A method and apparatus for detecting

Abstract

The application discloses a detection method and device, the method comprising: sequentially emitting a transmission signal through N rows of light-emitting channels arranged in a column direction in an array transmitter in the detection device, and receiving a return signal of the transmission signal through N rows of receiving channels arranged in the column direction in an array receiver in the detection device; wherein the corresponding relationship between the light-emitting channels of the array transmitter and the receiving channels of the array receiver is different in two parts, that is, the corresponding relationship between part of the light-emitting channels in the array transmitter and part of the receiving channels in the array receiver has changed. The detection method is applied to a scene where the vertical field of view angle of the array transmitter does not match the vertical field of view angle of the array receiver, can solve the problem of the mismatch between the transmission field of view and the receiving field of view 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 more particularly to a detection method and apparatus. Background Technology

[0002] Solid-state Flash LiDAR has been widely used due to its advantages such as lower cost, smaller size, and better stability. One-dimensional addressed Flash LiDAR scans the entire target surface by lighting and receiving data line by line in the horizontal or vertical direction through an array transmitter and array receiver.

[0003] The optical system of Flash LiDAR is mainly divided into a transmitting optical system and a receiving optical system. The transmitting optical system uses a transmitting optical lens to shape the laser emitted by the array transmitter and map the shaped laser onto the target field of view. The receiving optical system uses a receiving optical lens to receive the scattered light from the array transmitter into the target field of view and image it onto the target surface of the array receiver.

[0004] However, the manufacturing and installation tolerances of the transmitting and receiving optical lenses cause a mismatch in the transmitting and receiving fields of view of the Flash lidar, which reduces the detection efficiency of the array receiver and also affects the detection performance of the lidar. Summary of the Invention

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

[0006] In a first aspect, this application provides a detection method applied to a detection device including an array transmitter and an array receiver. The array transmitter includes multiple rows of illumination channels, and the array receiver includes multiple rows of receiving channels. The method includes: sequentially emitting a transmission signal through N rows of illumination channels arranged along the column direction in the array transmitter, and receiving the echo signal of the transmission signal through N rows of receiving channels arranged along the column direction in the array receiver.

[0007] Specifically, in the column direction of the array transmitter, the correspondence between the illumination channels in rows 1 to M-1 and the receiving channels in the column direction of the array receiver is different from the correspondence between the illumination channels in rows M to N 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 receiving channels in rows 1 to M-1 and the illumination channels in the column direction of the array transmitter is different from the correspondence between the receiving channels in rows M to N and the illumination channels in the column direction of the array transmitter; M and N are both positive integers greater than 2, and M is less than N.

[0008] For example, in the array transmitter, each row of illumination channels includes multiple light-emitting elements, and the number of light-emitting elements in each row of illumination channels is the same. In the array receiver, each row of receiving channels includes multiple detection elements, and the number of detection elements in each row of receiving channels is the same.

[0009] For example, the aforementioned N rows of lighting channels may be some of the lighting channels in an array emitter.

[0010] In one implementation, a transmission signal is emitted sequentially through N rows of illumination channels arranged along the column direction in an array transmitter, including: sequentially illuminating one row of illumination channels or multiple adjacent rows of illumination channels in the N rows of illumination channels along the column direction of the array transmitter to emit a transmission signal.

[0011] In the above method, within the detection device, the correspondence between the transmitter's illumination channels and the receiver's receiving channels is either twofold or partially different, meaning the correspondence between some illumination channels in the array transmitter and some receiving channels in the array receiver is altered. Thus, illumination channels are sequentially lit along the column direction of the array transmitter to emit a transmission signal, and the echo signal of this transmission signal is received by the corresponding receiving channel in the array receiver. This detection method is applicable to scenarios where the vertical field of view of the array transmitter and the array receiver do not match, solving the transceiver field-of-view mismatch problem of Flash LiDAR and 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 illumination 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 illumination channels and the receiving channels in the column direction of the array receiver, including: the first to M-1 rows of illumination channels respectively correspond to the first to M-1 rows of receiving channels in the N rows; the M to N rows of illumination channels respectively correspond to the M+1 to N rows of receiving channels in the N rows.

[0013] As an example, the first to M-1 rows of lighting channels correspond to the first to M-1 rows of receiving channels in the N rows of receiving channels, including: the j-th row of lighting channels corresponds to the j-th row of receiving channels, where j is an integer from 1 to M-1; the M to N rows of lighting channels correspond to the M+1 to N-th rows of receiving channels in the N rows of receiving channels, including: the M-th row of lighting channels corresponds to the M+1-th row of receiving channels, the M+1-th row of lighting channels corresponds to the M+2-th row of receiving channels, ..., the N-1-th row of lighting channels corresponds to the N-th row of receiving channels, and the N-th row of lighting channels corresponds to the N-th row of receiving channels.

[0014] In the above implementation, the row number of the lighting channel in rows M to N-1 is less than the row number of the receiving channel corresponding to that lighting channel. This is applied to scenarios where the vertical field of view of the array transmitter is greater than the vertical field of view of the array receiver. This can improve the matching degree between the vertical field of view of the lighting channel and the vertical field of view of the receiving channel, increase the energy received by the receiving channel, and solve the problem of mismatch between the transmitting and receiving fields of view of Flash LiDAR.

[0015] As another example, the lighting channels from row M to row N correspond to the receiving channels from row M+1 to row N of the above N receiving channels, including: the lighting channel from row M corresponds to the receiving channels from row (M+1) and row (M+2), the lighting channel from row M+1 corresponds to the receiving channels from row (M+2) and row (M+3), ..., the lighting channel from row N-2 corresponds to the receiving channels from row (N-1) and row N, the lighting channel from row N-1 corresponds to the receiving channels from row (N-2) and row (N-1), and the lighting channel from row N corresponds to the receiving channels from row (N-1) and row N.

[0016] Optionally, the correspondence between the first to M-1 rows of illumination 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 illumination channels and the receiving channels in the column direction of the array receiver, including: the first to M-1 rows of illumination channels respectively correspond to the first to M-1 rows of receiving channels in the N rows; the M to N rows of illumination channels respectively correspond to the M-1 to N-1 rows of receiving channels in the N rows.

[0017] As an example, the lighting channels from row 1 to row M-1 correspond to the receiving channels from row 1 to row M-1 of the above N receiving channels, including: the lighting channel from row j corresponds to the receiving channel from row j, where j is an integer from 1 to M-1; the lighting channels from row M to row N correspond to the receiving channels from row M-1 to row N-1 of the above N receiving channels, including: the lighting channel from row M corresponds to the receiving channel from row M-1, the lighting channel from row M+1 corresponds to the receiving channel from row M, ..., the lighting channel from row N-1 corresponds to the receiving channel from row N-2, and the lighting channel from row N corresponds to the receiving channel from row N-1.

[0018] In the above implementation, the row number of the lighting channel in rows M to N is greater than the row number of the corresponding receiving channel. This is applied to scenarios where the vertical field of view of the array transmitter is smaller than the vertical field of view of the array receiver. This can improve the matching degree between the vertical field of view of the lighting channel and the vertical field of view of the receiving channel, increase the energy received by the receiving channel, and solve the problem of mismatch between the transmitting and receiving fields of view of Flash LiDAR.

[0019] Optionally, the correspondence between the receiving channels in rows 1 to M-1 and the illumination channels in the column direction of the array transmitter is different from the correspondence between the receiving channels in rows M to N and the illumination channels in the column direction of the array transmitter. This includes: the receiving channels in rows 1 to M-1 respectively correspond to the illumination channels in rows 1 to M-1 of the N illumination channels; and the receiving channels in rows M to N respectively correspond to the illumination channels in rows M-1 to N-1 of the N illumination channels.

[0020] As an example, the receiving channels from row 1 to row M-1 correspond to the lighting channels from row 1 to row M-1 of the above N lighting channels, including: the receiving channel from row j corresponds to the lighting channel from row j, where j is an integer from 1 to M-1; the receiving channels from row M to row N correspond to the lighting channels from row M-1 to row N-1 of the above N lighting channels, including: the receiving channel from row M corresponds to the lighting channel from row M-1, the receiving channel from row M+1 corresponds to the lighting channel from row M, ..., the receiving channel from row N-1 corresponds to the lighting channel from row N-2, and the receiving channel from row N corresponds to the lighting channel from row N-1.

[0021] In the above implementation, the row number of the receiving channel in rows M to N is greater than the row number of the corresponding lighting channel. This is applied to scenarios where the vertical field of view of the array transmitter is greater than the vertical field of view of the array receiver. This can improve the matching degree between the vertical field of view of the lighting channel and the vertical field of view of the receiving channel, increase the energy received by the receiving channel, and solve the problem of mismatch between the transmitting and receiving fields of view of Flash LiDAR.

[0022] Optionally, the correspondence between the receiving channels in rows 1 to M-1 and the illumination channels in the column direction of the array transmitter is different from the correspondence between the receiving channels in rows M to N and the illumination channels in the column direction of the array transmitter. This includes: the receiving channels in rows 1 to M-1 correspond to the illumination channels in rows 1 to M-1 of the N illumination channels; and the receiving channels in rows M to N correspond to the illumination channels in rows M+1 to N of the N illumination channels.

[0023] As an example, the receiving channels from row 1 to row M-1 correspond to the lighting channels from row 1 to row M-1 of the above N lighting channels, including: the receiving channel from row j corresponds to the lighting channel from row j, where j is an integer from 1 to M-1; the receiving channels from row M to row N correspond to the lighting channels from row M+1 to row N of the above N lighting channels, including: the receiving channel from row M corresponds to the lighting channel from row M+1, the receiving channel from row M+1 corresponds to the lighting channel from row M+2, ..., the receiving channel from row N-1 corresponds to the lighting channel from row N, and the receiving channel from row N corresponds to the lighting channel from row N.

[0024] In the above implementation, the row number of the receiving channel in rows M to N-1 is less than the row number of the corresponding lighting channel. This is applied to scenarios where the vertical field of view of the array transmitter is less than the vertical field of view of the array receiver. This can improve the matching degree between the vertical field of view of the lighting channel and the vertical field of view of the receiving channel, increase the energy received by the receiving channel, and solve the problem of mismatch between the transmitting and receiving fields of view of Flash LiDAR.

[0025] Optionally, in the N rows of lighting channels, adjacent multiple rows of lighting channels emit light simultaneously to form a lighting area, and in the N rows of receiving channels, the receiving channels corresponding to the adjacent multiple rows of lighting channels form a receiving area, and the receiving area includes the adjacent multiple rows of receiving channels.

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

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

[0028] For example, when the first value is 1, it means that the total number of rows of lighting channels included in the array transmitter is equal to the total number of rows of receiving channels included in the array receiver. That is, although the correspondence between some lighting channels in the array transmitter and some receiving channels in the array receiver has been changed, the number of lighting 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 transmitter corresponds to the first receiving area in the array receiver, and the first light-emitting area and the first receiving area satisfy the following condition: the ratio of the number of illumination channels included in the first light-emitting area to the number of receiving channels included in the first receiving area is greater than a first value; or the ratio of the number of illumination channels included in the first light-emitting area to the number of receiving channels included in the first receiving area is less than a first value; wherein, the first value is the ratio of the total number of rows of illumination channels included in the array transmitter to the total number of rows of receiving channels included in the array receiver.

