Transmitting module, receiving module, laser radar and electronic equipment

Abstract

The invention provides a transmitting module, a receiving module, a laser radar and electronic equipment. The emission module comprises a light source, a solid-state light deflection device and a control module. The solid-state light deflection device is configured to deflect light beams emitted by a plurality of light-emitting blocks of the light source; the control module is configured to control the plurality of light-emitting blocks to emit light in a scanning period corresponding to at least one light-emitting group according to the at least one light-emitting group divided in advance; and controlling the solid-state light deflection device to deflect the light beams emitted by the light-emitting blocks of the light-emitting groups by different preset deflection angles in different scanning time periods corresponding to one light-emitting group so as to scan different corresponding sub-regions in the view field, in one scanning period corresponding to the same light-emitting group, the light-emitting moments of all the light-emitting blocks of the light-emitting group are not completely the same, so that crosstalk caused by a high-reflectivity object or a close-range object on adjacent photosensitive pixels can be dispersed to a certain extent, the influence of light crosstalk is reduced, and the sensing accuracy is improved.

Description

Technical Field

[0001] This application relates to the field of lidar technology, specifically to transmitting modules, receiving modules, lidar, and electronic equipment. Background Technology

[0002] LiDAR (Light Detection and Ranging) emits infrared laser light and receives its reflected signals, combining this with azimuth information to sense the distance to surrounding objects and generate a 3D point cloud image. All-solid-state LiDAR, with its absence of internal moving parts, offers advantages such as high reliability, small size, high integration, and good stability, making it more suitable for automotive-grade applications. However, while current all-solid-state LiDAR can achieve a certain degree of wide field of view and high resolution scanning, it is severely affected by optical crosstalk, thus reducing sensing accuracy. Summary of the Invention

[0003] In view of the above problems, this application is made in order to provide a transmitting module, receiving module, lidar and electronic equipment that overcomes or at least partially solves the above problems.

[0004] In a first aspect, embodiments of this application provide a transmitting module, including: a light source, a solid-state light deflection device, and a control module; the light source includes a plurality of light-emitting blocks; the solid-state light deflection device is configured to deflect the light beams emitted by the plurality of light-emitting blocks; the control module is configured to control the plurality of light-emitting blocks to emit light according to at least one pre-divided light-emitting group during a scanning period corresponding to at least one light-emitting group; and to control the solid-state light deflection device to deflect the light beams emitted by each light-emitting block in the light-emitting group by different preset deflection angles during different scanning periods corresponding to a light-emitting group, so as to scan different sub-regions in the corresponding field of view; wherein, within a scanning period corresponding to the same light-emitting group, the emission times of the light-emitting blocks in the same light-emitting group are not completely the same.

[0005] In some embodiments, the solid-state optical deflection device is specifically configured to deflect the light beam one-dimensionally along a preset first direction, and the light-emitting blocks in the light-emitting group are arranged sequentially at least along a preset second direction.

[0006] In some embodiments, when at least one light-emitting group includes at least two light-emitting groups, the arrangement positions of the light-emitting blocks in the same light-emitting group along the second direction are not continuous, and there is a gap of at least one light-emitting block from another light-emitting group between two adjacent light-emitting blocks.

[0007] In some embodiments, the solid-state optical deflection device is specifically configured to deflect the light beam in two dimensions along a preset first direction and a second direction, respectively, and the light-emitting blocks in the light-emitting group are arranged along the first direction and / or the second direction.

[0008] In some embodiments, the first direction and the second direction are arranged perpendicular to each other; when the solid-state optical deflection device deflects the light beam along the first direction, it is specifically configured to scan the horizontal or vertical direction of the field of view.

[0009] In some embodiments, the control module is further configured to control each light-emitting block in the light-emitting group to complete multiple rounds of light pulse emission according to a preset time sequence within a corresponding scanning period, wherein a scanning period includes multiple pulse periods corresponding to the multiple rounds of light pulse emission; and to control multiple light-emitting blocks in the same light-emitting group to emit a light pulse in a pulse period to complete a round of light pulse emission, wherein the times at which different light-emitting blocks in the same light-emitting group emit light pulses in a pulse period are not exactly the same.

[0010] In some embodiments, the control module is further configured to control the same light-emitting block in the light-emitting group to emit light pulses at times corresponding to the start time of each pulse period in a scanning period, wherein the length of the time interval corresponding to each of the multiple pulse periods varies randomly.

[0011] In some embodiments, a pulse period includes a light emission adjustment interval with a preset duration, and the control module is further configured to randomly set the times when multiple light emission blocks in the same light emission group emit light pulses during the pulse period within the light emission adjustment interval of a pulse period.

[0012] In some embodiments, a pulse time period includes a light emission adjustment interval with a preset duration. The control module is further configured to determine the time when multiple light-emitting blocks in the same light-emitting group emit light pulses within a scanning time period by: generating a set of random number sequences corresponding to a pulse time period within a scanning time period; the set of random number sequences includes multiple random numbers that correspond one-to-one with multiple light-emitting blocks; the multiple random numbers are respectively used as random durations of delay of the time when each of the multiple light-emitting blocks emits light pulses within a pulse time period relative to the start time of the pulse time period; the value of the random duration is greater than or equal to zero and less than or equal to the preset duration of the light emission adjustment interval; determining the time when each of the multiple light-emitting blocks emits light pulses within a pulse time period based on the random duration, so as to control the multiple light-emitting blocks to emit light pulses at randomly set time intervals within a pulse time period.

[0013] In some embodiments, a pulse time period includes a light emission adjustment interval with a preset duration. The control module is further configured to determine the time when multiple light-emitting blocks in the same light-emitting group emit light pulses within a scanning time period by: generating a set of random number sequences for each of the multiple light-emitting blocks, the set of random number sequences including multiple random numbers corresponding one-to-one with the multiple pulse time periods of the light-emitting block within a scanning time period, the multiple random numbers respectively serving as the random duration of the time when the light-emitting block emits light pulses within each of the multiple pulse time periods, relative to the start time of the pulse time period, the random duration being greater than or equal to zero and less than or equal to the preset duration of the light emission adjustment interval; determining the time when the light-emitting block emits light pulses within the multiple pulse time periods based on the random duration, so as to control the light-emitting blocks to randomly emit light pulses sequentially within the multiple pulse time periods.

[0014] In some embodiments, the control module is further configured to control that the light pulses emitted by each light-emitting block in the light-emitting group are different during at least one pulse period in a plurality of pulse periods in a scanning period.

[0015] In some embodiments, the control module is further configured to control that, within a scanning period corresponding to the same light-emitting group, at least two light-emitting blocks in the same light-emitting group emit light pulses at different times within a pulse period, and the time difference between the at least two light-emitting blocks varies randomly within different pulse periods.

[0016] In some embodiments, the control module is further configured to control that within a scanning period corresponding to the same light-emitting group, the times at which multiple light-emitting blocks in the same light-emitting group emit light pulses within a pulse period have corresponding multiple time differences, and each of the multiple light-emitting blocks in the same light-emitting group has a set of corresponding multiple time differences in different pulse periods, with the multiple time differences in different sets changing randomly.

[0017] In some embodiments, the initial portion of the pulse period has a light emission adjustment interval of a preset duration, and the range of random variation of the time difference is greater than or equal to zero and less than or equal to the preset duration of the light emission adjustment interval.

[0018] In some embodiments, the beginning portion of the pulse period has a light emission adjustment interval of a preset duration, and the control module is further configured to randomly set the times when multiple light emission blocks of the same light emission group emit light pulses during the pulse period within the light emission adjustment interval of a pulse period.

[0019] In some embodiments, a plurality of light-emitting blocks are arranged in a two-dimensional array, and a light-emitting group includes at least one light-emitting block; when a light-emitting group includes multiple light-emitting blocks, the multiple light-emitting blocks of the light-emitting group are respectively located on N columns of the two-dimensional array, or respectively located on M rows of the two-dimensional array, where N and M are both integers greater than or equal to 1.

[0020] In some embodiments, the array positions of at least two light-emitting blocks in the same row or column of the same light-emitting group are not continuous, and any two adjacent light-emitting blocks are spaced apart by at least one light-emitting block from another light-emitting group.

[0021] In some embodiments, the solid-state optical deflection device is divided into at least two sub-deflection regions, and the deflection angle of the light beam is independently adjusted by different sub-deflection regions; each sub-deflection region is configured to deflect the light beam emitted by at least one light-emitting group.

[0022] In some embodiments, the control module is further configured to control at least two sub-deflection regions to deflect the beams emitted by at least two light-emitting groups by different deflection angles during the same scanning period, so as to scan at least two non-continuously distributed sub-regions in the field of view.

[0023] In some embodiments, the emitting module further includes a collimating lens, with a plurality of light-emitting blocks disposed on the focal plane of the collimating lens, and the collimating lens is configured to collimate the light beams emitted by the plurality of light-emitting blocks located at different positions in different directions.

[0024] In some embodiments, the emitting module further includes a polarizer disposed in the optical path before entering the solid-state optical deflector and configured to change the polarization state of the light beam emitted by the plurality of light-emitting blocks.

[0025] In some embodiments, the solid-state optical deflection device is selected from optical phased arrays, liquid crystal polarization gratings, acousto-optic deflectors, electro-optic deflectors, or metasurface beam deflectors.

[0026] In some embodiments, the solid-state optical deflection device is a metasurface beam deflector, which includes a substrate, a metasurface microstructure disposed on the substrate, and a refractive index-tunable dielectric layer filled in the metasurface structure.

[0027] In some embodiments, the dielectric layer is a liquid crystal material.

[0028] In some embodiments, the metasurface beam deflector is a reflective metasurface beam deflector, which includes a substrate with a reflective layer. The beam emitted by the light source is reflected by the reflective metasurface beam deflector and then scans the field of view. The control module is also configured to control the reflection direction of the beam by the reflective metasurface beam deflector to adjust different deflection angles of the beam emitted by the light source.

