th light-emitting regions in (1) in Figure 13 . Based on the correspondence between the light-emitting channels in the 22nd to 39th rows and the receiving channels in the 23rd to 40th rows, 9 receiving regions are formed. Please refer to Figure 13 the 12th - 20th receiving regions in (1) in Figure 13 .

[0177] Exemplarily, the interval between two adjacent light-emitting regions is defined as the difference between the maximum row number of the light-emitting channels in the P-th light-emitting region and the minimum row number of the light-emitting channels in the previous (P - 1)-th light-emitting region. In some possible embodiments, the interval between two adjacent light-emitting regions is defined as the difference between the row numbers of the light-emitting channels in the P-th light-emitting region and the (P - 1)-th light-emitting region, or the distance between the centers of the P-th light-emitting region and the (P - 1)-th light-emitting region in the column direction, which is not specifically limited herein. From the perspective of the interval between two adjacent light-emitting regions, in Figure 13 in (1) of, after adjustment, the intervals between any two adjacent light-emitting regions among the first 11 light-emitting regions are the same, the interval between the 12th light-emitting region and the 11th light-emitting region is less than the interval between the 11th light-emitting region and the 10th light-emitting region, and the intervals between any two adjacent light-emitting regions among the 12th light-emitting region to the 20th light-emitting region are the same.

[0178] The above Figure 13 The mapping table of (1) is the result after one adjustment. The embodiments of the present application do not limit the number of adjustments, nor do they limit that the compensation schemes applied each time must be the same.

[0179] Figure 13 The mapping table shown in (1) of can be applied to the scenario where the vertical field of view angle of the transmitter is greater than the vertical field of view angle of the receiver. Figure 13 (2) of shows a schematic diagram of the vertical field of view angle of the light-emitting region and the vertical field of view angle of the receiving region when the vertical field of view angle of the transmitter is greater than the vertical field of view angle of the receiver. In Figure 13 in (2) of, the 12th receiving region includes the 23rd and 24th receiving channels. Before adjustment, the 12th light-emitting region includes the 23rd and 24th light-emitting channels. After adjusting the lighting sequence of the light-emitting channels, the correspondence between the light-emitting channels and the receiving channels changes, so that the 12th light-emitting region includes the 22nd and 23rd light-emitting channels. It can be seen that the matching degree between the vertical field of view angle of the 12th light-emitting region and the vertical field of view angle of the 12th receiving region is much higher than that before adjustment, so that the received energy of the 12th receiving region can be higher than the energy lower limit value. In this way, the problem of the mismatch between the transmitting and receiving fields of view of the Flash lidar can be solved.

[0180] For another example, the correspondence between the receiving channels of the first to M-1 rows and the light-emitting channels in the column direction of the array transmitter is different from the correspondence between the receiving channels of the M to N rows and the light-emitting channels in the column direction of the array transmitter, including: the receiving channels of the first to M-1 rows respectively correspond to the first to M-1 light-emitting channels among the above N light-emitting channels, and the receiving channels of the M to N rows respectively correspond to the M-1 to N light-emitting channels among the above N light-emitting channels. Among them, the receiving channels of the first to M-1 rows respectively correspond to the first to M-1 light-emitting channels among the above N light-emitting channels, including: the receiving channels of the first to M-1 rows are in one-to-one correspondence with the first to M-1 light-emitting channels, that is, the jth receiving channel corresponds to the jth light-emitting channel, where j is an integer from 1 to M-1; the receiving channels of the M to N rows respectively correspond to the M-1 to N light-emitting channels among the above N light-emitting channels, including: the Mth receiving channel corresponds to the (M-1)th and Mth light-emitting channels, the (M+1)th receiving channel corresponds to the Mth and (M+1)th light-emitting channels,..., the (N-2)th receiving channel corresponds to the (N-3)th and (N-2)th light-emitting channels, the (N-1)th receiving channel corresponds to the (N-2)th and (N-1)th light-emitting channels, and the Nth receiving channel corresponds to the (N-1)th and Nth light-emitting channels.