[0030] In the above implementation, if the ratio of the number of illumination channels in the first emitting region to the number of receiving channels in the first receiving region is greater than a first value, it means that the vertical field of view of the first emitting region is greater than the vertical field of view of the first receiving region. This results in increased energy emitted by the first emitting region and a wider emission angle, thereby increasing the system power and improving the detection performance of the lidar. Conversely, if the ratio of the number of illumination channels in the first emitting region to the number of receiving channels in the first receiving region is less than a first value, it means that the vertical field of view of the first receiving region is greater than the vertical field of view of the first emitting region. This results in increased energy received by the receiving region, further increasing the system power and improving the detection performance of the lidar.

[0031] Secondly, this application provides a detection method applied to a detection device including an array transmitter and an array receiver. The array transmitter includes an A-row illumination channel, and the array receiver includes a B-row receiving channel. The method includes: sequentially emitting a transmission signal through S emitting regions arranged along the column direction in the array transmitter, and receiving the echo signal of the transmission signal through S receiving regions arranged along the column direction in the array receiver. The i-th emitting region in the S emitting regions corresponds to the i-th receiving region in the S receiving regions.

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

[0033] For example, each light-emitting area includes multiple adjacent rows of lighting channels, and the lighting channels in the light-emitting area belong to the aforementioned row A lighting channels.

[0034] For example, A equals B, or A is a multiple of B.

[0035] In the above method, the ratio of the number of light-emitting channels in the emitting area of ​​the transmitter to the number of receiving channels in the corresponding receiving area of ​​the receiver is not the ratio of A to B mentioned above. When the detection device is applied to a scenario where the vertical field of view of the array transmitter and the vertical field of view of the array receiver do not match (i.e. are not equal), it can improve the power of the system and also help improve the detection performance of the lidar.

[0036] Optionally, if the ratio of the number of lighting channels in the i-th light-emitting region to the number of receiving channels in the i-th receiving region is greater than the ratio of A to B, then any two adjacent light-emitting regions in the S light-emitting regions may have overlapping lighting channels.

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

[0038] Optionally, if the ratio of the number of light-emitting channels in the i-th light-emitting region to the number of receiving channels in the i-th receiving region is less than the ratio of A to B, then any two adjacent receiving regions in the S receiving regions may have overlapping receiving channels.

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

[0040] Thirdly, this 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 an echo signal corresponding to the transmission signal. The detection device is used to perform the method in the first aspect or any possible implementation of the first aspect, or to perform the method in the second aspect or any possible implementation of the second aspect.

[0041] Fourthly, this application provides a lidar, which includes the detection device described in the third aspect above.

[0042] Fifthly, this application provides a terminal that includes the detection device described in the third aspect, or the lidar described in the fourth aspect.

[0043] Optionally, the terminal can be a smart terminal or transportation tool such as a vehicle, drone, or robot.

[0044] In a sixth aspect, this application provides a computer-readable storage medium including computer instructions that, when executed by a processor, implement the method in the first aspect or any possible implementation thereof, or implement the method in the second aspect or any possible implementation thereof. Attached Figure Description

[0045] Figure 1 This is a schematic diagram of the architecture of a detection device provided in an embodiment of this application;

[0046] Figure 2 This is a schematic diagram of an array transmitter provided in an embodiment of this application;

[0047] Figure 3 This is a schematic diagram of an array transmitter provided in an embodiment of this application;

[0048] Figure 4 This is a schematic diagram of the light-emitting area of ​​an array emitter provided in an embodiment of this application;

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

[0050] Figure 5B This is a schematic diagram of the operating scenario of another detection device provided in the embodiments of this application;

[0051] Figure 6 This is a schematic diagram of the configuration of a detection device under field-of-view mismatch provided in an embodiment of this application;

[0052] Figure 7 This is a schematic diagram showing the distribution of the vertical field of view of the emitting area and the vertical field of view of the receiving area of ​​a detection device provided in this application embodiment when there is a field of view mismatch;

[0053] Figure 8 This is a schematic diagram showing the vertical field of view of some light-emitting areas and the vertical field of view of some receiving areas provided in the embodiments of this application;

[0054] Figure 9 This is a flowchart of a detection method provided in an embodiment of this application;

[0055] Figure 10 This is a schematic diagram showing the correspondence between the light-emitting channel of the transmitter and the receiving channel of the receiver in a detection device provided in an embodiment of this application;

[0056] Figure 11 This is a schematic diagram showing the correspondence between the light-emitting channel of the transmitter and the receiving channel of the receiver in another detection device provided in this application embodiment;

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

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

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

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

[0061] Figure 16 This is a flowchart of yet another detection method provided in the embodiments of this application;

[0062] Figure 17 This is a schematic diagram illustrating the correspondence between the light-emitting channel in the light-emitting area of ​​a transmitter and the receiving channel in the receiving area of ​​a receiver, according to an embodiment of this application.

[0063] Figure 18 This is a schematic diagram illustrating the correspondence between the light-emitting channel in the light-emitting area of ​​a transmitter and the receiving channel in the receiving area of ​​a receiver, according to an embodiment of this application. Detailed Implementation

[0064] It should be noted that the prefixes such as "first" and "second" used in this application are merely for distinguishing different descriptive objects and do not impose any limitations on the position, order, priority, quantity, or content of the described objects. For example, if the described object is a "field," then the ordinal numbers before "field" in "first field" and "second field" do not restrict the position or order of the "fields," nor do "first" and "second" restrict whether the "fields" they modify are in the same message, nor do they restrict the order of "first field" and "second field." Similarly, if the described object is a "level," then the ordinal numbers before "level" in "first level" and "second level" do not restrict the priority of the "levels." Furthermore, the number of described objects is not limited by the prefixes and can be one or more; for example, in "first device," the number of "devices" can be one or more. Furthermore, the objects modified by different prefixes can be the same or different. For example, if the object being described is "device," then "first device" and "second device" can be the same device, devices of the same type, or devices of different types. Similarly, if the object being described is "information," then "first information" and "second information" can be information with the same content or information with different content. In summary, the use of prefixes to distinguish the objects being described in the embodiments of this application does not constitute a limitation on the objects being described. The description of the objects being described is based on the claims or the context of the embodiments, and should not constitute an unnecessary limitation due to the use of such prefixes.

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

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

[0067] See Figure 1 , Figure 1 This is a schematic diagram of a possible detection device provided in an embodiment of this application. The detection device 10 includes a transmitter 101 and a receiver 102. Optionally, the detection device 10 may also include one or more of the following: a controller 103, a modulator 104, a filter 105, and a signal processing module 106. Multiple modules of the detection device can be connected via wired and / or wireless means. The following provides an exemplary description of each module:

[0068] (1) The transmitter 101 is used to generate a laser signal. For example, the transmitter 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 laser diode (GCSR-LD), or a micro opto-electromechanical system laser diode (MOEMS-LD) or other types of light-emitting elements.

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

[0070] Optionally, when the transmitter 101 includes multiple light-emitting elements, the multiple light-emitting elements can be arranged in an array. In this case, the transmitter can be called an array transmitter (or a flash transmitter). This application embodiment does not limit the rules for the array. In specific implementation, the array transmitter can be, for example, a 1×10 array, a 2×5 array, or an 8×9 array, etc.

[0071] See Figure 2 , Figure 2 This is a schematic diagram of a possible array emitter provided in an embodiment of this application. The emitter 101 comprises an 8×8 array light source consisting of 64 light-emitting elements. Figure 2 In the transmitter 101, each small square represents a light-emitting element 201. During transmission, one or more light-emitting elements in the transmitter 101 emit light signals, which are then transmitted into the field of view through the transmitting optical system 202.

[0072] Based on the illumination method (or lighting method) of the transmitter, array transmitters include multiple rows of illumination channels (i.e., illuminating row by row) or multiple columns of illumination channels (i.e., illuminating column by column). See also Figure 3 , Figure 3 This is a schematic diagram of a possible array transmitter provided in an embodiment of this application. Figure 3As can be seen, the array emitter includes 8 rows of light-emitting channels, including the first row of light-emitting channels (hereinafter referred to as light-emitting channel 1, where "1" is the row number of the light-emitting channel), the second row of light-emitting channels (hereinafter referred to as light-emitting channel 2), ..., the eighth row of light-emitting channels (hereinafter referred to as light-emitting channel 8), and each row of light-emitting channels contains a corresponding light-emitting element. Figure 3 Each circle in the diagram can be represented as a single light-emitting element, or as multiple light-emitting elements arranged in an array. For example, in... Figure 3 In this embodiment, if each circle represents a 2x2 array of light-emitting elements, then each row of illumination channels contains a 2x16 array of light-emitting elements. This application does not specifically limit the number of light-emitting elements contained in each illumination channel.

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

[0074] For example, the array emitter includes multiple light-emitting regions. These multiple light-emitting regions are arranged sequentially along the column direction of the array emitter. The laser signal emitted by each light-emitting region is projected into the field of view through a transmitting optical system.

[0075] See Figure 4 , Figure 4 This is a schematic diagram of the light-emitting area of ​​an array emitter provided in an embodiment of this application. Assuming that along the column direction of the array emitter, two rows of illumination channels are simultaneously lit each time, and the illumination channels of two adjacent illuminations do not overlap, then based on... Figure 3 The array emitter shown includes four light-emitting areas, such as Figure 4 As shown, these four light-emitting regions are arranged sequentially along the column direction of the array emitter. Each light-emitting region includes two adjacent rows of illumination channels, and for any two adjacent light-emitting regions, the illumination channels do not overlap. Figure 4 Taking the first light-emitting area as light-emitting area 1 as an example, light-emitting area 1 includes the aforementioned lighting channel 1 and lighting channel 2. Correspondingly, light-emitting area 2 includes the aforementioned lighting channel 3 and lighting channel 4, light-emitting area 3 includes the aforementioned lighting channel 5 and lighting channel 6, and light-emitting area 4 includes the aforementioned lighting channel 7 and lighting channel 8.

[0076] here, Figure 4 This is merely one example of a light-emitting area of ​​an array emitter, and does not limit the number of light-emitting areas or the number of illumination channels contained within those areas. Figure 4 As shown, whether the number of lighting channels in different light-emitting areas is the same depends on whether the number of lighting channels lit up simultaneously each time is the same.

[0077] In some possible embodiments, the lighting channels of two adjacent light-emitting regions may overlap. For example, lighting channels 1 and 2 are illuminated for the first time to form light-emitting region 1, lighting channels 2 and 3 are illuminated for the second time to form light-emitting region 3, lighting channels 3 and 4 are illuminated for the third time, and so on. Figure 3 The array emitter shown can form 7 light-emitting areas.

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

[0079] For example, 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), an electron multiplying charge-coupled device (EMCCD), or other types of detection elements.

[0080] When the light signal illuminating the detection area through the transmitting 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, which converts the light signal into an electrical signal.