[0029] In some embodiments, the emitting module further includes a reflector, and at least a portion of the light beam emitted by the light source is reflected by the reflector and a reflective metasurface beam deflector to scan the field of view.

[0030] In some embodiments, at least another portion of the unreflected beam emitted by the light source is used to scan another field of view in the direction of light emission from the light source.

[0031] In some embodiments, at least a portion of the light beam, after being reflected by a mirror and deviating from the light-emitting direction of the light source by a predetermined distance, is reflected by a reflective metasurface beam deflector to scan the field of view in the light-emitting direction away from the light source.

[0032] Secondly, embodiments of this application provide a receiving module, including: a receiving chip, a solid-state light deflection device, and a control module; the receiving chip includes a plurality of photosensitive pixels, which are correspondingly arranged with a plurality of light-emitting blocks in the transmitting module described in any one of the first aspects, to sense light beams from corresponding sub-regions in the field of view scanned by the plurality of light-emitting blocks; the control module is configured to control each of the plurality of photosensitive pixels to start working during the scanning period corresponding to the corresponding light-emitting block; and to control the solid-state light deflection device to deflect light beams from different sub-regions in the field of view scanned by the plurality of light-emitting blocks to the corresponding photosensitive pixels for reception according to the principle of optical path reversibility and according to the receiving optical path which is the reverse of the transmitting optical path in the transmitting module described in any one of the first aspects.

[0033] Thirdly, embodiments of this application provide a lidar, including: a transmitting module as described in any of the first aspects; and / or at least one of the receiving modules as described in the second aspect.

[0034] In some embodiments, the lidar includes a transmitting module as described in any of the first aspects and a receiving module as described in the second aspect; the solid-state optical deflection device in the transmitting module is a metasurface beam deflector, and the solid-state optical deflection device in the receiving module is a liquid crystal polarization grating.

[0035] Fourthly, embodiments of this application provide an electronic device including a lidar as described in the third aspect.

[0036] In the emission module provided in the embodiments of this application, a number of light-emitting blocks of the light source are pre-divided into at least one light-emitting group, and within a scanning period corresponding to the same light-emitting group, the light emission time of each light-emitting block in the light-emitting group is not exactly the same. This can disperse the crosstalk caused by highly reflective objects or close-range objects on adjacent photosensitive pixels to a certain extent, thereby reducing the influence of light crosstalk and thus helping to improve the accuracy of sensing. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of the structure of a transmitting module provided in some embodiments of this application.

[0038] Figure 2A This is a schematic diagram of multiple light-emitting blocks arranged in a two-dimensional array according to some embodiments of the present application.

[0039] Figure 2B This is a schematic diagram showing how a beam is deflected to different deflection angles when the solid-state optical deflection device provided in some embodiments of this application is divided into two sub-deflection regions.

[0040] Figure 3 This is a schematic diagram illustrating the implementation of the emission timing provided in some embodiments of this application.

[0041] Figure 4A This is a schematic diagram of some embodiments of this application showing the division of light-emitting groups into rows.

[0042] Figure 4B This is a schematic diagram showing the coordination relationship between the light-emitting group and the one-dimensional deflection direction of the solid-state deflection device provided in some embodiments of this application.

[0043] Figure 4C This is a schematic diagram illustrating the coordination relationship between the light-emitting group and the one-dimensional deflection direction of the solid-state deflection device provided in other embodiments of this application.

[0044] Figure 4D This is a schematic diagram showing the coordination relationship between the light-emitting group and the two-dimensional deflection direction of the solid-state deflection device provided in some embodiments of this application.

[0045] Figure 4E This is a schematic diagram illustrating the coordination relationship between the light-emitting group and the two-dimensional deflection direction of the solid-state deflection device provided in other embodiments of this application.

[0046] Figure 4F This is a schematic diagram illustrating the coordination relationship between the light-emitting group and the two-dimensional deflection direction of the solid-state deflection device provided in other embodiments of this application.

[0047] Figure 5 This is a schematic diagram of the light-emitting groups being divided into rows according to other embodiments of this application.

[0048] Figure 6 This is a schematic diagram of a light-emitting group obtained according to the grouping principle of a light-emitting group including light-emitting blocks located in different rows or columns, provided by some embodiments of this application.

[0049] Figure 7 This is a comparative schematic diagram of related technologies provided in some embodiments of this application and the histogram time binning of this application.

[0050] Figure 8 This is a schematic diagram of the transmission optical path of the transmission module provided in some embodiments of this application.

[0051] Figure 9 This is a schematic diagram of the structure of a receiving module provided in some embodiments of this application.

[0052] Figure 10 This is a schematic diagram of multiple photosensitive pixels arranged in a two-dimensional array of a receiving chip provided in some embodiments of this application.

[0053] Figure 11 This is a schematic diagram of a non-contiguous sub-region in the field of view when the solid-state optical deflection device provided in some embodiments of this application is divided into two sub-deflection regions. Detailed Implementation

[0054] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of devices and methods consistent with some aspects of this application as detailed in the appended claims.

[0055] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The singular forms “a,” “the,” and “the” used in this application and the appended claims are also intended to include the plural forms unless the following clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items. It should also be understood that the word “if” as used herein, depending on the context, can be interpreted as “when,” “when,” or “in response to a determination.”

[0056] The transmitting module provided in this application embodiment is configured to emit a light beam for three-dimensional sensing within the field of view, such as... Figure 1 As shown, the transmitting module 100 includes: a light source 110, a solid-state light deflection device 120, and a control module 130.

[0057] The light source 110 includes a plurality of light-emitting blocks. A solid-state light deflector 120 is configured to deflect the light beam emitted by the plurality of light-emitting blocks.

[0058] The control module 130 is configured to control a plurality of light-emitting blocks to emit light in a scanning period corresponding to the at least one light-emitting group according to a pre-divided group; and to control a solid-state light deflection device to deflect the light beam emitted by each light-emitting block in the light-emitting group by different preset deflection angles in different scanning periods corresponding to a light-emitting group, so as to scan different sub-regions in the field of view.

[0059] Within a single scanning period corresponding to the same light-emitting group, the emission times of each light-emitting block in that group are not entirely the same.

[0060] The light source 110 in the embodiments of this application will be described in detail below. Figure 2A As shown, in some embodiments of this application, the light source 110 includes a plurality of light-emitting blocks 111 arranged in a two-dimensional array, and the plurality of light-emitting blocks 111 are divided into a plurality of light-emitting groups, each light-emitting group including at least one light-emitting block 111.

[0061] The light source 110 may include multiple light-emitting groups, each light-emitting group including at least one light-emitting block 111, and all light-emitting blocks 111 in each light-emitting group are arranged in a two-dimensional array. That is, the light source 110 may include multiple light-emitting blocks 111, and all light-emitting blocks 111 are arranged in a two-dimensional array. Each small square represents a light-emitting block 111, and each small circle represents a light-emitting unit 1111 within a light-emitting block 111. Then, the light source 110 includes C (number of columns) × R (number of rows) light-emitting blocks 111. For example, C is 7 and R is 6.

[0062] It should be noted that the number of columns C and the number of rows R can be the same or different values; no specific restrictions are made here.

[0063] In other embodiments, the number of columns C and the number of rows R may also take other specific values, which will not be listed here.

[0064] Each light-emitting block includes multiple light-emitting units 1111, and different light-emitting blocks 111 may include the same or different numbers of light-emitting units 1111.

[0065] It should be understood that in some other embodiments, the multiple light-emitting blocks 111 may also be arranged in other regular or irregular ways, such as linear array, circular array, polygonal array and other regular ways, and this application does not limit them.

[0066] Optionally, the light-emitting unit 1111 can be, for example, a vertical cavity surface-emitting laser (VCSEL). Alternatively, the light-emitting unit 1111 can also be a light-emitting device in the form of an edge-emitting laser (EEL), a light-emitting diode (LED), a laser diode (LD), or a fiber laser. The edge-emitting laser can be a Fabry Perot (FP) laser, a distributed feedback (DFB) laser, an electro-absorption modulated (EML) laser, etc., and this embodiment does not limit the specific type of laser used.

[0067] Optionally, the solid-state optical deflection device 120 is selected from optical phased arrays, liquid crystal polarization gratings, acousto-optic deflectors, electro-optic deflectors, or metasurface beam deflectors.

[0068] In some embodiments, the solid-state optical deflection device 120 is a metasurface beam deflector, which includes a substrate, a metasurface microstructure disposed on the substrate, and a refractive index-tunable dielectric layer filled in the metasurface structure. The dielectric layer is a liquid crystal material.

[0069] A metasurface beam deflector is an optical device based on metasurface technology that enables precise control and deflection of the propagation direction of a light beam. Compared with traditional beam deflectors, metasurface beam deflectors offer several significant advantages. First, they possess extremely high integration and miniaturization, allowing for beam deflection within a small space, which is crucial for the development of integrated optical systems and micro-optical devices. Second, metasurface beam deflectors have a fast response speed, enabling real-time beam control. Furthermore, by rationally designing the structure and parameters of the metasurface, high-precision beam deflection can be achieved, with the deflection angle adjustable flexibly over a wide range. Multiple beams can also be independently controlled simultaneously, demonstrating strong flexibility and versatility.

[0070] In some embodiments, the metasurface beam deflector is a reflective metasurface beam deflector, which includes a substrate with a reflective layer. The beam emitted by the light source 110 scans the field of view after being reflected by the reflective metasurface beam deflector. The control module 130 is also configured to control the reflection direction of the beam by the reflective metasurface beam deflector to adjust different deflection angles of the beam emitted by the light source.