[0181] See Figure 14 , Figure 14 is a schematic diagram of the correspondence between the light-emitting channels of the transmitter and the receiving channels of the receiver in another detection device provided by the embodiments of the present application. Based on Figure 6 the configuration shown in the mapping table in, when the vertical field of view angle of the transmitter is greater than the vertical field of view angle of the receiver, by applying the above compensation scheme 2 and compensation scheme 3 to change the correspondence between some of the light-emitting channels in the array transmitter and some of the receiving channels in the array receiver, the correspondence between the light-emitting channels and the receiving channels can be seen, for example, in Figure 14 the mapping table shown in (1) of.

[0182] In Figure 14In (1), by adjusting the lighting sequence of the lighting channels, the corresponding relationship between some of the lighting channels and the receiving channels is changed. It can be seen that in the column direction of the receiver, the corresponding relationship between the receiving channels in the 1st to 22nd rows and the lighting channels in the column direction of the transmitter is different from that between the receiving channels in the 23rd to 40th rows and the lighting channels in the column direction of the transmitter. For example, the receiving channels in the 1st to 22nd rows respectively correspond to the lighting channels in the 1st to 22nd rows, specifically, the receiving channel in the a-th row corresponds to the lighting channel in the a-th row, where a is an integer from 1 to 22; the receiving channels in the 23rd to 40th rows correspond to the lighting channels in the 22nd to 40th rows, where the receiving channel in the b-th row corresponds to the lighting channels in the (b - 1)-th and b-th rows, and b is an integer from 23 to 40. Exemplarily, the receiving channel in the 23rd row corresponds to the lighting channels in the 22nd and 23rd rows, and the receiving channel in the 24th row corresponds to the lighting channels in the 23rd and 24th rows. Correspondingly, the lighting channels in the 22nd, 23rd, and 24th rows are lit simultaneously to form the 12th light-emitting region, and the 12th receiving region corresponding to the 12th light-emitting region includes the receiving channels in the 23rd and 24th rows.

[0183] Exemplarily, if two adjacent rows of receiving channels are selected and gated to form a receiving region each time, the 40 rows of receiving channels of the receiver can form 20 receiving regions. Based on the above corresponding relationship between the receiving channels and the lighting channels, the transmitter also has 20 light-emitting regions. For details, please refer to Figure 14 as shown in (1). In Figure 14 In (1), after adjustment, since the corresponding relationship between the receiving channels in the 1st to 22nd rows and the lighting channels in the column direction of the transmitter is different from that between the receiving channels in the 23rd to 40th rows and the lighting channels in the column direction of the transmitter, the number of lighting channels included in each of the first 11 light-emitting regions is 2, and the number of lighting channels included in each of the last 9 light-emitting regions is 3. In addition, starting from i = 12, the ratio of the number of lighting channels included in the i-th light-emitting region to the number of receiving channels included in the i-th receiving region is greater than the above first value.

[0184] Figure 14 The mapping table shown in (1) is applied to the scenario where the vertical field of view of the transmitter is greater than that of the receiver. Figure 14 (2) shows a schematic diagram of the vertical field of view of the light-emitting region and the vertical field of view of the receiving region when the vertical field of view of the transmitter is greater than that of the receiver. In Figure 14In (2), the 12th receiving area includes the 23rd row receiving channel and the 24th row receiving channel. Before adjustment, the 12th light-emitting area includes the 23rd row light-emitting channel and the 24th row light-emitting channel. After adjustment, the corresponding relationship between the light-emitting channels and the receiving channels changes, so that the 12th light-emitting area includes the 22nd row light-emitting channel, the 23rd row light-emitting channel, and the 24th row light-emitting channel, realizing that the vertical field of view angle of the 12th light-emitting area is greater than the vertical field of view angle of the 12th receiving area. The more energy is emitted from the light-emitting area, the received energy of the receiving area is improved, and the detection performance of the Flash lidar is improved.