[0081] Optionally, when the receiver contains multiple detection elements, these elements can be arranged in an array, in which case the receiver can also be called an array receiver (or array detector). For example, it can be an array of specifications such as a 1×10 array or a 20×10 array. This application does not limit the number of rows and columns of the array arrangement. As one possible implementation, the receiver 102 can specifically be a SPAD array or a SiPM array, etc.

[0082] For example, when the transmitter 101 includes multiple rows of illumination channels, the receiver 102 includes multiple rows of receiving channels; when the transmitter 101 includes multiple columns of illumination channels, the receiver 102 includes multiple columns of receiving channels.

[0083] Here, taking the example of transmitter 101 having multiple rows of lighting channels and receiver 102 having multiple rows of receiving channels, there is a correspondence between the lighting channels in the transmitter and the receiving channels in the transmitter. This correspondence is related to the total number of rows of lighting channels in the transmitter and the total number of rows of receiving channels in the receiver. This correspondence can be one-to-one, one-to-many, or many-to-one, and is not specifically limited here.

[0084] In one implementation, the total number of rows of the transmitter's illumination channels is the same as the total number of rows of the receiver's reception channels. In another implementation, the total number of rows of the transmitter's illumination channels is a multiple of the total number of rows of the receiver's reception channels.

[0085] As an example, a transmitter includes 90 rows of lighting channels and a receiver includes 90 rows of receiving channels. Both the vertical field of view of the transmitter and the receiver are 90 degrees. The vertical field of view of each row of lighting channels is 1 degree, and the vertical field of view of each row of receiving channels is 1 degree. Therefore, one row of lighting channels in the transmitter corresponds to one row of receiving channels in the receiver. For example, the first row of lighting channels in the transmitter corresponds to the first row of receiving channels in the receiver, the second row of lighting channels in the transmitter corresponds to the second row of receiving channels in the receiver, and so on, until the 90th row of lighting channels in the transmitter corresponds to the 90th row of receiving channels in the receiver.

[0086] As another example, the transmitter includes 45 rows of lighting channels and the receiver includes 90 rows of receiving channels. Both the transmitter's and receiver's vertical field of view are 90 degrees. The vertical field of view of each row of lighting channels is 2 degrees and the vertical field of view of each row of receiving channels is 1 degree. Therefore, one row of lighting channels in the transmitter corresponds to two rows of receiving channels in the receiver. For example, the first row of lighting channels in the transmitter corresponds to the first and second rows of receiving channels in the receiver; the second row of lighting channels in the transmitter corresponds to the second and third rows of receiving channels in the receiver; and so on, until the 45th row of lighting channels in the transmitter corresponds to the 89th and 90th rows of receiving channels in the receiver.

[0087] Because there is a correspondence between the light-emitting channels of the transmitter and the receiving channels of the receiver, when multiple adjacent rows of light-emitting channels emit light simultaneously to form a light-emitting area, a corresponding receiving channel forms a receiving area. This receiving area includes one row of receiving channels or multiple adjacent rows of receiving channels. This receiving area is used to receive the echo signal of the laser signal emitted by the light-emitting area. In other words, the light-emitting area of ​​the transmitter and the receiving area of ​​the receiver are in one-to-one correspondence.

[0088] For example, when the array transmitter includes multiple light-emitting areas arranged sequentially along the column direction of the array transmitter, the array receiver includes multiple receiving areas arranged sequentially along the column direction of the array receiver.

[0089] Here, the receiving channel, receiving area, etc. of the array receiver can be similarly referred to the above. Figure 3 The array emitter's illumination channel and Figure 4 The description of the light-emitting area of ​​the array emitter shown is omitted here for the sake of brevity.

[0090] See Figure 5A , Figure 5A This is a schematic diagram of the operation scenario of a detection device provided in an embodiment of this application. The transmitter within the detection device is an array transmitter. Figure 5A It can be seen that the array transmitter has S (S is a positive integer) emitting regions arranged sequentially along the column direction of the array transmitter, and the array receiver has S receiving regions arranged sequentially along the column direction of the array receiver. The i-th emitting region corresponds to the i-th receiving region, where i is an integer from 1 to S. The i-th emitting region of the array transmitter emits a transmitted signal, and correspondingly, the i-th receiving region of the array receiver receives the echo signal of that transmitted signal. Here, Figure 5A The operating scenario of the detection device shown is only an example and does not limit the array transmitter in the detection device to operate only in a row-by-row lighting manner.

[0091] See Figure 5B , Figure 5B This is a schematic diagram illustrating the operation of another detection device provided in this application embodiment, wherein the transmitter within the detection device is an array transmitter. Figure 5B It can be seen that the array transmitter has S emitting regions arranged sequentially along the row direction of the array transmitter, and the array receiver has S receiving regions arranged sequentially along the row direction of the array receiver. The i-th emitting region corresponds to the i-th receiving region, where i is an integer from 1 to S. Figure 5B The array transmitters in the detection device shown operate by lighting up column by column.

[0092] (3) The controller is used to generate control signals to control other modules to perform their functions.

[0093] For example, the controller can select some of the detector elements in the array receiver by controlling the control signal, and the selected detector elements can obtain electrical signals based on optical signals.

[0094] For example, the controller can control some of the light-emitting elements in the array transmitter to emit light at a certain time by controlling the control signal.

[0095] Optionally, filters, signal processing modules, etc., are used to process the received echo signal. For example, filters include, but are not limited to, finite impulse response (FIR) filters, infinite impulse response (IIR) filters, low-pass filters, or band-pass filters. For example, signal processing modules perform signal processing including, but not limited to, one or more of the following: analog-to-digital conversion, time-to-digital conversion, signal detection, Time-of-Flight (TOF) extraction, distance compensation, and reflectivity compensation.

[0096] In addition, the detection device also includes one or more optical elements, such as Figure 4 The receiving optical system and the transmitting optical system are shown. The optical elements include, but are not limited to, collimating mirrors, lenses, filters, beam splitters, light homogenizers, mirrors, rotating mirrors, tilting mirrors, or micro-mirrors, etc. This application does not limit the number or placement of the optical elements.

[0097] In this embodiment of the application, the array transmitter illuminates line by line (e.g. Figure 5A The example provided illustrates the solution. In this case, the aforementioned transceiver field-of-view mismatch refers to the mismatch between the vertical field of view of the array transmitter and the vertical field of view of the array receiver. However, this does not limit the embodiments of this application to only [specific examples]. Figure 5A The operating scenarios shown also apply to scenarios where the array transmitter operates by lighting up columns one by one (e.g.) Figure 5B As shown in the figure, in this case, the above-mentioned transceiver field of view mismatch refers to the mismatch between the horizontal field of view of the array transmitter and the horizontal field of view of the array receiver.

[0098] Before introducing the detection method provided in the embodiments of this application, let's first describe the correspondence between the illumination channel of the array transmitter and the receiving channel of the array receiver when there is no mismatch between the vertical field of view (TX_FOV) of the array transmitter and the vertical field of view (RX_FOV) of the array receiver (i.e., TX_FOV = RX_FOV). For example, see [link to relevant documentation]. Figure 6 As shown.

[0099] See Figure 6 , Figure 6 This is a schematic diagram illustrating the configuration of a detection device under field-of-view mismatch conditions provided in an embodiment of this application. Figure 6In this example, we take an array transmitter with 40 rows of lighting channels and an array receiver with 40 rows of receiving channels. Assuming the vertical field of view (FOV) of the array transmitter matches the vertical FOV of the array receiver (e.g., TX_FOV = RX_FOV = 80 degrees), then the vertical FOV of each row of lighting channels is the same as the vertical FOV of each row of receiving channels, both being 2 degrees. It can be seen that the correspondence between the lighting channels of the array transmitter and the receiving channels of the array receiver is one-to-one, specifically: the 1st row of lighting channels corresponds to the 1st row of receiving channels, the 2nd row of lighting channels corresponds to the 2nd row of receiving channels, ..., the 40th row of lighting channels corresponds to the 40th row of receiving channels.

[0100] Furthermore, assuming the array transmitter illuminates two rows of illumination channels along the column direction to form a light-emitting area, similarly, the array receiver has two corresponding rows of receiving channels along the column direction to form a receiving area. Figure 6 As shown in the mapping table, there is no overlap in the illumination channels of two adjacent illuminations. To achieve a detection with a vertical field of view of 80 degrees, the array transmitter has 20 emitting areas and the array receiver has 20 receiving areas. The vertical field of view of each emitting area is 4 degrees, and the vertical field of view of each receiving area is also 4 degrees. For the correspondence between the row numbers of the illumination channels in the emitting areas and the row numbers of the receiving channels in the receiving areas, please refer to [reference needed]. Figure 6 The mapping table shown represents the sequence number i, the row number of the lighting channel in the i-th emitting region, and the row number of the receiving channel in the i-th receiving region. Taking the correspondence "1-(1,2)-(1,2)" as an example, it means that the first emitting region includes the first row of lighting channels and the second row of lighting channels, and the first receiving region includes the first row of receiving channels and the second row of receiving channels.

[0101] Figure 6 The mapping table shown is only an example. In some possible embodiments, when the number of lighting channels lit simultaneously is 2, adjacent light-emitting areas may have overlapping lighting channels, for example... Figure 6 The correspondence "2-(3, 4)-(3, 4)" in the mapping table shown can be transformed into "2-(2, 3)-(2, 3)", meaning that the second emitting 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 simultaneously each time is 3, 4, or other values, compared to... Figure 6 The mapping table shown will change the number of illumination channels and the row number of the illumination channels in the emitting area. Correspondingly, the number of receiving channels and the row number of the receiving channels in the corresponding receiving area will change, and the number of emitting areas may change.

[0102] Assuming each illumination channel has an energy of 1 and is uniformly distributed within the angular space, and the target's reflectivity is 'a', since there is no mismatch between the vertical field of view of the array transmitter and the vertical field of view of the array receiver, based on... Figure 6 The two-dimensional planar diagram showing the sequence number and received energy indicates that the received energy of each receiving region can be stably maintained at 2a.

[0103] In addition, by Figure 6 As shown in the two-dimensional planar diagram of the serial number and vertical angle, the vertical field of view of each emitting region is the same as that of each receiving region, both being 4 degrees. Therefore, the vertical distribution of TX (representing the transmitter) and RX (representing the receiver) completely overlaps in the vertical angle, and the vertical field of view of each emitting region perfectly matches the vertical field of view of the corresponding receiving region. Based on Figure 6 The mapping table shown is configured such that when the transmitter's vertical field of view is greater than the receiver's vertical field of view (e.g., transmitter's vertical field of view = 81 degrees, receiver's vertical field of view = 80 degrees), the two-dimensional planar diagram between the serial number and the vertical angle is, for example, visible. Figure 7 From (1), it can be seen that the vertical distribution of TX and RX is not completely coincident. As the index i increases, the difference between the vertical field of view of the i-th emitting region and the vertical field of view of the i-th receiving region becomes larger and larger. Based on Figure 6 The mapping table shown is configured such that when the transmitter's vertical field of view is smaller than the receiver's vertical field of view (e.g., transmitter's vertical field of view = 80 degrees, receiver's vertical field of view = 81 degrees), the two-dimensional planar diagram between the serial number and the vertical angle is, for example, visible. Figure 7 As can be seen from (2), the distribution of TX in the vertical angle is not completely coincident with the distribution of RX in the vertical angle. As the number i increases, the difference between the vertical field of view of the i-th emitting region and the vertical field of view of the i-th receiving region becomes larger and larger.