[0071] For lidar with long ranging distances, reflective metasurface beam deflectors are a good choice because they have high light energy utilization. For lidar with shorter ranging distances and higher integration requirements, transmissive metasurface beam deflectors are preferable.

[0072] The aforementioned control module 130, in terms of hardware, can be selected, but is not limited to, an application processor (AP), a central processing unit (CPU), a micro controller unit (MCU), or a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0073] The various functions of the control module 130 can be implemented using computer software, such as the Hardware Description Language (HDL) code accompanying the FPGA hardware. This application does not limit the specific implementation method of the computer program.

[0074] The control module 130 can be integrated with the light source 110 on the same carrier, such as the circuit board of the emission module 100.

[0075] The control module 130 can also be configured to control a plurality of light-emitting blocks 111 to emit light according to at least one pre-divided light-emitting group within a scanning period corresponding to at least one light-emitting group. Each light-emitting group corresponds to a different scanning period, and the scanning periods can be set sequentially, that is, the light-emitting groups can work serially. In some embodiments, some different light-emitting groups can also work in parallel. The emission times of different light-emitting blocks 111 in the same light-emitting group within the corresponding scanning period can also be randomly staggered, which can reduce crosstalk between different light-emitting blocks 111 in the same light-emitting group emitting light within a scanning period to a certain extent.

[0076] It should be noted that the randomness mentioned in this application can be either pseudo-random or true random, and the embodiments of this application do not specifically limit it. Pseudo-random is essentially deterministic randomness; for example, pseudo-random is implemented based on a deterministic algorithm. True randomness, on the other hand, is essentially unpredictable and non-deterministic randomness; for example, true randomness is implemented based on unpredictable physical processes in nature.

[0077] The control module 130 can also be configured to control the solid-state light deflection device 120 to deflect the light beams emitted by each light-emitting block 111 in a light-emitting group by different preset deflection angles during different scanning periods corresponding to a light-emitting group, so as to scan different sub-regions in the field of view. Each light-emitting group also corresponds to different scanning periods, and during different scanning periods, the solid-state light deflection device 120 deflects the light beams emitted by each light-emitting block 111 in the light-emitting group by different preset deflection angles.

[0078] In some embodiments, the solid-state optical deflector 120 is divided into at least two sub-deflection regions, and the deflection angle of the light beam in each sub-deflection region is independently adjustable; each sub-deflection region is configured to deflect a light beam emitted by at least one light-emitting group. Figure 2B As shown, the solid-state optical deflection device 120 is divided into two sub-deflection regions 121 and 122, and the deflection angle of the light beam emitted by the light source 110 is independently adjustable in the sub-deflection regions 121 and 122. For example, please refer to [reference needed]. Figure 11 Sub-deflection region 121 deflects the light beams L3 and L4 emitted by different light-emitting blocks 110 in one light-emitting group (referred to as group 1) upwards to correspond to sub-region 841 located in the upper left corner of the upper half of the scanning field of view 840. Sub-deflection region 122 deflects the light beams L1 and L2 emitted by different light-emitting blocks 110 in another light-emitting group (referred to as group 3) downwards to correspond to sub-region 842 located in the upper right corner of the lower half of the scanning field of view 840. Sub-regions 841 and 842 are spatially discontinuous within the field of view, with less crosstalk between them. Thus, different light-emitting groups deflected by different sub-deflection regions 121 and 122 can work in parallel within the same scanning period.

[0079] The control module 130 is further configured to control at least two sub-deflection regions to deflect the beams emitted by at least two light-emitting groups at different deflection angles during the same scanning period, thereby scanning at least two non-contiguous sub-regions within the field of view. That is, when at least two light-emitting groups operate in parallel, the at least two sub-deflection regions of the solid-state light deflector 120 deflect the beams emitted by the at least two light-emitting groups at different deflection angles to scan at least two non-contiguous sub-regions within the field of view. This spatially isolates the sub-regions scanned by the different light-emitting groups operating in parallel, thus avoiding crosstalk problems. For at least two light-emitting groups with overlapping operating periods, the greater the difference in deflection angles by the at least two sub-deflection regions of the solid-state light deflector 120, the better to avoid crosstalk problems between light-emitting groups.

[0080] Within a scanning period corresponding to any light-emitting group, the light emission times of different light-emitting blocks 111 within that light-emitting group are not exactly the same. That is, within that scanning period, the light emission times of each light-emitting block 111 in that light-emitting group are randomly staggered, and at least two light-emitting blocks 111 have different light emission times.

[0081] This embodiment divides the multiple light-emitting blocks 111 of the light source 110 into multiple light-emitting groups, and controls each light-emitting group to emit light during different scanning periods through the control module 130. This allows multiple light-emitting blocks 111 in a light-emitting group to share the same beam flight time, thereby reducing the time required to complete a frame of sensing and improving the sensing frame rate. At the same sensing frame rate, the emission method of multiple light-emitting blocks 111 as a group, compared to the method of each light-emitting block 111 emitting one by one in the entire two-dimensional array, allows each light-emitting block 111 to be allocated a longer emission time. The signal-to-noise ratio of the sensing can be improved by increasing the number of emitted pulses, without needing to increase the peak power of a single emitted pulse to improve the signal-to-noise ratio of the sensing. Therefore, the emission power requirement of a single light-emitting block 111 is relatively low, which can reduce the hardware cost of the light source 110.

[0082] This embodiment of the application, by setting the emission times of different light-emitting blocks 111 within a scanning period corresponding to any light-emitting group, can help reduce the instantaneous total load of the emission module 100 and reduce heat generation. Under the same instantaneous total load of the emission module 100, at least two light-emitting blocks 111 have different emission times, which can relatively increase the emission power of a single light-emitting block 111, thereby increasing the ranging range of the corresponding scanning area.

[0083] It is important to understand that although the emission times of each light-emitting block 111 in the same light-emitting group are randomly staggered within a scanning period, they still emit within the same scanning period and therefore can still share the same beam flight time. This configuration eliminates the need to increase the number of time-sequential emission cycles of the light source 110 in each frame of sensing, and will not adversely affect the sensing frame rate. Furthermore, the random staggered emission times of each light-emitting block 111 in the same light-emitting group can, to some extent, disperse the crosstalk count caused by highly reflective objects or nearby objects on adjacent photosensitive pixels, thus better balancing the different requirements of distance measurement performance, hardware cost, heat dissipation, and sensing frame rate.

[0084] In some embodiments, the solid-state light deflection device 120 is specifically configured to deflect the light beam one-dimensionally along a preset first direction. Each light-emitting block 111 in the light-emitting group is arranged sequentially at least along a preset second direction. Each light-emitting block 111 is deflected along the first direction by the solid-state light deflection device 120 to correspondingly scan each sub-region distributed along the first direction, thereby achieving two-dimensional scanning of the field of view. In one example, the arrangement positions of the light-emitting blocks 111 in the same light-emitting group along the second direction are not continuous, and at least one light-emitting block 111 from another light-emitting group is spaced between adjacent light-emitting blocks 111. That is, the array positions of different light-emitting blocks 111 in the same row or column within the same light-emitting group are not continuous, and are spaced between each other by at least one light-emitting block 111 from another light-emitting group. Therefore, the light-emitting blocks 111 in the same group that emit light together during the same scanning period can be spaced further apart, which can reduce crosstalk between their respective scanned sub-regions to a certain extent.

[0085] In other embodiments, the solid-state optical deflection device 120 is specifically configured to deflect the light beam in two dimensions along a preset first direction and a second direction, respectively, and the light-emitting blocks 111 in the light-emitting group are arranged along the first direction and / or the second direction.

[0086] The first direction and the second direction are set perpendicular to each other; when the solid-state optical deflection device 120 deflects the light beam along the first direction, it is specifically configured to scan the horizontal or vertical direction of the field of view.

[0087] In some embodiments, the control module 130 is further configured to control each light-emitting block 111 of the light-emitting group to complete multiple rounds of light pulse emission according to a preset time sequence within a corresponding scanning period. A scanning period includes multiple pulse periods corresponding to the multiple rounds of light pulse emission. The control module 130 is further configured to control multiple light-emitting blocks 111 in the same light-emitting group to emit one light pulse respectively within one pulse period to complete one round of light pulse emission. That is, each pulse period constitutes one round. The times at which different light-emitting blocks 111 within the same light-emitting group emit light pulses within the same pulse period are not entirely the same. That is, within a light-emitting group, at least two light-emitting blocks 111 emit light pulses at different times within the same pulse period.

[0088] Of course, in some embodiments, the control module 130 may also be configured to control the emission times of each light-emitting block 111 in the light-emitting group to be completely different within at least one pulse period. In this way, the crosstalk count caused by highly reflective objects or nearby objects can be further dispersed, improving the accuracy of the final obtained three-dimensional sensing data.

[0089] In some embodiments, the control module 130 may be further configured to control the timing of light pulse emission by each light-emitting block 111 of the light-emitting group within at least one pulse period.

[0090] It should be noted that the timing of the light pulses emitted by the multiple light-emitting blocks 111 is randomly set. In addition to the aforementioned situation where the timing of the light pulses emitted by each light-emitting block 111 is completely different within a pulse period, it may also include the situation where at least two light-emitting blocks 111 emit light pulses at the same time within at least one pulse period.

[0091] By controlling the control module 130 to randomly set the timing of light pulse emission from multiple light-emitting blocks 111, the effect of dispersed light crosstalk counting can be achieved. The lower the repetition rate after randomizing the timing of light pulse emission from different light-emitting blocks 111, the better the effect of dispersed light crosstalk counting. Therefore, in some embodiments, the proportion of light-emitting blocks 111 with different light pulse emission times in the entire light-emitting group can be greater than or much greater than the proportion of light-emitting blocks 111 with the same light pulse emission time in the entire light-emitting group.