[0185] As an example, the corresponding relationship between the receiving channels of the first to M - 1 rows and the light-emitting channels in the column direction of the array emitter is different from the corresponding relationship between the receiving channels of the M to N rows and the light-emitting channels in the column direction of the array emitter, including: the receiving channels of the first to M - 1 rows respectively correspond to the first to M - 1 light-emitting channels among the above N light-emitting channels, and the receiving channels of the M to N rows respectively correspond to the M + 1 to N light-emitting channels among the above N light-emitting channels.

[0186] For example, the receiving channels of the first to M - 1 rows respectively correspond to the first to M - 1 light-emitting channels among the above N light-emitting channels, including: the receiving channels of the first to M - 1 rows are in one-to-one correspondence with the first to M - 1 light-emitting channels, that is, the jth row receiving channel corresponds to the jth row light-emitting channel, where j is an integer from 1 to M - 1. The receiving channels of the M to N rows respectively correspond to the M + 1 to N light-emitting channels among the above N light-emitting channels, including: the Mth row receiving channel corresponds to the M + 1th row light-emitting channel, the (M + 1)th row receiving channel corresponds to the (M + 2)th row light-emitting channel,..., the (N - 1)th row receiving channel corresponds to the Nth row light-emitting channel, and the Nth row receiving channel corresponds to the Nth row light-emitting channel.

[0187] See Figure 15 , Figure 15 is a schematic diagram of the corresponding relationship between the light-emitting channels of the emitter and the receiving channels of the receiver in another detection device provided by the embodiment of the present application. Based on Figure 6 the configuration shown in the mapping table in, when it is detected that the vertical field of view angle of the emitter is less than the vertical field of view angle of the receiver, by applying the above compensation scheme 2 (i.e., adjusting the lighting timing of the light-emitting channels), the corresponding relationship between some light-emitting channels in the array emitter and some receiving channels in the array receiver is changed. The corresponding relationship between the light-emitting channels and the receiving channels can be seen, for example, Figure 15 the mapping table in (1) of.

[0188] In Figure 15In (1), by adjusting the lighting sequence of the lighting channels, the corresponding relationship between some of the lighting channels and the receiving channels is changed. It can be seen that in the column direction of the receiver, the receiving channels of the 1st to 22nd rows respectively correspond to the lighting channels of the 1st to 22nd rows, specifically satisfying that the receiving channel of the a-th row corresponds to the lighting channel of the a-th row, where a is an integer from 1 to 22; the receiving channels of the 23rd to 39th rows correspond to the lighting channels of the 24th to 40th rows, where the receiving channel of the b-th row corresponds to the lighting channel of the (b + 1)-th row, and b is an integer from 23 to 39; the receiving channel of the 40th row corresponds to the lighting channel of the 40th row. Here, Figure 15 (1) is only an example of changing the corresponding relationship between some of the lighting channels and the receiving channels by adjusting the gating sequence of the receiving channels, and does not limit that the difference value of the row numbers corresponding to the receiving channel and the lighting channel after the corresponding relationship is changed is only "-1", and it can also be "-2" or other values, which are not specifically limited here.

[0189] Exemplarily, when the detection device is running, the lighting channels of the 1st to 22nd rows of the transmitter are lit in the "lighting mode 1" described in S901 to form 11 light-emitting regions. Please refer to Figure 15 the first 11 light-emitting regions in (1). Based on the corresponding relationship between the lighting channels of the 1st to 22nd rows and the receiving channels of the 1st to 22nd rows, 11 receiving regions are formed. Please refer to Figure 15 the first 11 receiving regions in (1); adjust the lighting sequence of the lighting channels, skip the lighting channel of the 23rd row, and continue to use the above "lighting mode 1" to light the lighting channels of the 24th to 40th rows of the transmitter to form 9 light-emitting regions. Please refer to Figure 15 the 12th - 20th light-emitting regions in (1). Based on the corresponding relationship between the lighting channels of the 22nd to 39th rows and the receiving channels of the 23rd to 40th rows, 9 receiving regions are formed. Please refer to Figure 15 the 12th - 20th receiving regions in (1).