[0104] Whether the transmitter's vertical field of view is greater than the receiver's vertical field of view, or the transmitter's vertical field of view is less than the receiver's vertical field of view, both situations constitute a mismatch between the transmitter's and receiver's vertical field of view, which will lead to at least some of the receiver's multiple receiving areas experiencing received energy attenuation.

[0105] The correspondence between the vertical field of view of the emitting region and the vertical field of view of the receiving region can be found in [reference needed]. Figure 8 , Figure 8 This is a schematic diagram of the vertical field of view of some light-emitting areas and the vertical field of view of the receiving areas provided in the embodiments of this application. Figure 8 In China, based on Figure 6The mapping table shown is configured such that, taking i=P as an example, the Pth emitting region corresponds to the Pth receiving region. The Pth emitting region includes the rth row of the illumination channel and the (r+1)th row of the illumination channel, and the Pth receiving region includes the rth row of the receiving channel and the (r+1)th row of the receiving channel. Figure 8 (1) shows the correspondence between the vertical field of view of the P-th emitting region and the vertical field of view of the P-th receiving region when the vertical field of view of the transmitter matches the vertical field of view of the receiver. Figure 8 (2) shows the correspondence between the vertical field of view of the P-th emitting region and the vertical field of view of the P-th receiving region when the vertical field of view of the transmitter is greater than that of the receiver. Figure 8 (3) shows the correspondence between the vertical field of view of the Pth emitting region and the vertical field of view of the Pth receiving region when the vertical field of view of the transmitter is smaller than that of the receiver. Figure 8 (2) and Figure 8 (3) will cause the received energy of the Pth receiving area to be lower than the lower limit of energy, affecting the detection performance of the lidar.

[0106] For example, in the case where the vertical field of view of the transmitter does not match the vertical field of view of the receiver, assuming based on Figure 6 The mapping table configuration shown, as determined through lidar usage tests, indicates that starting from i = P, the energy of the echo signal received in the i-th receiving area is less than the lower energy limit. To address this issue, based on the principle of altering the correspondence between some of the illumination channels in the array transmitter and some of the receiving channels in the array receiver, this application proposes several compensation schemes:

[0107] Compensation Scheme 1: Adjust the gating timing of the receiving channel;

[0108] Compensation Option 2: Adjust the lighting sequence of the lighting channel;

[0109] Compensation Plan 3: Increase the number of lighting channels that are lit simultaneously; and

[0110] Compensation Plan 4: Increase the number of receiving channels that are open simultaneously.

[0111] Based on compensation scheme 1 or 2, when the transmit / receive mismatch reaches a certain level, the matching degree between the vertical field of view of the emitting area and the corresponding vertical field of view of the receiving area can be improved as much as possible, thereby increasing the received energy of the receiving area. Based on compensation scheme 3, it can be ensured that the transient vertical field of view of the array transmitter is greater than that of the array receiver. The more energy emitted by the emitting area of ​​the array transmitter, the wider the corresponding emission angle. Although the mismatch problem still exists, it can improve the system power and enhance the detection performance of the lidar. Based on compensation scheme 4, it can be ensured that the transient vertical field of view of the array receiver is greater than that of the array transmitter. The larger vertical field of view of the receiving area of ​​the array receiver can improve the system power and enhance the detection performance of the lidar.

[0112] The application of the above compensation plan is explained in detail below.

[0113] See Figure 9 , Figure 9 This is a flowchart illustrating a detection method provided in an embodiment of this application. The method is applied to a detection device including an array transmitter and an array receiver (e.g., Figure 1 The detection device 10 shown includes an array transmitter comprising multiple rows of illumination channels and an array receiver comprising multiple rows of reception channels. The method includes, but is not limited to, the following steps:

[0114] S901: Transmit signals sequentially through N rows of light-emitting channels arranged along the column direction in the array transmitter.

[0115] For example, the aforementioned N rows of lighting channels may be some of the lighting channels in the multiple rows of lighting channels of the array transmitter.

[0116] For example, if the total number of rows of the lighting channels included in the array transmitter is A, then N is less than or equal to A, where N is a positive integer greater than 2.

[0117] In one implementation, a transmission signal is sequentially emitted through N rows of illumination channels arranged along the column direction in an array transmitter. This includes: sequentially illuminating one row of illumination channels or multiple adjacent rows of illumination channels in the N rows of illumination channels along the column direction of the array transmitter to emit the transmission signal. For example, "sequentially" is understood as illuminating the illumination channels in a preset order.

[0118] For example, to sequentially illuminate one row of lighting channels out of N rows, you can refer to the following illumination methods 1-3:

[0119] Lighting up method 1:

[0120] The first time the first row of lighting channels is lit, the second time the second row of lighting channels is lit, ..., the Nth time the Nth row of lighting channels is lit.

[0121] Lighting up method 2:

[0122] The first time the first row of lighting channels is lit, the second time the second row of lighting channels is lit, ..., the jth time the jth row of lighting channels is lit, the (j+1)th time the jth row of lighting channels is lit, the (j+2)th time the (j+1)th row of lighting channels is lit, ..., the (N+1)th time the Nth row of lighting channels is lit.

[0123] It can be seen that in lighting mode 2, when the lighting channels are lit sequentially, a certain row (e.g., row j) of lighting channels can be lit multiple times in a row.

[0124] Lighting up method 3:

[0125] The first time the first row of lighting channels is lit, the second time the second row of lighting channels is lit, ..., the (j-1)th time the (j-1)th row of lighting channels is lit, the j+1th time the j+1th row of lighting channels is lit, the j+1th time the j+2th row of lighting channels is lit, ..., the (N-1)th time the Nth row of lighting channels is lit.

[0126] It can be seen that in lighting mode 3, when the above N rows of lighting channels are lit in sequence, a certain row (e.g., the j-th row) of lighting channels can be skipped and not lit.

[0127] For example, to sequentially illuminate multiple adjacent rows of lighting channels in N rows of lighting channels, you can refer to the following illumination methods one through four:

[0128] Lighting up method 1:

[0129] The first time, the first and second lighting channels are lit simultaneously; the second time, the third and fourth lighting channels are lit simultaneously; the third time, the fifth and sixth lighting channels are lit simultaneously; ..., the j-th time, the (2j-1) and 2j-th lighting channels are lit simultaneously; ..., and so on, until the N-th lighting channel is lit. Here, the number of lighting channels lit each time is not limited to 2; it can also be 3, 4, or other values.

[0130] In other words, in lighting mode one, multiple adjacent lighting channels are lit up simultaneously each time, and the lighting channels lit up in two adjacent sessions do not overlap.

[0131] Method 2 for lighting up:

[0132] The first time, the lighting channels of rows 1, 2, and 3 are lit up simultaneously. The second time, the lighting channels of rows 2, 3, and 4 are lit up simultaneously. The third time, the lighting channels of rows 3, 4, and 5 are lit up simultaneously. The j-th time, the lighting channels of rows j, (j+1), and (j+2) are lit up simultaneously. The process continues until the lighting channel of row N is lit up.

[0133] In other words, in lighting method two, multiple adjacent lighting channels are lit up simultaneously each time, and there is overlap in the lighting channels lit up in two adjacent lighting cycles.

[0134] Lighting up method three:

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

[0136] As can be seen, in lighting mode three, when the lighting channels are lit sequentially, a certain row (e.g., row 2j) of the lighting channels can be lit multiple times in a row.

[0137] Lighting up method four:

[0138] The first time, the first and second rows of lighting channels are lit simultaneously. The second time, the third and fourth rows of lighting channels are lit simultaneously. The third time, the fifth and sixth rows of lighting channels are lit simultaneously. ... The j-th time, the (2j-1) and 2j-th rows of lighting channels are lit simultaneously. The (j+1)-th row of lighting channels is lit simultaneously. The (j+2)-th row of lighting channels is lit simultaneously. The (j+2)-th row of lighting channels is lit simultaneously. ... and so on, until the N-th row of lighting channels is lit.

[0139] As can be seen, in lighting mode four, when the lighting channels are lit sequentially, it is possible to skip a certain row (e.g., row 2j+1) of the lighting channels without lighting them. Here, it is not limited to skipping only one row of lighting channels; in some possible embodiments, it is also possible to skip multiple consecutive rows of lighting channels without lighting them.

[0140] In one implementation, among the aforementioned N rows of lighting channels, multiple adjacent rows of lighting channels emit light simultaneously (i.e., are lit up at the same time) to form a luminous area, that is, the luminous area includes multiple adjacent rows of lighting channels.

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

[0142] In this embodiment of the application, since there is a correspondence between the illumination channel of the array transmitter and the receiving channel of the array receiver, when the illumination channel of the array transmitter emits a transmission signal, the corresponding receiving channel of the array receiver receives the echo signal of the transmission signal.

[0143] In one implementation, the correspondence between the illumination channels in rows 1 to M-1 of the array transmitter and the receiving channels in the column direction of the array receiver is different from the correspondence between the illumination channels in rows M to N 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 lighting channels in rows 1 to M-1 and the receiving channels in the column direction of the array receiver is different from the correspondence between the lighting channels in rows M to N and the receiving channels in the column direction of the array receiver. Specifically, the lighting channels in rows 1 to M-1 correspond to the receiving channels in rows 1 to M-1 of the aforementioned N receiving channels, and the lighting channels in rows M to N correspond to the receiving channels in rows M+1 to N of the aforementioned N receiving channels.

[0145] For example, the lighting channels in rows 1 to M-1 correspond to the receiving channels in rows 1 to M-1 of the aforementioned N receiving channels, including: a one-to-one correspondence between the lighting channels in rows 1 to M-1 and the receiving channels in rows 1 to M-1, that is, the lighting channel in row 1 corresponds to the receiving channel in row 1, the lighting channel in row 2 corresponds to the receiving channel in row 2, ..., the lighting channel in row j corresponds to the receiving channel in row j, ..., the lighting channel in row M-1 corresponds to the receiving channel in row M-1. The lighting channels in rows M to N correspond to the receiving channels in rows M+1 to N of the aforementioned N receiving channels, including: the lighting channel in row M corresponds to the receiving channel in row M+1, the lighting channel in row M+1 corresponds to the receiving channel in row M+2, ..., the lighting channel in row N-1 corresponds to the receiving channel in row N, and the lighting channel in row N corresponds to the receiving channel in row N.

[0146] See Figure 10 , Figure 10 This is a schematic diagram illustrating the correspondence between the light-emitting channel of the transmitter and the receiving channel of the receiver in a detection device provided in this application embodiment. Based on Figure 6 As shown in the mapping table, when the vertical field of view of the transmitter is detected to be greater than that of the receiver, the correspondence between some of the illumination channels in the array transmitter and some of the receiving channels in the array receiver is changed by applying the above-mentioned compensation scheme 1 (i.e., adjusting the gating timing of the receiving channels). The correspondence between the illumination channels and the receiving channels can be seen for example... Figure 10 The mapping table of (1).