[0092] In some embodiments, the emission times of each light-emitting block 111 in the light-emitting group are different. In this way, the crosstalk count caused by highly reflective objects or objects at close range can be further dispersed, improving the accuracy of the final three-dimensional sensing data.

[0093] In some embodiments, the control module 130 is further configured to control the same light-emitting block 111 to emit light pulses at times corresponding to the start time of each pulse period within multiple pulse periods of a scanning period, with the length of the time interval corresponding to each pulse period varying randomly.

[0094] In some embodiments, the pulse period includes a light emission adjustment interval with a preset duration, and the control module 130 is further configured to randomly set the times when multiple light emission blocks 111 of the same light emission group emit light pulses during the light emission adjustment interval of a pulse period.

[0095] In some embodiments, the control module 130 is further configured to control that each light-emitting block 111 of the light-emitting group emits light pulses at different times during at least one pulse period.

[0096] In some embodiments, the control module 130 is further configured to control that at least two light-emitting blocks 111 emit light pulses at different times within a pulse period during the scanning period corresponding to the same light-emitting group, and that the time difference formed by the at least two light-emitting blocks 111 in different pulse periods varies randomly.

[0097] In some embodiments, the control module 130 is further configured to control that within the scanning period corresponding to the same light-emitting group, the times at which the multiple light-emitting blocks 111 of the light-emitting group emit light pulses respectively within a pulse period form multiple time differences with each other, and the time differences formed by the multiple light-emitting blocks 111 of the light-emitting group in different pulse periods vary randomly.

[0098] In some embodiments, the initial portion of the pulse period has a light emission adjustment interval of a preset duration, and the range of random variation of the time difference is greater than or equal to zero and less than or equal to the preset duration of the light emission adjustment interval.

[0099] The initial part of the pulse period has a light emission adjustment range, but the starting point of the pulse period is not necessarily the starting point of the light emission adjustment range.

[0100] In some embodiments, the beginning portion of the pulse period has a light emission adjustment interval of a preset duration, and the control module 130 is further configured to randomly set the times when multiple light emission blocks 111 of the same light emission group emit light pulses during the pulse period within the light emission adjustment interval of a pulse period.

[0101] Reference Figure 3 The emission timing diagram shown is as follows. Figure 3 In the diagram, the two-dimensional array of light source 110 is divided into X light-emitting groups, referred to as group 1 to group X. Figure 3 The square wave waveforms in the timing diagrams labeled as light-emitting groups 1 to X represent the scanning periods of group 1 (called the first scanning period), group 2 (called the second scanning period), ... group X (called the Xth scanning period), respectively; the pulse signals in the timing waveforms of light-emitting blocks numbered 1 to Y represent the light pulses emitted by light-emitting blocks numbered 1 to Y, respectively.

[0102] It should be understood that Figure 3 The illustration only shows the first scan period, the second scan period, ... the Xth scan period set sequentially. However, the embodiments of this application do not specifically limit this. The first scan period, the second scan period, ... the Xth scan period can also be set in parallel or randomly.

[0103] During these X scanning periods, the light-emitting blocks in each group are always powered on during the corresponding scanning period, but they only emit light when emitting light pulses.

[0104] Within the scanning period corresponding to each light-emitting group, each light-emitting block emits multiple rounds of light pulses, with each round of emission occurring within a pulse period (denoted by T). (See reference...) Figure 3As shown, within the scanning time period corresponding to the pulse waveform of the first group, the Y light-emitting blocks emit multiple rounds of light pulses (assumed to be num times) in several different pulse periods (denoted by T1 to Tnum). Different ranging cycles are indicated by dashed lines. For example, in the first pulse period T1, each of the Y light-emitting blocks emits one light pulse (i.e., lights up once). In the second pulse period T2, each of the Y light-emitting blocks emits another light pulse, and so on. It should be understood that within a certain pulse period, one or more of the Y light-emitting blocks may not emit light. The number of times a light-emitting block emits light within a light-emitting group can be determined comprehensively based on the pixel count, ranging frame rate, and other factors of the applicable lidar.

[0105] Within each pulse period, the timing of light pulse emission by multiple light-emitting blocks in the light-emitting group can be randomly set. This random setting achieves the effect of counting and diverging the crosstalk light signals. To ensure that the light pulse has sufficient flight time within the ranging range, the beginning of each pulse period has a preset duration of light emission adjustment interval. Within this preset light emission adjustment interval, the multiple light-emitting blocks in the light-emitting group randomly set the timing of their respective light pulse emission.

[0106] The light emission adjustment interval is located at the beginning of the pulse period and has a preset duration, for example, its duration is set to the upper limit of the time delay between the time of light pulse emission and the start time of the pulse period.

[0107] The following section, in conjunction with the accompanying diagram, explains the specific method for randomly setting the timing of the emitted optical pulses.

[0108] 1) Within the light emission adjustment interval of a pulse period, randomly set the time when multiple light emission blocks of the same light emission group emit light pulses respectively during the pulse period.

[0109] Within a single pulse of emission duration, some light-emitting blocks in the same emission group may emit light at the same time, while others may emit light at different times. Alternatively, within a single pulse, the emission times of each light-emitting block in the same group may be different from each other.

[0110] Based on this, refer to Figure 3 As shown, within the same light-emitting group, the timing of the light pulses emitted by different light-emitting blocks can vary within each pulse period. By staggering the emission times of each light-emitting block, the crosstalk signals between different light-emitting blocks are dispersed, which can effectively solve the problem of crosstalk between multiple light-emitting blocks in related technologies.

[0111] Alternatively, within the same light-emitting group, during a certain pulse period, among the Y light-emitting blocks, some light-emitting blocks emit light pulses at different times (the majority), while other light-emitting blocks emit light pulses at the same time. That is... Figure 3 During a certain pulse period, the starting time of the emitted light pulses corresponding to the light-emitting blocks numbered 1 to Y may be different for some light-emitting blocks, while the starting time of the emitted pulses for some light-emitting blocks may be the same.

[0112] In one embodiment, the control module is further configured to randomly set the times when multiple light-emitting blocks in the same light-emitting group emit light pulses during the light emission adjustment interval of a pulse period.

[0113] 2) Within the scanning period corresponding to the same light-emitting group, the time when the same light-emitting block emits light pulses in at least two pulse periods has the same time interval relative to the start time of each pulse period, and the length of the time interval corresponding to each of the multiple pulse periods varies randomly.

[0114] For a particular light-emitting block, for example Figure 3 For the light-emitting block corresponding to number 1 in the multiple pulse periods, the time interval between the time when the light-emitting block emits a light pulse in each pulse period and the start time of that pulse period (shown by the dashed lines in T1 to Tnum in the figure) can all be different. Alternatively, in some pulse periods in T1 to Tnum, the time intervals relative to the start time of that pulse period are different from each other, while in other pulse periods, the time intervals relative to the start time of that pulse period are the same from each other.

[0115] In one embodiment, the control module is further configured to control a light-emitting block to emit multiple light pulses within the corresponding scanning period of the light-emitting group. The time of emitting the multiple light pulses has a corresponding time interval relative to the start time of each pulse period, and the length of the time interval corresponding to each of the multiple pulse periods varies randomly.

[0116] Reference Figure 3 As shown, viewed from the horizontal direction of a certain light-emitting block, it emits num light pulses in the range T1 to Tnum, and the time interval between these light pulses can be randomly generated.

[0117] 3) During one of the pulse periods, the emission time of each light-emitting block in the same light-emitting group is different, and the emission times of different light-emitting blocks form a time difference with each other; furthermore, corresponding to different pulse periods, the time difference formed between the emission times of at least two different light-emitting blocks in the same light-emitting group can vary randomly, and the variation range is within the light emission adjustment range.

[0118] In one embodiment, within the scanning period corresponding to the same light-emitting group, the times at which at least two light-emitting blocks emit light pulses within a pulse period have a time difference, and the time difference formed by the at least two light-emitting blocks in different pulse periods varies randomly.

[0119] In one embodiment, within a scanning period corresponding to the same light-emitting group, the times at which multiple light-emitting blocks in the same group emit light pulses within a single pulse period form corresponding time differences. These time differences between different pulse periods vary randomly. Unlike the previous embodiment, where at least two light-emitting blocks have randomly varying time differences across different pulse periods (meaning some light-emitting blocks may have equal time differences across different pulse periods), in this embodiment, the time differences between multiple light-emitting blocks emitting light pulses within a single pulse period are randomly varied. That is, the time difference between the times when multiple light-emitting blocks emit light pulses in the previous pulse period may be different from the time difference between the times when multiple light-emitting blocks emit light pulses in the next pulse period.

[0120] The time difference between the times when the light pulses are emitted by the multiple light-emitting blocks mentioned above refers to the time difference between the emission times of any two light-emitting blocks in the same light-emitting group within the same ranging period (the time difference is a value greater than or equal to zero, i.e., the value obtained by subtracting the earlier emission time from the later emission time).

[0121] For example, within a certain pulse period of the scanning time of the same light-emitting group, from a longitudinal perspective, there is a time difference between the light pulses emitted by different light-emitting blocks. (This is still referred to as...) Figure 3 As shown, for example, the light-emitting blocks numbered 1 to Y can have a time difference with each other during the T1 time period. Moreover, the time difference between these light-emitting blocks is also randomly changing in different pulse time periods T1, T2...Tnum. That is, the time difference between each light-emitting block in T1 may be different from the time difference between these light-emitting blocks in T2 and T3.

[0122] The aforementioned time difference may also result in some pulse periods being the same, while other pulse periods are different; as long as it satisfies the requirement of random variation.

[0123] In one embodiment, in order to facilitate the determination of the light emission time of the light-emitting block within each pulse period, in this embodiment of the application, the random variation range of the above-mentioned time difference is greater than or equal to zero and less than or equal to the preset duration of the light emission adjustment interval.