[0190] From the perspective of the interval between two adjacent light-emitting regions, in Figure 15 (1), after adjustment, the intervals between any two adjacent light-emitting regions among the first 11 light-emitting regions are the same, and the interval between the 12th light-emitting region and the 11th light-emitting region is greater than the interval between the 11th light-emitting region and the 10th light-emitting region. The mapping table in the above Figure 15 (1) is the result after one adjustment. The embodiments of the present application do not limit the number of adjustments, nor do they limit that the compensation schemes applied each time must be the same.

[0191] Figure 15 The mapping table shown in (1) can be applied to the scenario where the vertical field of view angle of the transmitter is smaller than the vertical field of view angle of the receiver. Figure 15(2) shows a schematic diagram of the vertical field of view angle of the light-emitting area and the vertical field of view angle of the receiving area when the vertical field of view angle of the transmitter is smaller than that of the receiver. In Figure 15 (2), the 12th receiving area includes the 23rd and 24th receiving channels. Before adjustment, the 12th light-emitting area includes the 23rd and 24th light-emitting channels. After adjusting the lighting sequence of the light-emitting channels, the corresponding relationship between the light-emitting channels and the receiving channels changes. The 12th light-emitting area includes the 24th and 25th light-emitting channels. It can be seen that the matching degree between the vertical field of view angle of the 12th light-emitting area and the vertical field of view angle of the 12th receiving area is much higher than that before adjustment, so that the received energy of the 12th receiving area can be higher than the energy lower limit value. In this way, the problem of the mismatch between the transmitting and receiving fields of view of the Flash lidar can be solved.

[0192] In some possible embodiments, when the vertical field of view angle of the transmitter is smaller than that of the receiver, in addition to using Compensation Scheme 2 (i.e., adjusting the lighting sequence of the light-emitting channels) to perform the Figure 15 adjustment shown in (1), Compensation Scheme 2 and Compensation Scheme 3 (i.e., increasing the number of simultaneously lit light-emitting channels) can also be combined to change the corresponding relationship between some light-emitting channels and some receiving channels. For example, in Figure 15 (1), taking the 23rd and 24th receiving channels as an example, applying Compensation Scheme 2 makes the 23rd receiving channel correspond to the 24th light-emitting channel and the 24th receiving channel correspond to the 25th light-emitting channel. Assuming that applying Compensation Scheme 2 and Compensation Scheme 3 makes the 23rd receiving channel correspond to the 23rd and 24th light-emitting channels and the 24th receiving channel correspond to the 24th and 25th light-emitting channels, correspondingly, the 23rd, 24th, and 25th light-emitting channels are lit simultaneously to form the 12th light-emitting area. Then, the 12th receiving area corresponding to the 12th light-emitting area includes the 23rd and 24th receiving channels, realizing that the vertical field of view angle of the 12th light-emitting area is larger than that of the 12th receiving area. In this way, it is beneficial to improve the power of the system and improve the detection performance of the Flash lidar. It can be seen that the above Compensation Scheme 3 is applicable not only to the scenario where the vertical field of view angle of the array transmitter is smaller than that of the array receiver, but also to the scenario where the vertical field of view angle of the array transmitter is larger than that of the array receiver.

[0193] Figure 9In the illustrated embodiments, based on a multi-channel transmitter and a multi-channel receiver, without incurring additional costs, the problem of the mismatch between the transmission and reception fields of view of a Flash lidar can be addressed to a certain extent, which is beneficial to improving the detection performance of the lidar. For example, by adjusting the lighting sequence of the light-emitting channels or the gating sequence of the receiving channels, the correspondence between some of the light-emitting channels in the transmitter and some of the receiving channels in the receiver can be changed, thereby improving the matching degree between the transient vertical field of view of the transmitter and the transient vertical field of view of the receiver and enhancing the detection efficiency of the receiver. For another example, by increasing the number of simultaneously lit light-emitting channels or the number of simultaneously activated receiving channels, the correspondence between some of the light-emitting channels in the transmitter and some of the receiving channels in the receiver can be changed, which is beneficial to increasing the power of the system and improving the detection performance of the lidar.