[0147] exist Figure 10In (1), the number of lighting 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 lighting channels correspond one-to-one with the 40 rows of receiving channels, that is, the j-th row of lighting channels corresponds to the j-th row of receiving channels. For example, if the lighting channels are lit using the "lighting method one" described in S901, the transmitter has 20 light-emitting areas and the receiver has 20 corresponding receiving areas. If the energy of the echo signal received by the receiving area is lower than the lower energy limit starting from the 12th (i.e., P=12 above) receiving area, the correspondence between some lighting channels and receiving channels is changed by adjusting the gating timing of the receiving channels. Based on Figure 10 As can be seen from (1), after this adjustment, the correspondence between the 1st to 22nd row lighting channels and the receiver channels in the column direction of the transmitter is different from the correspondence between the 23rd to 38th row lighting channels and the array receiver channels in the column direction. That is, the 1st to 22nd row lighting channels correspond to the 1st to 22nd row receiving channels respectively (satisfying that the 'a' row lighting channel corresponds to the 'a' row receiving channel, where 'a' is an integer from 1 to 22) and the 23rd to 38th row lighting channels correspond to the 24th to 39th row receiving channels (satisfying that the 'b' row lighting channel corresponds to the 'b+1' row receiving channel, where 'b' is an integer from 23 to 38).

[0148] Here, 10(1) is only an example of changing the correspondence between some lighting channels and receiving channels by adjusting the gating timing of the receiving channel. It is not limited to the difference between the row numbers of the receiving channel and the lighting channel after the correspondence is changed. It can also be "2" or other values. No specific limitation is made here.

[0149] It is understandable that, since the lighting method of the illumination channel is still "lighting method one" as described in S901, and the correspondence between some of the transmitter's illumination channels and some of the receiver's receiving channels has changed after this adjustment, the row number of the receiving channel included in the receiving area corresponding to some of the light-emitting areas will also change. For example, in Figure 10 In (1), the row numbers of the receiving channels included in the 12th to 19th receiving areas have changed compared to before the adjustment.

[0150] Depend on Figure 10 As can be seen from (1), the ratio of the number of light-emitting channels included in each light-emitting area to the number of receiving channels included in the corresponding receiving area is a first value. The first value is the ratio of the total number of rows of light-emitting channels included in the transmitter (e.g., "40") to the total number of rows of receiving channels included in the receiver (e.g., "40"), and the first value is, for example, 1.

[0151] For example, the interval between two adjacent receiving areas is defined as the difference between the maximum row number of the receiving channel in the Pth receiving area and the minimum row number of the receiving channel in the preceding P-1 receiving areas. In some possible embodiments, the interval between two adjacent receiving areas is defined as the difference between the row number of the receiving channel in the Pth receiving area and the row number of the receiving channel in the P-1 receiving area, or the distance between the centers of the Pth and P-1 receiving areas in the column direction, without specific limitation here. From the perspective of the interval between two adjacent receiving areas, in Figure 10 In (1), the interval between any two adjacent receiving areas in the first 11 receiving areas is the same, the interval between the 12th receiving area and the 11th receiving area is greater than the interval between the 11th receiving area and the 10th receiving area, and the interval between any two adjacent receiving areas in the 12th to 19th receiving areas is the same.

[0152] Figure 10 The mapping table shown in (1) is applied to scenarios where the vertical field of view of the transmitter is greater than the vertical field of view of the receiver. Figure 10 (2) shows a schematic diagram of the vertical field of view of the 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. Figure 10 In (1), the 12th emitting region includes the 23rd and 24th row illumination channels, and the 12th receiving region, before adjustment, includes the 23rd and 24th row receiving channels. After adjustment, the correspondence between the illumination channels and the receiving channels changes, so that the 12th receiving region includes the 24th and 25th row receiving channels. It can be seen that the matching degree between the vertical field of view of the 12th emitting region and the vertical field of view of the 12th receiving region is much higher than before adjustment, so that the received energy of the 12th receiving region can exceed the lower limit of energy. This can solve the problem of mismatch between the transmitting and receiving fields of view of Flash LiDAR to a certain extent.

[0153] Here, the embodiments of this application do not limit the number of adjustments. Figure 10The mapping table of (1) is the result of performing one adjustment. After this adjustment, if the received energy of each of the 20 receiving areas is not lower than the lower energy limit, the process ends. In some possible embodiments, it is also possible that after this adjustment, only the first 16 receiving areas of the 20 receiving areas meet the condition that the received energy of each receiving area is not lower than the lower energy limit. In this case, a second adjustment can be performed starting from the 17th receiving area. This means that in the column direction of the transmitter, the correspondence between the lighting channels and receiving channels in rows 1 to 22 and rows 23 to 32 may be different, as may the correspondence between the lighting channels and receiving channels in rows 23 to 32 and rows 33 to 40. For example, when performing multiple adjustments, it is not required that the compensation scheme applied in each adjustment must be the same.

[0154] For example, the lighting channels in rows 1 to M-1 correspond to the receiving channels in rows 1 to M-1 of the aforementioned N receiving channels, including: a one-to-one correspondence between the lighting channels in rows 1 to M-1 and the receiving channels in rows 1 to M-1, that is, the lighting channel in row j corresponds to the receiving channel in row j, where j is an integer from 1 to M-1. The lighting channels in rows M to N correspond to the receiving channels in rows M+1 to N of the aforementioned N receiving channels, including: the lighting channel in row M corresponds to the receiving channels in rows (M+1) and (M+2), the lighting channel in row M+1 corresponds to the receiving channels in rows (M+2) and (M+3), ..., the lighting channel in row N-2 corresponds to the receiving channels in rows (N-1) and N, the lighting channel in row N-1 corresponds to the receiving channels in rows (N-2) and (N-1), and the lighting channel in row N corresponds to the receiving channels in rows (N-1) and N.

[0155] See Figure 11 , Figure 11 This is a schematic diagram illustrating the correspondence between the light-emitting channel of the transmitter and the receiving channel of the receiver in another detection device provided in this application embodiment. Based on Figure 6 As shown in the mapping table, when the vertical field of view of the transmitter is greater than that of the receiver, the correspondence between some of the lighting channels in the array transmitter and some of the receiving channels in the array receiver is changed by applying the compensation schemes 1 and 4 described above. The correspondence between the lighting channels and the receiving channels is shown in the table below. Figure 11 The mapping table shown in (1) is as follows.

[0156] exist Figure 11In (1), by adjusting the gating timing of the receiving channel, the correspondence between some of the lighting channels and the receiving channels is changed. It can be seen that, in the column direction of the transmitter, the correspondence between the lighting channels in rows 1 to 22 and the receiving channels in the column direction of the receiver is different from the correspondence between the lighting channels in rows 23 to 40 and the receiving channels in the column direction of the receiver. For example, the lighting channels in rows 1 to 22 correspond to the receiving channels in rows 1 to 22 respectively, specifically satisfying that the lighting channel in row a corresponds to the receiving channel in row a, where a is an integer from 1 to 22; the lighting channels in rows 23 to 40 correspond to the receiving channels in rows 24 to 40, where the lighting channel in row b corresponds to the receiving channels in rows b+1 and b+2, where b is an integer from 23 to 38; the lighting channel in row 39 corresponds to the receiving channels in rows 38 and 39; and the lighting channel in row 40 corresponds to the receiving channels in rows 39 and 40.

[0157] For example, if the 23rd and 24th row lighting channels are simultaneously illuminated to form the aforementioned 12th light-emitting area, and the 23rd row lighting channel corresponds to the 24th and 25th row receiving channels, and the 24th row lighting channel corresponds to the 25th and 26th row receiving channels, then the 12th receiving area corresponding to the 12th light-emitting area includes the 24th, 25th, and 26th row receiving channels. The ratio of the number of lighting channels included in the 12th light-emitting area to the number of receiving channels included in the 12th receiving area is less than the aforementioned first value.

[0158] Furthermore, during operation, the detection device illuminates the first to 22nd rows of the emitter's illumination channels using "Illumination Method One" as described in S901 to form 11 luminous areas. Please refer to [link to relevant documentation]. Figure 11 The first 11 light-emitting areas in (1) form 11 receiving areas based on the correspondence between the lighting channels in rows 1 to 22 and the receiving channels in rows 1 to 22. Please refer to [link to relevant documentation]. Figure 11 The first 11 receiving areas in (1) (each receiving area includes 2 receiving channels); the 23rd to 40th rows of the transmitter are illuminated using the "lighting method two" described in S901 to form 9 light-emitting areas. Please refer to [link to relevant documentation]. Figure 11 Based on the correspondence between the 12th to 20th light-emitting areas in (1), and the 23rd to 40th row light-emitting channels and the 24th to 40th row receiving channels, 9 receiving areas are formed. Please refer to [link to relevant documentation]. Figure 11 The 12th to 20th receiving areas in (1) (each receiving area includes 3 receiving channels).

[0159] in addition, Figure 11 The mapping table shown in (1) is applied to scenarios where the vertical field of view of the transmitter is greater than the vertical field of view of the receiver. Figure 11(2) shows a schematic diagram of the vertical field of view of the 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. Figure 11 In (2), the 12th emitting area includes the 23rd and 24th row emitting channels. Before adjustment, the 12th receiving area includes the 23rd and 24th row receiving channels. After adjustment, the correspondence between the emitting and receiving channels changes, so that the 12th receiving area includes the 24th, 25th, and 26th row receiving channels. This makes the vertical field of view of the 12th receiving area greater than that of the 12th emitting area. In this way, the 12th receiving area can fully receive the energy emitted by the 12th emitting area, which is beneficial to improve the power of the system and improve the detection performance of the Flash lidar.

[0160] As an example, the correspondence between the lighting channels in rows 1 to M-1 and the receiving channels in the column direction of the array receiver is different from the correspondence between the lighting channels in rows M to N and the receiving channels in the column direction of the array receiver. Specifically, the lighting channels in rows 1 to M-1 correspond to the receiving channels in rows 1 to M-1 of the aforementioned N receiving channels, and the lighting channels in rows M to N correspond to the receiving channels in rows M-1 to N-1 of the aforementioned N receiving channels.

[0161] For example, the lighting channels in rows 1 to M-1 correspond to the receiving channels in rows 1 to M-1 of the aforementioned N receiving channels, including: a one-to-one correspondence between the lighting channels in rows 1 to M-1 and the receiving channels in rows 1 to M-1, that is, the lighting channel in row 1 corresponds to the receiving channel in row 1, the lighting channel in row 2 corresponds to the receiving channel in row 2, ..., the lighting channel in row j corresponds to the receiving channel in row j, ..., the lighting channel in row M-1 corresponds to the receiving channel in row M-1. The lighting channels in rows M to N correspond to the receiving channels in rows M-1 to N-1 of the aforementioned N receiving channels, including: the lighting channel in row M corresponds to the receiving channel in row M-1, the lighting channel in row M+1 corresponds to the receiving channel in row M, ..., the lighting channel in row N-1 corresponds to the receiving channel in row N-2, and the lighting channel in row N corresponds to the receiving channel in row N-1.