[0124] 4) For a certain light-emitting block, the light emission time of the light-emitting block is different in each pulse period of a scanning period, or the light emission time of the light-emitting block is the same in some pulse periods of a scanning period, while the light emission time is different in other pulse periods (satisfying the random condition).

[0125] The timing of light pulses emitted by multiple light-emitting blocks in the same light-emitting group during the pulse period can be randomly set. Correspondingly, the delay time of light pulses emitted by multiple light-emitting blocks in a pulse period relative to the start time of the pulse period can be determined by generating random numbers.

[0126] Specifically, in one embodiment, the control module is further configured to determine the timing of the emitted light pulses of multiple light-emitting blocks in the same light-emitting group during a corresponding scanning period in the following manner: A set of random number sequences is generated for each pulse period. The random number sequence includes multiple random numbers that correspond one-to-one with multiple light-emitting blocks. Each random number is a random duration of the time when each light-emitting block emits a light pulse within the pulse period, which is delayed relative to the start time of the pulse period. The value of the random duration is greater than or equal to zero and less than or equal to the preset duration of the light emission adjustment interval. The timing of light pulse emission by multiple light-emitting blocks within the pulse period is determined based on a random duration, so as to control the multiple light-emitting blocks to emit light pulses at random time intervals within the pulse period.

[0127] In this embodiment, a random sequence is generated and assigned a value independently for each light-emitting block of a light-emitting group before each pulse period.

[0128] That is, before each pulse period, a corresponding random number sequence is generated for the corresponding pulse period, and then each random number in the random number sequence is assigned to the random duration of the light pulse delay emitted by each light-emitting block within the pulse period.

[0129] The method of generating corresponding random sequences independently for different pulse periods may result in overlap of random numbers generated in different pulse periods. That is, the following may be possible: within different ranging durations, the random durations corresponding to the same light-emitting block or different light-emitting blocks may be equal, but most light-emitting blocks can satisfy the condition that the random durations are not equal within the same ranging duration or different ranging durations.

[0130] In other embodiments, a random sequence of random durations corresponding to all pulse periods within the scanning period of each light-emitting block in the light-emitting group can be generated and assigned values ​​at once.

[0131] Specifically, the control module is also configured to generate multiple sets of random number sequences at once for multiple pulse periods corresponding to the scanning period, and to determine the time when multiple light-emitting blocks emit light pulses respectively in the pulse period based on one of the random number sequences before each pulse period.

[0132] Alternatively, for multiple pulse periods, a random number sequence containing the delay duration of each light-emitting block across all pulse periods can be pre-generated. Figure 3 For example, a random number sequence containing Y×num random numbers can be pre-generated, and each data point in this random number sequence can be assigned to, for example... Figure 3 The random duration of the delay for each light-emitting block 1 to M in T1 to Tnum.

[0133] After assigning the value, you can use the corresponding random duration in different pulse periods.

[0134] In one embodiment, a random number sequence can be generated independently for each pulse period of each light-emitting block. Specifically, the control module is further configured to determine the timing of the emitted light pulses of multiple light-emitting blocks in the same light-emitting group within the corresponding scanning period in the following manner: A set of random number sequences is generated for each light-emitting block. The random number sequence includes multiple random numbers that correspond one-to-one with multiple pulse periods of the light-emitting block. The multiple random numbers are respectively used as the random duration of the time when the light-emitting block emits a light pulse within the corresponding pulse period, which is delayed relative to the start time of the pulse period. The value of the random duration is greater than or equal to zero and less than or equal to the preset duration of the light emission adjustment interval. The timing of the light-emitting block emitting light pulses within the corresponding multiple pulse periods is determined based on the random duration, so as to control the light-emitting block to emit light pulses sequentially within the multiple pulse periods.

[0135] The embodiments of this application do not limit the method of generating random number sequences, nor the specific implementation of assigning random number sequences to random durations.

[0136] Figure 3 The random duration of medium delay is displayed through a grid, from Figure 3 As can be seen from the data, whether viewed horizontally or vertically, during the scanning period of the first group, the random duration of the delay of each light-emitting block in each pulse period T1 to Tnum can be randomly generated.

[0137] The control module can control the random duration corresponding to the time when each light-emitting block emits a light pulse, starting from the beginning of the pulse period, to obtain the time when each light-emitting block emits a light pulse within the pulse period.

[0138] Taking the first pulse period T1 as an example, within the first pulse period T1, the time when the light-emitting blocks numbered 1, 2, ... Y emit light pulses is delayed by a random duration relative to the start time of T1. The magnitude of the random duration of the delay is represented by grid lines, and the width of the grid lines represents the length of the random duration.

[0139] Because the delay time of the light-emitting block relative to the start time of the pulse period varies randomly within the pulse period, the timing of the light pulse emitted by the light-emitting block within the pulse period also varies randomly. From Figure 3 It can be seen that, within the same pulse period of the scanning period of Group 1, the time at which each light-emitting block numbered 1 to Y emits a light pulse is randomly varied, and / or, within the entire scanning period of Group 1, the time at which the light-emitting block emits a light pulse in each pulse period is also randomly varied.

[0140] The generation of the above-mentioned random number sequence can refer to existing random number generation methods. Common random number generation methods include the following: Pseudo-random number generation algorithms, such as the linear congruential method, which simulate a random number sequence through a deterministic calculation process or use physical phenomena (such as thermal noise, radioactive decay, etc.) to generate truly random numbers, etc. This application does not limit the specific methods used.

[0141] For the same light-emitting group, the delay duration of each light-emitting block in each pulse period can be determined by generating a random number sequence. Different light-emitting blocks can use their respective random numbers as their delay duration in different pulse periods.

[0142] According to the above method, correspondingly, starting from the beginning of each pulse period, after a corresponding random delay, the transmission time of the light-emitting block within each pulse period is determined.

[0143] In one embodiment, refer to Figure 3 As shown, the scanning period of each light-emitting group is equal to the sum of the charging time of the light-emitting group and the duration of multiple pulse periods.

[0144] The initial period of the scanning phase of the luminescent module is the charging time, i.e. Figure 3 In the example of the first scanning period, the time between the start of the rising edge of the first scanning period and the start of the first pulse period T1 (the time represented by the first dashed line and the second dashed line) is the charging time for the light-emitting block of the light-emitting group 1. Then there are several pulse periods (T1 to Tnum), that is, the total duration of the charging time + several pulse periods (T1 to Tnum) is equal to the length of the scanning period of each light-emitting group.

[0145] The duration of each pulse period is greater than or equal to the sum of the upper limit of the random duration and the flight time. The flight time is the time required for the sensing beam to travel back and forth across the ranging range.

[0146] Each pulse period consists of two parts: the random duration of the delay and the flight time. In order to meet the delay duration requirements of each light-emitting block, the pulse period can be set to a reasonable length, which is greater than or equal to the upper limit of the random duration of each light-emitting block in the same light-emitting group and the flight time that meets the ranging requirements.

[0147] In one embodiment, when the duration of a pulse period equals the sum of the upper limit of the random duration and the flight time, the number of times each light-emitting block emits light (equal to the number of pulse periods) within the scanning period corresponding to the same light-emitting group can be determined by the following formula: In the above formula, TX is the number of times each light-emitting block emits light; f is the working frame rate of the radar applicable to the transmitting module; n is the number of light-emitting groups; S is the ranging range of three-dimensional sensing; c is the speed of light; Tchg is the charging time of each light-emitting group; k is the data processing time; and t is the upper limit of the random duration.

[0148] In one embodiment, the light sources in the above-mentioned emission module can be grouped according to various principles and methods.

[0149] The principles and methods of grouping are explained below with reference to the attached diagrams.

[0150] Method 1: Treat each N columns or M rows in the two-dimensional array as a light-emitting group; N and M are both integers greater than or equal to 1.

[0151] In a two-dimensional array, the light-emitting groups are divided into columns or rows.

[0152] When dividing the light-emitting groups by column or row, each group can be one row or multiple rows (two or more rows). Alternatively, each group can be one column or multiple columns (two or more columns).

[0153] Reference Figure 4A As shown, the entire two-dimensional array of the light source 110 is divided into multiple light-emitting groups in a column-by-column manner. Figure 4A The diagram illustrates the arrangement of groups 1 through 5. That is, the light-emitting blocks in each light-emitting group are arranged sequentially along a preset second direction (i.e., the vertical direction).

[0154] Reference Figure 5 As shown, the entire two-dimensional array of light source 110 is divided into multiple light-emitting groups in groups of two columns. The division method for groups of more than two columns is similar.

[0155] The row-based partitioning method is similar to the column-based partitioning method described above, and will not be repeated here.

[0156] By dividing the light-emitting groups into M rows or N columns, the position of each light-emitting group is relatively fixed. Therefore, fewer and simpler circuits can be used to control a column or a row in terms of hardware circuit deployment, resulting in lower implementation costs.

[0157] With this grouping method, since the M rows or N columns share the charging time, the charging time for each light-emitting group is reduced, allowing for more time to perform ranging. This results in the technical advantage of increasing the number of emission times and the ranging distance.

[0158] For the lidar used in this transmitting module, it is also convenient to fuse data with data from other sensors, such as video data captured by a video capture camera. Since cameras usually use a line-by-line or column-by-column scanning method, the data acquisition method adopted by the transmitting module in this embodiment can be easily synchronized with this acquisition method, which facilitates subsequent data fusion processing.

[0159] In Method 1, the control module can control the pre-defined light-emitting groups to emit light sequentially in the following manner (from the perspective of the group): When different light-emitting groups emit light in a preset order, two light-emitting groups that are adjacent in the emission order are adjacent to each other in the two-dimensional array; or, two light-emitting groups that are adjacent in the emission order are not adjacent to each other in the two-dimensional array.