[0194] In some possible embodiments, the above compensation scheme 3 (i.e., increasing the number of simultaneously lit light-emitting channels) or compensation scheme 4 (increasing the number of simultaneously activated receiving channels) can also be applied when the lidar is initialized and enabled. Refer to Figure 16 , Figure 16 which is a flowchart of another detection method provided by an embodiment of the present application. This method can be applied to a detection device including an array transmitter and an array receiver (such as Figure 1 the detection device 10 shown), where the array transmitter includes A rows of light-emitting channels and the array receiver includes B rows of receiving channels, and both A and B are positive integers. Exemplarily, A is equal to B, or A and B are in a multiple relationship. The method includes but is not limited to the following steps:

[0195] S1601: Sequentially emit transmission signals through S light-emitting regions arranged in the column direction in the array transmitter.

[0196] Among them, each of the S light-emitting regions includes adjacent multiple rows of light-emitting channels, and the light-emitting channels in the light-emitting region belong to the above-mentioned A rows of light-emitting channels.

[0197] In one implementation, sequentially emitting transmission signals through S light-emitting regions arranged in the column direction in the array transmitter includes: in the column direction of the array transmitter, sequentially performing emitting a transmission signal through the first light-emitting region, emitting a transmission signal through the second light-emitting region,..., emitting a transmission signal through the Sth light-emitting region.

[0198] S1602: Receive the echo signals of the transmission signals through S receiving regions arranged in the column direction in the array receiver.

[0199] Among them, the ith light-emitting region among the above-mentioned S light-emitting regions corresponds to the ith receiving region among the above-mentioned S receiving regions. Here, both i and S are positive integers, i is less than or equal to S, and S is less than A.

[0200] In one implementation, the ratio of the number of light-emitting channels included in the i-th light-emitting region to the number of receiving channels included in the i-th receiving region is greater than the ratio of A to B.

[0201] As an example, among the above S light-emitting regions, any two adjacent light-emitting regions include overlapping light-emitting channels.

[0202] Referring to Figure 17 , Figure 17 FIG. is a schematic diagram of the correspondence between the light-emitting channels of the light-emitting regions in a transmitter and the receiving channels of the receiving regions in a receiver provided by an embodiment of the present application. Figure 17 The mapping table shown, for example, is based on Figure 6 an example after implementing the above compensation scheme 3 (i.e., increasing the number of simultaneously lit light-emitting channels) for the mapping table shown.

[0203] From the above Figure 6 description, it is known that the array transmitter includes 40 rows of light-emitting channels and the array receiver includes 40 rows of receiving channels, then the ratio of A to B is "1". Exemplarily, along the column direction of the array transmitter, multiple rows of light-emitting channels are simultaneously lit each time to form a light-emitting region. As shown in Figure 17 the mapping table, the array transmitter includes 20 light-emitting regions and 20 receiving regions, where the i-th light-emitting region corresponds to the i-th receiving region, and i is an integer from 1 to 20. In Figure 17 , each light-emitting region includes 4 light-emitting channels. In the column direction of the array transmitter, the light-emitting channels included in two adjacent light-emitting regions overlap. For example, the 1st light-emitting region and the 2nd light-emitting region both include the 2nd, 3rd, and 4th rows of light-emitting channels, and the 2nd light-emitting region and the 3rd light-emitting region both include the 4th and 5th rows of light-emitting channels. Each receiving region includes 2 receiving channels. From Figure 17 it can be seen that the ratio of the number of light-emitting channels included in the i-th light-emitting region to the number of receiving channels included in the i-th receiving region is 2, which is greater than the above ratio of A to B "1", and it also satisfies that the vertical field of view of the i-th light-emitting region is greater than the vertical field of view of the i-th receiving region. In this way, it is beneficial to improve the power of the system and enhance the detection performance (such as ranging performance) of the Flash lidar.