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

[0163] exist Figure 12 In (1), before adjustment, the 40 rows of illumination channels of the transmitter correspond one-to-one with the 40 rows of receiving channels of the receiver, that is, the j-th row of illumination channel corresponds to the j-th row of receiving channel. The illumination channels are illuminated using the "illumination method one" described in S901. The 20 emitting areas of the transmitter and the 20 receiving areas of the receiver can be found in [reference needed]. Figure 12 As shown in (1). If, starting from the 12th (i.e., P=12 above) receiving area, the energy of the echo signal received in the receiving area is lower than the lower energy limit, the correspondence between some of the lighting channels and the receiving channels is changed by adjusting the gating timing of the receiving channels. Based on Figure 12 As can be seen from (1), after this adjustment, the correspondence between the 1st to 22nd row lighting channels and the receiver channels in the column direction of the transmitter is different from the correspondence between the 23rd to 40th row lighting channels and the receiver channels in the column direction of the array receiver. That is, the 1st to 22nd row lighting channels correspond to the 1st to 22nd row receiving channels respectively (satisfying that the 'a' row lighting channel corresponds to the 'a' row receiving channel, where 'a' is an integer from 1 to 22) and the 23rd to 40th row lighting channels correspond to the 22nd to 39th row receiving channels (satisfying that the 'b' row lighting channel corresponds to the 'b-1' row receiving channel, where 'b' is an integer from 23 to 40).

[0164] here, Figure 11 (1) is only an example of changing the correspondence between some of the lighting channels and the receiving channels by adjusting the gating timing of the receiving channel. It is not limited to the difference between the row numbers of the receiving channel and the lighting channel after the correspondence is changed. It can also be "-2" or other values. No specific limitation is made here.

[0165] It is understandable that, since the lighting method of the illumination channel is still "lighting method one" as described in S901, and the correspondence between some of the transmitter's illumination channels and some of the receiver's receiving channels has changed after this adjustment, the row number of the receiving channel included in the receiving area corresponding to some of the light-emitting areas will also change. For example, in Figure 12 In (1), the row number of the receiving channel included in the 12th to 20th receiving areas has changed compared to before the adjustment.

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

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

[0168] The above Figure 12 The mapping table of (1) is the result of performing one adjustment. This application embodiment does not limit the number of adjustments, nor does it limit the compensation scheme applied for each adjustment to be the same.

[0169] In some possible embodiments, when the vertical field of view of the transmitter is smaller than that of the vertical field of view of the receiver, compensation scheme 1 (i.e., adjusting the gating timing of the receiving channel) can be used. Figure 12 In addition to the adjustment shown in (1), the correspondence between some lighting channels and some receiving channels can also be changed by combining compensation scheme 1 and compensation scheme 4 (i.e., increasing the number of simultaneously activated receiving channels). For example, in Figure 12In (1), taking the 23rd and 24th row lighting channels as examples, compensation scheme 1 is applied so that the 23rd row lighting channel corresponds to the 22nd row receiving channel and the 24th row lighting channel corresponds to the 23rd row receiving channel. Assuming that compensation scheme 1 and compensation scheme 4 are applied so that the 23rd row lighting channel corresponds to the 22nd and 23rd row receiving channels and the 24th row lighting channel corresponds to the 23rd and 24th row receiving channels, the 23rd and 24th row lighting channels are simultaneously lit to form the 12th emitting area. Then, the 12th receiving area corresponding to the 12th emitting area includes the 22nd, 23rd and 24th row receiving channels, so that the vertical field of view of the 12th receiving area is greater than the vertical field of view of the 12th emitting area. In this way, the 12th receiving area can fully receive the energy emitted by the 12th emitting area, which 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 4 is applicable not only to scenarios where the vertical field of view of the array transmitter is smaller than that of the array receiver, but also to scenarios where the vertical field of view of the array transmitter is larger than that of the array receiver.

[0170] In another implementation, the correspondence between the receiving channels in rows 1 to M-1 and the illumination channels in the column direction of the array transmitter is different from the correspondence between the receiving channels in rows M to N and the illumination channels in the column direction of the array transmitter. M and N are both positive integers greater than 2, and M is less than N.

[0171] As an example, the correspondence between the receiving channels in rows 1 to M-1 and the illumination channels in the column direction of the array transmitter is different from the correspondence between the receiving channels in rows M to N and the illumination channels in the column direction of the array transmitter. Specifically, the receiving channels in rows 1 to M-1 correspond to the illumination channels in rows 1 to M-1 of the aforementioned N illumination channels, and the receiving channels in rows M to N correspond to the illumination channels in rows M-1 to N-1 of the aforementioned N illumination channels.

[0172] For example, the receiving channels from row 1 to row M-1 correspond to the lighting channels from row 1 to row M-1 of the aforementioned N lighting channels, including: a one-to-one correspondence between the receiving channels from row 1 to row M-1 and the lighting channels from row 1 to row M-1, that is, the receiving channel from row j corresponds to the lighting channel from row j, where j is an integer from 1 to M-1. The receiving channels from row M to row N correspond to the lighting channels from row M-1 to row N-1 of the aforementioned N lighting channels, including: the receiving channel from row M corresponds to the lighting channel from row M-1, the receiving channel from row M+1 corresponds to the lighting channel from row M, ..., the receiving channel from row N-1 corresponds to the lighting channel from row N-2, and the receiving channel from row N corresponds to the lighting channel from row N-1.

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

[0174] exist Figure 13 In (1), by adjusting the lighting timing of the lighting channels, the correspondence between some lighting channels and receiving channels is changed. It can be seen that, in the column direction of the receiver, the correspondence between the receiving channels in rows 1 to 22 and the lighting channels in the column direction of the transmitter is different from the correspondence between the receiving channels in rows 23 to 40 and the lighting channels in the column direction of the transmitter. For example, the receiving channels in rows 1 to 22 correspond to the lighting channels in rows 1 to 22 respectively, specifically satisfying that the receiving channel in row a corresponds to the lighting channel in row a, where a is an integer from 1 to 22; the receiving channels in rows 23 to 40 correspond to the lighting channels in rows 22 to 39, where the receiving channel in row b corresponds to the lighting channel in row b-1, where b is an integer from 23 to 40.

[0175] Here, 13(1) is only an example of changing the correspondence between some lighting channels and receiving channels by adjusting the gating timing of the lighting channels. It is not limited to the difference between the row numbers of the receiving channel and the lighting channel after the correspondence is changed. It can also be "2" or other values. No specific limitation is made here.

[0176] For example, when the detection device is running, it uses the "lighting method one" described in S901 to light up the first to 22nd rows of the emitter's illumination channels to form 11 light-emitting areas. Please refer to [link to relevant documentation]. Figure 13 The first 11 light-emitting areas in (1) form 11 receiving areas based on the correspondence between the lighting channels in rows 1 to 22 and the receiving channels in rows 1 to 22. Please refer to [link to relevant documentation]. Figure 13 The first 11 receiving areas in (1); adjust the lighting timing of the lighting channels, and continue to use the "lighting method one" described in S901 to light up the 22nd to 39th rows of the transmitter lighting channels to form 9 light-emitting areas. Please refer to [link to relevant documentation]. Figure 13 Based on the correspondence between the 12th to 20th light-emitting areas in (1), rows 22 to 39 (light-emitting channels) and rows 23 to 40 (receiving channels), nine receiving areas are formed. Please refer to [link to relevant documentation]. Figure 13 The 12th to 20th receiving areas in (1).

[0177] For example, the interval between two adjacent light-emitting regions is defined as the difference between the maximum row number of the illumination channel in the Pth light-emitting region and the minimum row number of the illumination channel in the preceding (P-1)th light-emitting regions. In some possible embodiments, the interval between two adjacent light-emitting regions is defined as the difference between the row number of the illumination channel in the Pth light-emitting region and the row number of the illumination channel in the (P-1)th light-emitting region, or the distance between the centers of the Pth and (P-1)th light-emitting regions in the column direction, without specific limitation here. From the perspective of the interval between two adjacent light-emitting regions, in Figure 13 In (1), after adjustment, the interval between any two adjacent light-emitting regions in the first 11 light-emitting regions is the same, the interval between the 12th light-emitting region and the 11th light-emitting region is smaller than the interval between the 11th light-emitting region and the 10th light-emitting region, and the interval between any two adjacent light-emitting regions in the 12th to 20th light-emitting regions is the same.

[0178] The above Figure 13 The mapping table of (1) is the result of performing one adjustment. This application embodiment does not limit the number of adjustments, nor does it limit the compensation scheme applied for each adjustment to be the same.

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

[0180] For example, the correspondence between the receiving channels in rows 1 to M-1 and the illumination channels in the column direction of the array transmitter is different from the correspondence between the receiving channels in rows M to N and the illumination channels in the column direction of the array transmitter. This includes: the receiving channels in rows 1 to M-1 correspond to the illumination channels in rows 1 to M-1 of the aforementioned N illumination channels, and the receiving channels in rows M to N correspond to the illumination channels in rows M-1 to N of the aforementioned N illumination channels. Among them, the receiving channels from row 1 to row M-1 correspond to the lighting channels from row 1 to row M-1 of the above N lighting channels, including: the receiving channels from row 1 to row M-1 correspond one-to-one with the lighting channels from row 1 to row M-1, that is, the receiving channel from row j corresponds to the lighting channel from row j, where j is an integer from 1 to M-1; the receiving channels from row M to row N correspond to the lighting channels from row M-1 to row N of the above N lighting channels, including: the receiving channel from row M corresponds to the lighting channels from row (M-1) and row M, the receiving channel from row M+1 corresponds to the lighting channels from row M and row (M+1), ..., the receiving channel from row N-2 corresponds to the lighting channels from row (N-3) and row (N-2), the receiving channel from row N-1 corresponds to the lighting channels from row (N-2) and row (N-1), and the receiving channel from row N corresponds to the lighting channels from row (N-1) and row N.

[0181] See Figure 14 , Figure 14 This is a schematic diagram illustrating the correspondence between the light-emitting channel of the transmitter and the receiving channel of the receiver in another detection device provided in this application embodiment. Based on Figure 6 As shown in the mapping table, when the vertical field of view of the transmitter is greater than that of the receiver, the correspondence between some of the lighting channels in the array transmitter and some of the receiving channels in the array receiver is changed by applying the compensation schemes 2 and 3 described above. The correspondence between the lighting channels and the receiving channels is shown in the following example: Figure 14 The mapping table shown in (1) is as follows.