[0160] For example, refer to Figure 4A As shown, one method is to light up the lights sequentially in the order of group 1 → group 2 → group 3… Different groups are adjacent to each other.

[0161] Another approach is to emit light sequentially in the order of group 1 → group 3 → group 5, and in the order of group 2 → group 4 → group 6, i.e., skipping rows. In this case, different light-emitting groups are not adjacent to each other.

[0162] The method of keeping two adjacent light-emitting groups in the emission sequence separate from each other in the two-dimensional array can better avoid crosstalk problems of light-emitting blocks compared to the method of keeping them adjacent to each other.

[0163] It should be understood that the above only describes the sequential emission of different light-emitting groups according to a preset order, that is, the first scanning period, the second scanning period, ... the Xth scanning period are set sequentially. However, the embodiments of this application do not specifically limit this. Different light-emitting groups can also emit light simultaneously, that is, the first scanning period, the second scanning period, ... the Xth scanning period are set in parallel. Alternatively, different light-emitting groups can also emit light in parallel at random, that is, the first scanning period, the second scanning period, ... the Xth scanning period are set randomly. For the case where different light-emitting groups emit light simultaneously, the positional relationship of each light-emitting group in the two-dimensional array is not specifically limited. In this case, the solid-state light deflection device is divided into at least two sub-deflection regions, and the deflection angle of the beam in different sub-deflection regions is adjusted independently. Each sub-deflection region is configured to deflect the beam emitted by at least one light-emitting group. That is, at least two sub-deflection regions deflect the beam emitted by at least two light-emitting groups at different deflection angles in the same scanning period to scan at least two non-contiguous sub-regions in the field of view. Therefore, even if the positions of each light-emitting group in the two-dimensional array are adjacent, the crosstalk problem of the light-emitting blocks can be avoided.

[0164] Method 2: Divide the light-emitting blocks into different light-emitting groups. A light-emitting group includes light-emitting blocks located in different rows or columns.

[0165] This principle does not divide different light-emitting groups according to whole rows or columns, but according to light-emitting blocks, so that each light-emitting group includes at least two light-emitting blocks located in different rows or columns.

[0166] Reference Figure 6 The division method shown assumes that the row numbers of the two-dimensional array are 1 to 5, and the column numbers are also 1 to 5. Assuming that a light-emitting block is identified by its row-column position number, then the six light-emitting blocks with position numbers (1,1), (1,3), (3,1), (3,3), (5,1), and (5,3) can form a light-emitting group (see details). Figure 6 (The block marked with a medium shade).

[0167] Of course, under the principle of Method 2, there may be more grouping methods, which will not be shown one by one here.

[0168] Under the principle that a light-emitting group consists of light-emitting blocks located in different rows or columns, the number of light-emitting blocks in each light-emitting group may be the same or different.

[0169] Both Method 1 and Method 2 described above involve the division of light-emitting groups within the same frame period using a specific method or principle. The same division method or principle can be used to divide the light-emitting blocks within each frame period across different frames; alternatively, different division methods or principles can be switched between different frame periods to divide the light-emitting blocks within the frame period. This application does not limit this approach.

[0170] Method 2 can better avoid crosstalk problems caused by adjacent light-emitting blocks.

[0171] The light-emitting group division methods of Method 1 and Method 2 described above can also be summarized as follows: The control module is further configured to treat at least a portion of the light-emitting blocks located in each of the N columns as a light-emitting group; or, to treat at least a portion of the light-emitting blocks located in each of the M rows as a light-emitting group; wherein N and M are both integers greater than or equal to 1. That is, when a light-emitting group includes multiple light-emitting blocks, the multiple light-emitting blocks of the light-emitting group can be located on the N columns of the two-dimensional array, or on the M rows of the two-dimensional array, where N and M are both integers greater than or equal to 1.

[0172] For example, Figure 6 The way to divide the light-emitting blocks can be understood as follows: N is 2 columns, with 3 blocks in each column, for a total of 6 light-emitting blocks as a light-emitting group; or M is 3 rows, with 2 blocks in each row, for a total of 6 light-emitting blocks as a light-emitting group.

[0173] In one embodiment, this application also provides another method for a control module to drive multiple light-emitting blocks of different light-emitting groups to emit light. This method also satisfies that different light-emitting groups emit light sequentially in different scanning time periods according to a preset order, and that at least two light-emitting blocks emit light at different times within the scanning time period corresponding to the same light-emitting group.

[0174] Specifically, the control module is also configured to control the light-emitting blocks of the light-emitting group to emit multiple light pulses according to a preset time sequence within the corresponding scanning period. One scanning period includes multiple pulse periods corresponding to the multiple light pulses. The control module is also configured to control different light-emitting blocks in the light-emitting group to perform charging and emit a light pulse in sequence according to a preset order within one pulse period.

[0175] The control module is further configured to determine the moment when the light-emitting blocks of the same light-emitting group emit light pulses within a pulse period by means of the following: By generating a random number sequence, the timing of the emission pulse of each light-emitting block in the light-emitting group within a pulse period is determined, along with the random duration of the delay relative to the end of the charging period of the light-emitting block. For each light-emitting block in the light-emitting group, starting from the end of the charging time of the light-emitting block within the pulse period, a corresponding random time delay is applied to obtain the time when the light-emitting block emits a light pulse within the pulse period.

[0176] The control timing for this method is explained below: During the scanning period corresponding to each light-emitting group, each light-emitting block will emit multiple rounds of light pulses, and one round of light pulse emission will be achieved within one pulse period. The scanning period of each light-emitting group consists of multiple pulse periods.

[0177] Regarding the timing implementation methods described above, the first timing implementation method is suitable for the grouping rules of the light-emitting blocks, such as grouping by row or column, or grouping by M rows or N columns (M and N are both integers greater than 1).

[0178] The following sections, with reference to the accompanying drawings, explain the coordination relationship between the light-emitting group and the deflection direction of the solid-state deflection device.

[0179] like Figure 4B As shown, all the light-emitting blocks 111 in a column are grouped into a light-emitting group (denoted as group 1). Each light-emitting block 111 in this group is arranged sequentially along the vertical direction. The deflection direction D1 of the one-dimensional light deflection of the solid-state light deflection device 120 is horizontal. The light beam emitted by the light-emitting group is deflected by the one-dimensional light deflection of the solid-state light deflection device 120 and then scans the H×V sub-field of view in the field of view 840 (shown by the slashed box in the field of view 840). The H×V sub-field of view corresponds to a deflection angle of the solid-state light deflection device 120. A light-emitting group emits light in a corresponding scanning period to scan a sub-field of view H×V corresponding to a deflection angle of the solid-state light deflection device 120. The sub-fields of view H×V corresponding to each deflection angle of the solid-state light deflection device 120 are scanned in multiple scanning periods, thereby completing one frame scan of the field of view 840 that traverses the entire object space.

[0180] like Figure 4CAs shown, two light-emitting blocks 111 in a column are grouped together to form a light-emitting group. Taking four light-emitting groups (group 1, group 2, group 3, and group 4) as an example, the two light-emitting blocks 111 in each group are arranged vertically. The deflection direction D1 of the one-dimensional light deflection of the solid-state light deflection device 120 is horizontal. The four light-emitting groups emit beams sequentially in four serial scanning periods. The beams are deflected by a deflection angle by the solid-state light deflection device 120 to correspond to an H×V sub-field of view in the scanning field of view 840. Each light-emitting group corresponds to scanning one-quarter of the H×V sub-field of view (shown by the slashed box in the field of view 840). After all four light-emitting groups have completed scanning and ranging of the H×V sub-field of view corresponding to the current deflection angle of the solid-state light deflector 120, the solid-state light deflector 120 deflects to the next angle to scan another H×V sub-field of view in the field of view 840, and so on (as shown by the black arrows connecting the beginning and end in the field of view 840) until a frame scan of the entire object space's field of view 840 is completed. The two light-emitting blocks 111 of the same light-emitting group emit light randomly and staggeredly during each pulse period of a scanning period in the manner described above.

[0181] Figure 4C In this embodiment, the columns are divided into groups of two adjacent light-emitting blocks 111. It should be understood that in some other embodiments, the columns may also be divided into groups of two light-emitting blocks 111 arranged non-continuously, and the same column may include more than two light-emitting blocks 111. For example, the odd-numbered light-emitting blocks 111 in the 1st, 3rd, 5th, ... etc., are selected as one light-emitting group, and the even-numbered light-emitting blocks 111 in the 2nd, 4th, 6th, ... etc., are selected as another group.

[0182] Figure 4B and 4C The illustration only shows the light-emitting blocks 111 arranged in a vertical direction, while the deflection direction D1 of the one-dimensional light deflection of the solid-state light deflection device 120 is in the horizontal direction. Alternatively, the light-emitting blocks 111 can be arranged in a horizontal direction, while the deflection direction of the one-dimensional light deflection of the solid-state light deflection device 120 can be in the vertical direction.

[0183] like Figure 4D As shown, three light-emitting blocks 111 in a column are grouped into a light-emitting group (denoted as group 1), and each light-emitting block 111 in this group is arranged sequentially along the vertical direction. The deflection direction D1 in the two-dimensional light deflection is the horizontal direction, and the deflection direction D2 is the vertical direction. The light beam emitted by this light-emitting group is deflected in two dimensions by the solid-state light deflection device 120 and then scans the H×V sub-field of view in the field of view 840 (shown by the slashed box in the field of view 840).

[0184] like Figure 4EAs shown, three light-emitting blocks 111 in a row are grouped together to form a light-emitting group (denoted as group 1). Each light-emitting block 111 in this group is arranged sequentially along the horizontal direction. The deflection direction D1 in the two-dimensional light deflection is the horizontal direction, and the deflection direction D2 is the vertical direction. The light beam emitted by this light-emitting group is deflected in two dimensions by the solid-state light deflection device 120 and then scans the H×V sub-field of view in the field of view 840 (shown by the slashed box in the field of view 840).