[0204] The above Figure 17 shown mapping table is only an example of the correspondence between the light-emitting channels of the light-emitting regions and the receiving channels of the receiving regions after applying the compensation scheme 3 (i.e., increasing the number of simultaneously lit light-emitting channels), and does not limit the number of light-emitting channels included in the light-emitting region to only "4", does not limit that the number of light-emitting channels included in each light-emitting region must be the same, nor does it limit that the number of receiving channels included in each receiving region must be the same.

[0205] In one implementation, the ratio of the number of light-emitting channels included in the i-th light-emitting region to the number of receiving channels included in the i-th receiving region is less than the ratio of A to B.

[0206] As an example, among the above S receiving regions, the receiving channels included in any two adjacent receiving regions overlap.

[0207] See Figure 18 , Figure 18 which is a schematic diagram of the correspondence between the light-emitting channels of the light-emitting region in another transmitter and the receiving channels of the receiving region in the receiver provided by the embodiments of the present application. Figure 18 The mapping information shown is, for example, an example after implementing the above compensation scheme 4 (i.e., increasing the number of simultaneously activated receiving channels) based on the Figure 6 shown mapping table.

[0208] From the above Figure 6 description, it can be known that the array transmitter includes 40 rows of light-emitting channels and the array receiver includes 40 rows of receiving channels, then the ratio of A to B is "1". Exemplarily, along the column direction of the array transmitter, multiple rows of light-emitting channels are simultaneously lit each time to form a light-emitting region. As shown in the Figure 18 shown mapping table, the array transmitter includes 20 light-emitting regions and 20 receiving regions, where the i-th light-emitting region corresponds to the i-th receiving region, and i is an integer from 1 to 20. In Figure 18 , each light-emitting region includes 2 light-emitting channels, each receiver includes 4 receiving channels, and in the column direction of the array receiver, the receiving channels included in two adjacent receiving regions overlap. For example, the 1st receiving region and the 2nd receiving region both include the 2nd, 3rd, and 4th rows of receiving channels, and the 2nd receiving region and the 3rd receiving region both include the 4th and 5th rows of receiving channels. From Figure 18 it can be seen that the ratio of the number of light-emitting channels included in the i-th light-emitting region to the number of receiving channels included in the i-th receiving region is 0.5, which is less than the above ratio of A to B "1", and also satisfies that the vertical field of view of the i-th light-emitting region is less than the vertical field of view of the i-th receiving region. In this way, it is beneficial to improve the power of the system and enhance the detection performance (such as long-distance detection performance) of the Flash lidar.

[0209] The above Figure 18 shown mapping table is only an example of the correspondence between the light-emitting channels of the light-emitting region and the receiving channels of the receiving region after applying the compensation scheme 4 (i.e., increasing the number of simultaneously enabled receiving channels), and does not limit that the number of receiving channels included in the receiving region is only "4", does not limit that the number of light-emitting channels included in each light-emitting region must be the same, nor does it limit that the number of receiving channels included in each receiving region must be the same.

[0210] Figure 16 In the illustrated embodiments, based on a multi-channel transmitter and a multi-channel receiver, in the case where there is a transceiver field-of-view mismatch in a Flash lidar (for example, the vertical field-of-view angle of the transmitter does not match the vertical field-of-view angle of the receiver), it is possible to improve the detection performance of the lidar to a certain extent without increasing additional costs. For example, by increasing the number of simultaneously lit light-emitting channels, the transient vertical field-of-view angle of the transmitter is made greater than the transient vertical field-of-view angle of the receiver; or, for another example, by increasing the number of simultaneously opened receiving channels, the transient vertical field-of-view angle of the transmitter is made less than the transient vertical field-of-view angle of the receiver. Whichever way is beneficial to improving the power of the system and improving the detection performance of the lidar.

[0211] The device provided by the embodiments of the present application will be described below.

[0212] The embodiments of the present application provide a detection device, which includes an array transmitter and an array receiver. The array transmitter is used to emit a transmission signal, and the array receiver is used to receive an echo signal corresponding to the transmission signal. This detection device is used to implement the foregoing detection method, such as the detection method in the foregoing Figure 9 、 Figure 16 illustrated embodiments.

[0213] The embodiments of the present application provide a lidar, which includes the foregoing detection device (such as Figure 1 the detection device 10 shown).