[0182] exist Figure 14In (1), by adjusting the lighting timing of the lighting channels, the correspondence between some lighting channels and receiving channels is changed. It can be seen that, in the column direction of the receiver, the correspondence between the receiving channels in rows 1 to 22 and the lighting channels in the column direction of the transmitter is different from the correspondence between the receiving channels in rows 23 to 40 and the lighting channels in the column direction of the transmitter. For example, the receiving channels in rows 1 to 22 correspond to the lighting channels in rows 1 to 22 respectively, specifically satisfying that the receiving channel in row a corresponds to the lighting channel in row a, where a is an integer from 1 to 22; the receiving channels in rows 23 to 40 correspond to the lighting channels in rows 22 to 40, where the receiving channel in row b corresponds to the lighting channels in rows b-1 and b, where b is an integer from 23 to 40. For example, the 23rd receiving channel corresponds to the 22nd and 23rd lighting channels, and the 24th receiving channel corresponds to the 23rd and 24th lighting channels. Accordingly, the 22nd, 23rd and 24th lighting 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.

[0183] For example, if each time two adjacent rows of receiving channels are selected to form a receiving area, then the receiver's 40 rows of receiving channels can form 20 receiving areas. Based on the correspondence between the receiving channels and the lighting channels, the transmitter also has 20 light-emitting areas. Please refer to the example below for details. Figure 14 As shown in (1). In Figure 14 In (1), after adjustment, because the correspondence between the receiving channels in rows 1 to 22 and the illumination channels in the column direction of the transmitter is different from that in rows 23 to 40, the number of illumination channels included in each of the first 11 emitting regions is 2, and the number of illumination channels included in each of the last 9 emitting regions is 3. In addition, starting from i = 12, the ratio of the number of illumination channels included in the i-th emitting region to the number of receiving channels included in the i-th receiving region is greater than the first value mentioned above.

[0184] Figure 14 The mapping table shown in (1) is applied to scenarios where the vertical field of view of the transmitter is greater than the vertical field of view of the receiver. Figure 14 (2) shows a schematic diagram of the vertical field of view of the 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. Figure 14In (2), the 12th receiving area includes the 23rd and 24th receiving channels. Before adjustment, the 12th emitting area includes the 23rd and 24th lighting channels. After adjustment, the correspondence between the lighting channels and the receiving channels changes, so that the 12th emitting area includes the 22nd, 23rd, and 24th lighting channels. This makes the vertical field of view of the 12th emitting area greater than that of the 12th receiving area. The more energy emitted by the emitting area, the more energy is received by the receiving area, thus improving the detection performance of the Flash lidar.

[0185] As an example, the correspondence between the receiving channels in rows 1 to M-1 and the illumination channels in the column direction of the array transmitter is different from the correspondence between the receiving channels in rows M to N and the illumination channels in the column direction of the array transmitter. Specifically, the receiving channels in rows 1 to M-1 correspond to the illumination channels in rows 1 to M-1 of the aforementioned N illumination channels, and the receiving channels in rows M to N correspond to the illumination channels in rows M+1 to N of the aforementioned N illumination channels.

[0186] For example, the receiving channels from row 1 to row M-1 correspond to the lighting channels from row 1 to row M-1 of the aforementioned N lighting channels, including: a one-to-one correspondence between the receiving channels from row 1 to row M-1 and the lighting channels from row 1 to row M-1, that is, the receiving channel from row j corresponds to the lighting channel from row j, where j is an integer from 1 to M-1. The receiving channels from row M to row N correspond to the lighting channels from row M+1 to row N of the aforementioned N lighting channels, including: the receiving channel from row M corresponds to the lighting channel from row M+1, the receiving channel from row M+1 corresponds to the lighting channel from row M+2, ..., the receiving channel from row N-1 corresponds to the lighting channel from row N, and the receiving channel from row N corresponds to the lighting channel from row N.

[0187] See Figure 15 , Figure 15 This is a schematic diagram illustrating the correspondence between the light-emitting channel of the transmitter and the receiving channel of the receiver in another detection device provided in this application embodiment. Based on Figure 6 As shown in the mapping table, when the vertical field of view of the transmitter is detected to be smaller than that of the receiver, the correspondence between some of the lighting channels in the array transmitter and some of the receiving channels in the array receiver is changed by applying the above-mentioned compensation scheme 2 (i.e., adjusting the lighting timing of the lighting channels). The correspondence between the lighting channels and the receiving channels can be seen for example... Figure 15 The mapping table of (1).

[0188] exist Figure 15In (1), the correspondence between some lighting channels and receiving channels is changed by adjusting the lighting timing of the lighting channels. It can be seen that in the column direction of the receiver, the receiving channels in rows 1 to 22 correspond to the lighting channels in rows 1 to 22 respectively, specifically satisfying that the receiving channel in row a corresponds to the lighting channel in row a, where a is an integer from 1 to 22; the receiving channels in rows 23 to 39 correspond to the lighting channels in rows 24 to 40, where the receiving channel in row b corresponds to the lighting channel in row b+1, where b is an integer from 23 to 39; the receiving channel in row 40 corresponds to the lighting channel in row 40. Here, Figure 15 (1) is only an example of changing the correspondence between some of the lighting channels and the receiving channels by adjusting the gating timing of the receiving channel. It is not limited to the difference between the row numbers of the receiving channel and the lighting channel after the correspondence is changed. It can also be "-2" or other values. No specific limitation is made here.

[0189] For example, when the detection device is running, it illuminates the first to 22nd rows of the emitter's illumination channels using "Illumination Method 1" as described in S901 to form 11 luminous areas. Please refer to [link to relevant documentation]. Figure 15 The first 11 light-emitting areas in (1) form 11 receiving areas based on the correspondence between the lighting channels in rows 1 to 22 and the receiving channels in rows 1 to 22. Please refer to [link to relevant documentation]. Figure 15 The first 11 receiving areas in (1); adjust the lighting timing of the lighting channels, skip the 23rd row lighting channel, and continue to use the above "lighting method one" to light up the 24th to 40th rows of the transmitter lighting channels to form 9 light-emitting areas. Please refer to Figure 15 Based on the correspondence between the 12th to 20th light-emitting areas in (1), rows 22 to 39 (light-emitting channels) and rows 23 to 40 (receiving channels), nine receiving areas are formed. Please refer to [link to relevant documentation]. Figure 15 The 12th to 20th receiving areas in (1).

[0190] From the perspective of the interval between two adjacent luminescent regions, Figure 15 In (1), after adjustment, the interval between any two adjacent light-emitting regions in the first 11 light-emitting regions is 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 above... Figure 15 The mapping table of (1) is the result of performing one adjustment. This application embodiment does not limit the number of adjustments, nor does it limit the compensation scheme applied for each adjustment to be the same.

[0191] Figure 15 The mapping table shown in (1) can be applied to scenarios where the vertical field of view of the transmitter is smaller than that of the vertical field of view of the receiver. Figure 15(2) shows a schematic diagram of the vertical field of view of the emitting region and the vertical field of view of the receiving region when the vertical field of view of the transmitter is smaller than that of the receiver. Figure 15 In (2), the 12th receiving area includes the 23rd and 24th receiving channels, and the 12th emitting area, before adjustment, includes the 23rd and 24th illumination channels. After adjusting the lighting timing of the illumination channels, the correspondence between the illumination channels and the receiving channels changes, and the 12th emitting area now includes the 24th and 25th illumination channels. It can be seen that the matching degree between the vertical field of view of the 12th emitting area and the vertical field of view of the 12th receiving area is much higher than before adjustment, so that the received energy of the 12th receiving area can be higher than the lower limit of energy. This can solve the problem of mismatch between the transmitting and receiving fields of view of the Flash lidar.

[0192] In some possible embodiments, when the vertical field of view of the transmitter is smaller than that of the vertical field of view of the receiver, compensation scheme 2 (i.e., adjusting the lighting timing of the illumination channel) can be used. Figure 15 In addition to the adjustment shown in (1), the correspondence between some lighting channels and some receiving channels can also be changed by combining compensation scheme 2 and compensation scheme 3 (i.e., increasing the number of lighting channels lit simultaneously). For example, in Figure 15 In (1), taking the 23rd and 24th receiving channels as examples, compensation scheme 2 is applied so that the 23rd receiving channel corresponds to the 24th lighting channel and the 24th receiving channel corresponds to the 25th lighting channel. Assuming that compensation schemes 2 and 3 are applied so that the 23rd receiving channel corresponds to the 23rd and 24th lighting channels and the 24th receiving channel corresponds to the 24th and 25th lighting channels, the 23rd, 24th and 25th lighting channels are simultaneously lit to form the 12th emitting area. Then, the 12th receiving area corresponding to the 12th emitting area includes the 23rd and 24th receiving channels, realizing that the vertical field of view of the 12th emitting area is greater than the vertical field of view of the 12th receiving area. This is beneficial to improving the power of the system and improving the detection performance of the Flash LiDAR. It can be seen that the above compensation scheme 3 is not only applicable to the scenario where the vertical field of view of the array transmitter is smaller than the vertical field of view of the array receiver, but also applicable to the scenario where the vertical field of view of the array transmitter is greater than the vertical field of view of the array receiver.

[0193] Figure 9In the illustrated embodiment, based on a multi-channel transmitter and a multi-channel receiver, the transceiver field-of-view mismatch problem of Flash LiDAR can be addressed to some extent without increasing additional costs, thus improving the detection performance of the LiDAR. For example, by adjusting the lighting timing of the illumination channels or the gating timing of the receiving channels, the correspondence between some illumination channels in the transmitter and some receiving channels in the receiver can be altered, improving the matching degree between the transient vertical field of view of the transmitter and the transient vertical field of view of the receiver, thereby enhancing the detection efficiency of the receiver. Furthermore, by increasing the number of simultaneously illuminated illumination channels or the number of simultaneously activated receiving channels, the correspondence between some illumination channels in the transmitter and some receiving channels in the receiver can be altered, which helps to increase the system power and improve the detection performance of the LiDAR.

[0194] In some possible embodiments, the aforementioned compensation scheme 3 (i.e., increasing the number of simultaneously lit illumination channels) or compensation scheme 4 (increasing the number of simultaneously activated receiving channels) can also be applied during the initial activation of the lidar. See also Figure 16 , Figure 16 This is a flowchart of another detection method provided in an embodiment of this application. This method can be applied to detection devices including array transmitters and array receivers (e.g., Figure 1 The detection device 10 shown includes an array transmitter with A rows of illumination channels and an array receiver with B rows of reception channels, where A and B are both positive integers. For example, A equals B, or A is a multiple of B. The method includes, but is not limited to, the following steps:

[0195] S1601: Transmit signals sequentially through S light-emitting areas arranged along the column direction in the array transmitter.

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

[0197] In one implementation, a transmission signal is sequentially emitted through S light-emitting regions arranged along the column direction in an array transmitter, including: sequentially 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 in the column direction of the array transmitter.

[0198] S1602: Receives the echo signal of the transmitted signal through S receiving areas arranged along the column direction in the array receiver.

[0199] In this context, the i-th emitting region among the S emitting regions corresponds to the i-th receiving region among the S receiving regions. Here, i and S are both 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 in the i-th light-emitting region to the number of receiving channels in the i-th receiving region is greater than the ratio of A to B.

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

[0202] See Figure 17 , Figure 17 This is a schematic diagram illustrating the correspondence between the light-emitting channel in the light-emitting area of ​​a transmitter and the receiving channel in the receiving area of ​​a receiver, as provided in an embodiment of this application. Figure 17 The mapping table shown is, for example, based on Figure 6 The mapping table shown is an example of the implementation of the above compensation scheme 3 (i.e., increasing the number of lighting channels that are lit at the same time).