[0185] like Figure 4F As shown, three light-emitting blocks 111 in a row and three light-emitting blocks 111 in a column are grouped into a light-emitting group (denoted as group 1). Each light-emitting block 111 in this group is arranged sequentially along the horizontal and vertical directions. The deflection direction D1 in the two-dimensional light deflection is the horizontal direction, and the deflection direction D2 is the vertical direction. The light beam emitted by this light-emitting group is deflected in two dimensions by the solid-state light deflection device 120 and then scans the H×V sub-field of view in the field of view 840 (shown by the slashed box in the field of view 840).

[0186] The process of driving and controlling the light source by the above-mentioned transmitting module is described below with specific implementation methods.

[0187] The emitting module is a VCSEL light source with an area array, consisting of a two-dimensional array of N (columns) × M (rows). Each light-emitting block in the two-dimensional array is divided into N groups according to the method of dividing each column into a group, and each light-emitting group is a column.

[0188] For each luminescent group, refer to Figure 4A As shown, the light-emitting blocks are driven to emit light column by column from left to right.

[0189] The control module drives one column of light-emitting blocks to emit light each time. For example, the first column of light-emitting blocks is driven to emit light for the first time. After each light-emitting block in the first column is lit up num times in sequence, the module switches to the next column and repeats the above process until the entire array is lit up to complete one frame scan of the entire field of view.

[0190] Within each column (or group), the light-emitting duration is further divided into several pulse periods. The light-emitting duration of each light-emitting group is equal to the charging time for that group plus the total duration of the pulse periods. Within each pulse period, each light-emitting block is lit once, and there are a total of num pulse periods.

[0191] Within the corresponding emission duration of each column, the lighting time of each light-emitting block is randomly delayed (relative to the start time of the pulse period) within each pulse segment. Furthermore, within the emission duration of the same light-emitting group, the random delay duration for each light-emitting block is different. This ensures that the emission times of each light-emitting block within the light-emitting group are staggered, effectively reducing the problem of optical crosstalk between light-emitting blocks. Reference Figure 7 As shown, the left side is a schematic diagram of the histogram time bins obtained by the receiving module when the light is emitted without random delay or misfiring according to relevant technologies. From this diagram, it can be seen that the peak value of the superimposed echo beam signal (represented by the black solid line) emitted by the light-emitting block of light-emitting group A through the three ranging periods TX1 to TX3 is basically the same as the peak value of the superimposed crosstalk signal (represented by the black dashed line) of light-emitting group B (the light-emitting group that causes crosstalk to light-emitting group A). ​​This makes it difficult to identify the time bin where the echo beam signal is located. Figure 7 The diagram on the right shows the histogram time bins obtained by the receiving module sensing the echo beam through random delay staggered light emission of the light-emitting blocks in the same group of light-emitting blocks in the embodiment of this application. As can be seen from the diagram, similarly, the light-emitting blocks of light-emitting group A emit light pulses through three ranging periods TX1 to TX3. The effective echo beam signal (represented by the black solid line) is superimposed into a signal peak in the same time bin, while the crosstalk signal (represented by the black dashed line) is dispersed into several time bins due to random delay and cannot be superimposed into a signal peak, thus avoiding crosstalk to the real echo beam signal.

[0192] The following is for reference. Figure 8 An embodiment of the transmission optical path of the transmission module of this application will be described.

[0193] The launch module includes, for example, Figure 1 The light source 110 and the solid-state light deflection device 120 are shown.

[0194] In some embodiments, the transmitting module further includes a collimating lens 810, and a plurality of light-emitting blocks of the light source 110 are disposed on the focal plane of the collimating lens 810. The collimating lens 810 is configured to collimate the light beams emitted by the plurality of light-emitting blocks located at different positions in different directions.

[0195] In some embodiments, the emitting module further includes a polarizer 820, which is disposed in the optical path before entering the solid-state optical deflector 120 and is configured to change the polarization state of the light beam emitted by a plurality of light-emitting blocks of the light source 110, that is, the light beam emitted by the plurality of light-emitting blocks is incident on the solid-state optical deflector 120 at a specific angle.

[0196] In some embodiments, when the solid-state optical deflection device 120 is a reflective metasurface beam deflector 120, the emitting module further includes a reflector 830. At least a portion of the light beam emitted by the light source 110 is reflected by the reflector 830 and the reflective metasurface beam deflector to scan a field of view 840. At least another portion of the unreflected light beam emitted by the light source 110 is used to scan another field of view 850 located in the light emission direction of the light source 110, that is, another field of view 850 located in front of the light source 110. At least a portion of the light beam, after being reflected by the reflector 830 and deviating from the light emission direction D of the light source 110 by a predetermined distance d, is reflected by the reflective metasurface beam deflector to scan a field of view 840 located behind the light source 110, with the field of view located in the light emission direction D opposite to the light source 110. The beneficial effects of the reflective metasurface beam deflector 120 here, besides being able to use the same emission module to scan two fields of view in different directions by partially shifting the field of view through reflection, also include its own beam deflection function, which can expand the field of view angle of the shifted field of view 840. By shifting the field of view through two reflections, the obstruction of the shifted field of view 840 by the light source 110 can be reduced, allowing the field of view angle of the shifted field of view 840 to be expanded to a greater extent.

[0197] In some embodiments, the field of view 850 that is not reflected can also be further expanded by a transmissive metasurface beam deflector.

[0198] The transmitting module 100 provided in the embodiments of this application has been described in detail above. Based on this, the embodiments of this application also provide a matching receiving module 900. The receiving module 900 is configured to receive the light beam emitted by the transmitting module 100, and as follows... Figure 9 As shown, the receiving module 900 includes: a receiving chip 910, a solid-state optical deflection device 920, and a control module 930.

[0199] like Figure 10 As shown, the receiving chip 910 includes a plurality of photosensitive pixels 911. These photosensitive pixels 911 are divided into at least one photosensitive pixel group according to the grouping method of the plurality of light-emitting blocks 111 in the transmitting module 100 described in any of the above embodiments, to sense light beams from corresponding sub-regions in the field of view scanned by the plurality of light-emitting blocks 111. That is, the plurality of photosensitive pixels 911 are correspondingly arranged with respect to the plurality of light-emitting blocks 111 in the transmitting module 100 described in any of the above embodiments, with one light-emitting group corresponding to one photosensitive pixel group.

[0200] The receiving chip 910 may include multiple photosensitive pixel groups, and all photosensitive pixels 911 in each photosensitive pixel group are arranged in a two-dimensional array. That is, the receiving chip 910 may include multiple photosensitive pixels 911, and all photosensitive pixels 911 are arranged in a two-dimensional array. Each small square represents a photosensitive pixel 911, and each small circle represents a photosensitive pixel unit 9111. Then the receiving chip 910 includes C (number of columns) × R (number of rows) photosensitive pixels 911. For example, C is 7 and R is 6. The number of columns C and the number of rows R may also take other specific values, which will not be listed here. In some embodiments, every N columns or every M rows in the two-dimensional array are regarded as a photosensitive pixel group; N and M are both integers greater than or equal to 1. Alternatively, different photosensitive pixel groups are divided according to photosensitive pixels 911, and a photosensitive pixel group includes photosensitive pixels 911 located in different rows or different columns.

[0201] It should be noted that the grouping method of the photosensitive pixels 911 and the beneficial effects thereon are similar to the plurality of light-emitting blocks 111 in the emitting module 100 described in any of the above embodiments. For details, please refer to the description of the above embodiments, which will not be repeated here.

[0202] Optionally, the photosensitive pixel unit 9111 can be, for example, a single photon avalanche diode (SPAD). The SPAD is configured to receive light and output corresponding photoelectric signals, and depth and grayscale information of the field of view can be obtained by analyzing the photoelectric signals.

[0203] The control module 930 is configured to control each of the plurality of photosensitive pixels 911 to start working during the scanning period corresponding to the corresponding light-emitting block 111, so as to sense the light beam from the corresponding sub-region in the field of view scanned by the plurality of light-emitting blocks 111; and to control the solid-state light deflection device 920 to deflect the light beam from different sub-regions in the field of view scanned by the plurality of light-emitting blocks 111 to the corresponding photosensitive pixel 911 for reception according to the principle of optical path reversibility and according to the receiving optical path which is the reverse of the transmitting optical path in the transmitting module 100 described in any of the above embodiments.

[0204] Each photosensitive pixel group can operate serially or in parallel. For example, the control module 930 can also be configured to determine the activation time of each photosensitive pixel 911 in a specific manner that is randomly set according to the timing of the light pulse emitted by the light-emitting block 111.

[0205] It should be noted that the activation time of the photosensitive pixels 911 and the beneficial effects they bring are similar to the light-emitting blocks 111 in the emission module 100 described in any of the above embodiments. For details, please refer to the description of the above embodiments, which will not be repeated here.

[0206] Optionally, the solid-state optical deflection device 920 is selected from optical phased arrays, liquid crystal polarization gratings, acousto-optic deflectors, electro-optic deflectors, or metasurface beam deflectors.

[0207] In some embodiments, the solid-state optical deflection device 920 is a liquid crystal polarization grating, and the solid-state optical deflection device 120 is a metasurface beam deflector.

[0208] In other embodiments, both the solid-state optical deflector 920 and the solid-state optical deflector 120 are metasurface beam deflectors.

[0209] The following is combined Figure 8 The receiving optical path of the receiving module 900 based on the principle of optical path reversibility will be described in detail.