[0214] The embodiments of the present application further provide a terminal, which includes the foregoing detection device (such as Figure 1 the detection device 10 shown), or includes the foregoing lidar.

[0215] Optionally, the terminal can be an intelligent terminal or a means of transportation such as a vehicle, a drone, a robot, etc.

[0216] In the above embodiments of this article, the descriptions of the respective embodiments have their own emphases. For parts not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments. Additionally, in the various embodiments of the present application, if there is no special description and logical conflict, the terms and / or descriptions among the various embodiments are consistent and can be mutually referred to. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0217] It should be noted that those of ordinary skill in the art can see that all or part of the steps in the various methods of the above embodiments can be completed by instructing relevant hardware through a program, and the program can be stored in a computer-readable storage medium. The storage medium includes read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically-erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc memories, magnetic disc memories, tape memories, or any other medium that can be used to carry or store data and is computer-readable.

[0218] Essentially, or the part that makes a contribution, or all or part of the technical solution of this application can be embodied in the form of a software product. The computer program product is stored in a storage medium and includes several instructions to enable a device (which can be a personal computer, server, or network device, robot, single-chip microcomputer, chip, robot, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application.

Claims

1. A detection method, characterized in that, Applied to a detection device including an array transmitter and an array receiver, the array transmitter includes multiple rows of light-emitting channels, and the array receiver includes multiple rows of receiving channels. The method includes: Sequentially transmitting transmission signals through N rows of light-emitting channels arranged in the column direction in the array transmitter, and receiving echo signals of the transmission signals through N rows of receiving channels arranged in the column direction in the array receiver; Wherein, in the column direction of the array transmitter, the correspondence between the first to M-1 rows of light-emitting channels and the receiving channels in the column direction of the array receiver is different from the correspondence between the M to N rows of light-emitting channels and the receiving channels in the column direction of the array receiver, or, In the column direction of the array receiver, the correspondence between the first to M-1 rows of receiving channels and the light-emitting channels in the column direction of the array transmitter is different from the correspondence between the M to N rows of receiving channels and the light-emitting channels in the column direction of the array transmitter; Both M and N are positive integers greater than 2, and M is less than N.

2. The method according to claim 1, wherein The correspondence between the first to M-1 rows of light-emitting channels and the receiving channels in the column direction of the array receiver being different from the correspondence between the M to N rows of light-emitting channels and the receiving channels in the column direction of the array receiver includes: The first to M-1 rows of light-emitting channels respectively correspond to the first to M-1 rows of receiving channels among the N rows of receiving channels; The M to N rows of light-emitting channels respectively correspond to the M+1 to N rows of receiving channels among the N rows of receiving channels.

3. The method according to claim 1, characterized in that, The correspondence between the first to M-1 rows of light-emitting channels and the receiving channels in the column direction of the array receiver being different from the correspondence between the M to N rows of light-emitting channels and the receiving channels in the column direction of the array receiver includes: The first to M-1 rows of light-emitting channels respectively correspond to the first to M-1 rows of receiving channels among the N rows of receiving channels; The M to N rows of light-emitting channels respectively correspond to the M-1 to N-1 rows of receiving channels among the N rows of receiving channels.

4. The method according to claim 1, wherein The correspondence between the first to M-1 rows of receiving channels and the light-emitting channels in the column direction of the array transmitter being different from the correspondence between the M to N rows of receiving channels and the light-emitting channels in the column direction of the array transmitter includes: The first to M-1 rows of receiving channels respectively correspond to the first to M-1 rows of light-emitting channels among the N rows of light-emitting channels; The M to N rows of receiving channels respectively correspond to the M-1 to N-1 rows of light-emitting channels among the N rows of light-emitting channels.

5. The method according to claim 1, characterized in that, The correspondence between the first to M-1 rows of receiving channels and the light-emitting channels in the column direction of the array transmitter being different from the correspondence between the M to N rows of receiving channels and the light-emitting channels in the column direction of the array transmitter includes: The first to M-1 rows of receiving channels respectively correspond to the first to M-1 rows of light-emitting channels among the N rows of light-emitting channels; The M to N rows of receiving channels respectively correspond to the M+1 to N rows of light-emitting channels among the N rows of light-emitting channels.