[0203] From the above Figure 6 As described above, the array transmitter includes 40 rows of illumination channels and the array receiver includes 40 rows of receiving channels; therefore, the ratio of A to B is "1". For example, along the column direction of the array transmitter, multiple rows of illumination channels are simultaneously lit to form a light-emitting area, such as... Figure 17 The mapping table shown indicates that the array transmitter includes 20 light-emitting areas and 20 receiving areas, where the i-th light-emitting area corresponds to the i-th receiving area, and i is an integer from 1 to 20. Figure 17 In this array, each emitting region includes four illumination channels. Along the column direction of the emitter array, adjacent emitting regions may have overlapping illumination channels. For example, the first and second emitting regions each contain illumination channels in rows 2, 3, and 4; the second and third emitting regions each contain illumination channels in rows 4 and 5. Each receiving region includes two receiving channels. Figure 17 It can be seen that the ratio of the number of illumination channels in the i-th emitting region to the number of reception channels in the i-th receiving region is 2, which is greater than the ratio of A to B above, "1". Furthermore, the vertical field of view of the i-th emitting region is greater than that of the i-th receiving region. This is beneficial for increasing the system's power and improving the detection performance (e.g., range measurement performance) of the Flash LiDAR.

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

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

[0206] As an example, any two adjacent receiving areas in the above S receiving areas may contain overlapping receiving channels.

[0207] See Figure 18 , Figure 18 This is a schematic diagram illustrating the correspondence between the light-emitting channel in the light-emitting area of ​​the transmitter and the receiving channel in the receiving area of ​​the receiver, as provided in another embodiment of this application. Figure 18 The mapping information shown is, for example, based on Figure 6 The mapping table shown is an example of the implementation of the above compensation scheme 4 (i.e., increasing the number of simultaneously activated receiving channels).

[0208] From the above Figure 6 As described above, the array transmitter includes 40 rows of illumination channels and the array receiver includes 40 rows of receiving channels; therefore, the ratio of A to B is "1". For example, along the column direction of the array transmitter, multiple rows of illumination channels are simultaneously lit to form a light-emitting area, such as... Figure 18 The mapping table shown indicates that the array transmitter includes 20 light-emitting areas and 20 receiving areas, where the i-th light-emitting area corresponds to the i-th receiving area, and i is an integer from 1 to 20. Figure 18 In this array, each emitting region includes two illumination channels, and each receiver includes four receiving channels. Furthermore, adjacent receiving regions have overlapping receiving channels along the column direction of the array receivers. For example, the first and second receiving regions both contain receiving channels from rows 2, 3, and 4, and the second and third receiving regions both contain receiving channels from rows 4 and 5. Figure 18 It can be seen that the ratio of the number of illumination channels in the i-th emitting region to the number of reception channels in the i-th receiving region is 0.5, which is less than the ratio of A to B above, "1". Furthermore, the vertical field of view of the i-th emitting region is less than that of the i-th receiving region. This is beneficial for increasing the system's power and improving the detection performance (e.g., range measurement performance) of the Flash LiDAR.

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

[0210] Figure 16 In the illustrated embodiment, based on a multi-channel transmitter and a multi-channel receiver, the detection performance of the Flash LiDAR can be improved to a certain extent without increasing additional costs, even when there is a mismatch between the transmit and receive fields of view (e.g., the vertical field of view of the transmitter does not match the vertical field of view of the receiver). For example, by increasing the number of simultaneously lit illumination channels, the transient vertical field of view of the transmitter is made larger than that of the receiver; or, by increasing the number of simultaneously activated reception channels, the transient vertical field of view of the transmitter is made smaller than that of the receiver. Either approach is beneficial for increasing the system power and improving the detection performance of the LiDAR.

[0211] The apparatus provided in the embodiments of this application is described below.

[0212] This application provides a detection device, which includes an array transmitter and an array receiver. The array transmitter emits a transmitted signal, and the array receiver receives the echo signal corresponding to the transmitted signal. This detection device is used to implement the aforementioned detection method, such as the one described above. Figure 9 , Figure 16 The detection method in the illustrated embodiment.

[0213] This application provides a lidar, which includes the aforementioned detection device (e.g., Figure 1 The detection device 10 shown.

[0214] This application embodiment also provides a terminal, the terminal including the aforementioned detection device (e.g., Figure 1 The detection device 10 shown may include the aforementioned lidar.

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

[0216] In the embodiments described above, each embodiment has its own emphasis. For parts not described in detail in a particular embodiment, please refer to the relevant descriptions in other embodiments. Furthermore, in the embodiments of this application, unless otherwise specified or logically conflicting, the terminology and / or descriptions between the embodiments are consistent and can be mutually referenced. Technical features from different embodiments can be combined to form new embodiments based on their inherent logical relationships.

[0217] It should be noted that those skilled in the art will recognize that all or part of the steps in the various methods of the above embodiments can be implemented by a program instructing related hardware. This program can be stored in a computer-readable storage medium, including 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), compactdisc read-only memory (CD-ROM) or other optical disc storage, disk storage, magnetic tape storage, or any other computer-readable medium capable of carrying or storing data.

[0218] The technical solution of this application, in essence, or the part that makes the contribution, or all or part of the technical solution, 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 cause a device (which may be a personal computer, server, network device, robot, microcontroller, 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, A detection device including an array transmitter and an array receiver, the array transmitter including multiple rows of illumination channels, and the array receiver including multiple rows of reception channels, the method comprising: The array transmitter emits a signal sequentially through N rows of illumination channels arranged along the column direction, and the array receiver receives the echo signal of the emitted signal through N rows of receiving channels arranged along the column direction. There is a corresponding relationship between the illumination channels of the array transmitter and the receiving channels of the array receiver. In the column direction of the array transmitter, the correspondence between the illumination channels in rows 1 to M-1 and the receiving channels in the column direction of the array receiver is different from the correspondence between the illumination channels in rows M to N and the receiving channels in the column direction of the array receiver. Alternatively, in the column direction of the array receiver, the correspondence between the receiving channels of rows 1 to M-1 and the illumination channels in the column direction of the array transmitter is different from the correspondence between the receiving channels of rows M to N and the illumination channels in the column direction of the array transmitter. The correspondence between the illumination channels in rows 1 to M-1 and the receiving channels in the column direction of the array receiver differs from the correspondence between the illumination channels in rows M to N and the receiving channels in the column direction of the array receiver, including: The first to M-1 rows of lighting channels correspond to the first to M-1 rows of receiving channels in the N rows of receiving channels, and the M to N rows of lighting channels correspond to the M+1 to N rows of receiving channels in the N rows of receiving channels; Alternatively, the first to M-1 rows of lighting channels correspond to the first to M-1 rows of receiving channels in the N rows of receiving channels, and the M to N rows of lighting channels correspond to the M-1 to N-1 rows of receiving channels in the N rows of receiving channels. The correspondence between the illumination channels in rows 1 to M-1 and the receiving channels in the column direction of the array receiver differs from the correspondence between the illumination channels in rows M to N and the receiving channels in the column direction of the array receiver, including: The first to M-1 rows of receiving channels correspond to the first to M-1 rows of lighting channels in the N rows of lighting channels, and the M to N rows of receiving channels correspond to the M-1 to N-1 rows of lighting channels in the N rows of lighting channels. Alternatively, the first to M-1 rows of receiving channels correspond to the first to M-1 rows of lighting channels in the N rows of lighting channels, and the M to N rows of receiving channels correspond to the M+1 to N rows of lighting channels in the N rows of lighting channels; M and N are both positive integers greater than 2, and M is less than N.

2. The method according to claim 1, characterized in that, The vertical field of view of the array transmitter is greater than that of the array receiver.

3. The method according to claim 1, characterized in that, The vertical field of view of the array transmitter is smaller than that of the array receiver.

4. The method according to any one of claims 1-3, characterized in that, In the N rows of lighting channels, multiple adjacent lighting channels emit light simultaneously to form a lighting area. In the N rows of receiving channels, the receiving channels corresponding to the adjacent multiple lighting channels form a receiving area, and the receiving area includes the adjacent multiple receiving channels.

5. The method according to claim 4, characterized in that, The ratio of the number of light-emitting channels in the light-emitting area to the number of receiving channels in the receiving area is a first value, wherein the first value is the ratio of the total number of rows of light-emitting channels in the array transmitter to the total number of rows of receiving channels in the array receiver.

6. The method according to claim 4, characterized in that, The first emitting region in the array transmitter corresponds to the first receiving region in the array receiver, and the existence of the first emitting region and the first receiving region satisfies the following condition: The ratio of the number of light-emitting channels in the first light-emitting area to the number of receiving channels in the first receiving area is greater than a first value; or The ratio of the number of light-emitting channels in the first light-emitting area to the number of receiving channels in the first receiving area is less than a first value; Wherein, the first value is the ratio of the total number of rows of the lighting channels included in the array transmitter to the total number of rows of the receiving channels included in the array receiver.

7. A detection method, characterized in that, A detection device comprising an array transmitter and an array receiver, the array transmitter including an A-row illumination channel and the array receiver including a B-row receiving channel, the method comprising: The transmitter emits a signal sequentially through S light-emitting regions arranged along the column direction in the array transmitter, and receives the echo signal of the emitted signal through S receiving regions arranged along 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. Wherein, the ratio of the number of light-emitting channels in the i-th light-emitting region to the number of receiving channels in the i-th receiving region is greater than the ratio of A to B, or the ratio of the number of light-emitting channels in the i-th light-emitting region to the number of receiving channels in the i-th receiving region is less than the ratio of A to B, where A, B, S, and i are all positive integers, i is less than or equal to S, and S is less than A.

8. The method according to claim 7, characterized in that, If the ratio of the number of light-emitting channels in the i-th light-emitting region to the number of receiving channels in the i-th receiving region is greater than the ratio of A to B, The lighting channels included in any two adjacent light-emitting areas of the S light-emitting areas are repeated.

9. The method according to claim 7, characterized in that, When the ratio of the number of light-emitting channels in the i-th light-emitting region to the number of receiving channels in the i-th receiving region is less than the ratio of A to B, The receiving channels included in any two adjacent receiving areas of the S receiving areas overlap.

10. The method according to any one of claims 7-9, characterized in that, The vertical field of view of the array transmitter is greater than the vertical field of view of the array receiver, or the vertical field of view of the array transmitter is less than the vertical field of view of the array receiver.

11. A detection device, characterized in that, The detection device 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 perform the method as described in any one of claims 1-6, or to perform the method as described in any one of claims 7-10.

12. A lidar, characterized in that, The lidar includes the detection device as described in claim 11.

13. A terminal, characterized in that, The terminal includes the detection device as described in claim 11, or includes the lidar as described in claim 12.

14. A computer-readable storage medium, characterized in that, Includes computer instructions that, when executed by a processor, implement the method as described in any one of claims 1-6, or implement the method as described in any one of claims 7-10.

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