6. The method according to claim 2 or 4, wherein The vertical field of view angle of the array transmitter is greater than the vertical field of view angle of the array receiver.

7. The method according to claim 3 or 5, wherein the vertical field of view angle of the array emitter is less than the vertical field of view angle of the array receiver.

8. The method according to any one of claims 1-7, wherein in the N rows of light-emitting channels, adjacent multiple rows of light-emitting channels emit light simultaneously to form a light-emitting area, and the receiving channels corresponding to the adjacent multiple rows of light-emitting channels in the N rows of receiving channels form a receiving area, and the receiving area includes adjacent multiple rows of receiving channels.

9. The method according to claim 8, wherein The ratio of the number of the light-emitting channels included in the light-emitting area to the number of the receiving channels included in the receiving area is a first value, and the first value is the ratio of the total number of the light-emitting channels included in the array emitter to the total number of the receiving channels included in the array receiver.

10. The method according to claim 8, wherein The first light-emitting area in the array emitter corresponds to the first receiving area in the array receiver, and the first light-emitting area and the first receiving area satisfy the following conditions: the ratio of the number of the light-emitting channels included in the first light-emitting area to the number of the receiving channels included in the first receiving area is greater than the first value; or the ratio of the number of the light-emitting channels included in the first light-emitting area to the number of the receiving channels included in the first receiving area is less than the first value; wherein, the first value is the ratio of the total number of the light-emitting channels included in the array emitter to the total number of the receiving channels included in the array receiver.

11. A detection method, characterized in that, Applied to a detection device including an array emitter and an array receiver, the array emitter includes A rows of light-emitting channels, the array receiver includes B rows of receiving channels, and the method includes: sequentially emitting emission signals through S light-emitting areas arranged in a column direction in the array emitter, and receiving echo signals of the emission signals through S receiving areas arranged in a column direction in the array receiver, and the i-th light-emitting area in the S light-emitting areas corresponds to the i-th receiving area in the S receiving areas; wherein, the ratio of the number of the light-emitting channels included in the i-th light-emitting area to the number of the receiving channels included in the i-th receiving area is greater than the ratio of A to B, or the ratio of the number of the light-emitting channels included in the i-th light-emitting area to the number of the receiving channels included in the i-th receiving area is less than the ratio of A to B, and A, B, S, and i are all positive integers, i is less than or equal to S, and S is less than A.

12. The method according to claim 11, wherein When the ratio of the number of the light-emitting channels included in the i-th light-emitting area to the number of the receiving channels included in the i-th receiving area is greater than the ratio of A to B, the light-emitting channels included in any two adjacent light-emitting areas in the S light-emitting areas have repetitions.

13. The method according to claim 11, wherein When the ratio of the number of the light-emitting channels included in the i-th light-emitting area to the number of the receiving channels included in the i-th receiving area is less than the ratio of A to B, the receiving channels included in any two adjacent receiving areas in the S receiving areas have repetitions.

14. The method according to any one of claims 11 - 13, characterized in that, The vertical field of view angle of the array transmitter is greater than that of the array receiver, or the vertical field of view angle of the array transmitter is less than that of the array receiver.

15. A detection device, characterized in that, The detection device includes an array transmitter and an array receiver. The array transmitter is configured to emit a transmission signal, and the array receiver is configured to receive an echo signal corresponding to the transmission signal. The detection device is configured to perform the method according to any one of claims 1-10, or perform the method according to any one of claims 11-14.

16. A lidar, characterized in that, The lidar includes the detection device according to claim 15.

17. A terminal, characterized in that, The terminal includes the detection device according to claim 15, or includes the lidar according to claim 16.

18. A computer-readable storage medium, characterized in that, Comprising computer instructions which, when run by a processor, implement the method according to any one of claims 1-10, or implement the method according to any one of claims 11-14.

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