[0210] The light beam reflected by the reflective metasurface beam deflector 120 of the transmitting module 100 strikes the object being detected after passing through the scanning field of view 840. After diffuse reflection from the object's surface, the light beam forms an echo beam. The echo beam is reflected onto a liquid crystal polarization grating 920 arranged parallel to the reflective metasurface beam deflector 120. After passing through the liquid crystal polarization grating 920, the echo beam is reflected onto a reflector 830 or another reflector arranged parallel to the reflector 830. After being reflected by the reflector 830 or another reflector arranged parallel to the reflector 830, the echo beam is received by a photosensitive pixel 911 arranged parallel to the light-emitting block 111.

[0211] Alternatively, the beam reflected by the reflective metasurface beam deflector 120 strikes the object being detected after scanning the field of view 840. After diffuse reflection from the object's surface, the beam forms an echo beam, which is then reflected back to the reflective metasurface beam deflector 120 (i.e., the receiving module 900 and the transmitting module 100 share a single solid-state light deflection device, utilizing different sub-deflection regions of the reflective metasurface beam deflector). After passing through the reflective metasurface beam deflector 120, the echo beam is reflected onto the reflector 830 or onto another reflector arranged parallel to the reflector 830. After reflection by the reflector 830 or the other reflector arranged parallel to the reflector 830, the echo beam is received by the photosensitive pixel 911 arranged parallel to the light-emitting block 111.

[0212] The unreflected light beam emitted by the light source, after scanning another field of view 850, hits the object being detected. After diffuse reflection from the object's surface, the light beam forms an echo beam, which is directly reflected to the photosensitive pixel 911 arranged alongside the light-emitting block 111 and received.

[0213] It should be noted that the optical elements in this embodiment are arranged side by side to achieve optical path reversibility. Specifically, when the optical elements in the transmitting and receiving optical paths are arranged side by side, the principle of optical path reversibility can be guaranteed. However, under the premise of satisfying this condition and the principle of optical path reversibility, this application does not make specific limitations on the specific relative positional relationship between the side-by-side optical elements.

[0214] It should be noted that the beneficial effects of the receiving module 900 are similar to those of the transmitting module 100 described in any of the above embodiments. For details, please refer to the descriptions of the above embodiments, which will not be repeated here.

[0215] Based on the same inventive concept, this application also provides a lidar, including the transmitting module 100 and / or the receiving module 900 described in any of the above embodiments. The solid-state light deflection device 120 in the transmitting module 100 is a metasurface beam deflector, and the solid-state light deflection device 920 in the receiving module 900 is a liquid crystal polarization grating.

[0216] Based on the same inventive concept, this application also provides an electronic device, including the lidar described in the above embodiments.

[0217] Since the principles by which lidar and electronic devices solve problems are similar to those of the aforementioned transmitting module 100, the description of lidar and electronic devices can be found in the description of the aforementioned transmitting module 100, and the repeated parts will not be repeated.

[0218] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with the said embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0219] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A launch module, comprising: The application relates to a light source, a solid-state light deflection device and a control module. The light source comprises a plurality of light-emitting blocks. The solid-state light deflection device is configured to deflect light beams emitted by the plurality of light-emitting blocks. The control module is configured to control the plurality of light-emitting blocks to emit light in a pre-divided at least one light-emitting group in a scanning time period corresponding to the at least one light-emitting group. The control module is further configured to control the solid-state light deflection device to deflect light beams emitted by each light-emitting block in a light-emitting group to different preset deflection angles in different scanning time periods corresponding to the light-emitting group, so as to scan different sub-regions in a field of view. In one scanning time period corresponding to one light-emitting group, the light-emitting time of each light-emitting block in the light-emitting group is not completely the same. The solid-state light deflection device is specifically configured to one-dimensionally deflect light beams along a preset first direction, and each light-emitting block in the light-emitting group is arranged along a preset second direction.

2. The launch module of claim 1, wherein, In the case that the at least one light-emitting group comprises at least two light-emitting groups, the arrangement positions of each light-emitting block in the same light-emitting group along the second direction are discontinuously distributed, and at least one light-emitting block of another light-emitting group is arranged between any two adjacent light-emitting blocks in the light-emitting group.

3. The launch module of claim 2, wherein, The solid-state light deflection device is specifically configured to two-dimensionally deflect light beams along preset first and second directions, and each light-emitting block in the light-emitting group is arranged along the first and / or second direction.

4. The launch module of claim 1, wherein, The first and second directions are arranged perpendicularly to each other.

5. The launch module of claim 2 or 4, wherein, When deflecting light beams along the first direction, the solid-state light deflection device is specifically configured to scan a horizontal direction or a vertical direction of a field of view. The control module is further configured to control each light-emitting block in the light-emitting group to complete a plurality of rounds of light pulse emission in a preset time sequence in a corresponding scanning time period, and the scanning time period comprises a plurality of pulse time periods corresponding to the plurality of rounds of light pulse emission, respectively.

6. The launch module of claim 1, wherein, In one pulse time period, a plurality of light-emitting blocks in the same light-emitting group emit one light pulse to complete one round of light pulse emission, and the light pulse emission time of the light-emitting blocks in the same light-emitting group is not completely the same. The control module is further configured to control the light-emitting time of each light-emitting block in the same light-emitting group in a plurality of pulse time periods in the scanning time period, and the light-emitting time of each light-emitting block in the same light-emitting group has a corresponding time interval relative to the starting time of each pulse time period.

7. The launch module of claim 6, wherein, One pulse time period comprises a light-emitting adjustment interval with a preset length, and the control module is further configured to randomly set the light-emitting time of a plurality of light-emitting blocks in the same light-emitting group in the pulse time period in the light-emitting adjustment interval.

8. The launch module of claim 6, wherein, One pulse time period comprises a light-emitting adjustment interval with a preset length, and the control module is further configured to determine the light-emitting time of a plurality of light-emitting blocks in the same light-emitting group in a scanning time period by the following method:

9. The launch module of claim 6, wherein, ​ generate a sequence of random numbers corresponding to one pulse period in the one scanning period, the sequence of random numbers including a plurality of random numbers corresponding to the plurality of light emitting blocks one by one, the plurality of random numbers respectively being random time lengths by which time instants at which the plurality of light emitting blocks respectively emit light pulses in the one pulse period are delayed relative to a start instant of the one pulse period, the random time lengths ranging from greater than or equal to zero to less than or equal to a preset time length of the light emitting adjustment interval; determine the time instants at which the plurality of light emitting blocks respectively emit light pulses in the one pulse period according to the random time lengths, to control the plurality of light emitting blocks to emit light pulses at randomly set time intervals relative to each other in the one pulse period.

10. The launch module of claim 6, wherein, One of the pulse periods includes a light emitting adjustment interval having a preset time length, and the control module is further configured to determine time instants at which a plurality of light emitting blocks in a same light emitting group emit light pulses in one scanning period by the following manner: generate a sequence of random numbers corresponding to one pulse period in the one scanning period, the sequence of random numbers including a plurality of random numbers corresponding to the plurality of light emitting blocks one by one, the plurality of random numbers respectively being random time lengths by which time instants at which the plurality of light emitting blocks respectively emit light pulses in the one pulse period are delayed relative to a start instant of the one pulse period, the random time lengths ranging from greater than or equal to zero to less than or equal to a preset time length of the light emitting adjustment interval; determine the time instants at which the plurality of light emitting blocks respectively emit light pulses in the one pulse period according to the random time lengths, to control the plurality of light emitting blocks to emit light pulses at randomly set time intervals relative to each other in the one pulse period.

11. The launch module of claim 6, wherein, The control module is further configured to control time instants at which each of the light emitting blocks in the light emitting group emits a light pulse in at least one of the pulse periods in the one scanning period to be different.

12. The launch module of claim 6, wherein, The control module is further configured to control time instants at which at least two light emitting blocks in the same light emitting group respectively emit light pulses in the one pulse period in the one scanning period corresponding to the same light emitting group to have a time difference, the time difference of the at least two light emitting blocks in different pulse periods being randomly changed.

13. The launch module of claim 6, wherein, The control module is further configured to control time instants at which a plurality of light emitting blocks in the same light emitting group respectively emit light pulses in the one pulse period in the one scanning period corresponding to the same light emitting group to have a plurality of corresponding time differences relative to each other, each of the plurality of light emitting blocks in the same light emitting group in different pulse periods having a corresponding set of the plurality of time differences, the plurality of time differences in different sets being randomly changed.

14. The launch module of claim 12 or 13, wherein, A start portion of the pulse period has a light emitting adjustment interval having a preset time length, and the time difference is randomly changed in a range from greater than or equal to zero to less than or equal to the preset time length of the light emitting adjustment interval.

15. The launch module of claim 14, wherein, A start portion of the pulse period has a light emitting adjustment interval having a preset time length, and the control module is further configured to randomly set time instants at which a plurality of light emitting blocks in the same light emitting group respectively emit light pulses in the one pulse period.

16. The launch module of claim 1, wherein, The plurality of light emitting blocks are arranged in a two-dimensional array, and the light emitting group comprises at least one light emitting block; In the case where the light emitting group comprises a plurality of light emitting blocks, the plurality of light emitting blocks of the light emitting group are respectively located on N columns of the two-dimensional array or respectively located on M rows of the two-dimensional array, wherein N and M are both integers greater than or equal to 1.

17. The launch module of claim 16, wherein, The array positions of at least two light emitting blocks of the same light emitting group on the same row or the same column are arranged discontinuously, and any two adjacent light emitting blocks among the at least two light emitting blocks are spaced apart by at least one light emitting block of another light emitting group.

18. The launch module of claim 1, 2, or 4, wherein, The solid-state light deflection device is divided into at least two sub-deflection regions, and the deflection angles of the light beams by different sub-deflection regions are independently adjusted. Each sub-deflection region is configured to deflect the light beams emitted by at least one light emitting group.

19. The launch module of claim 18, wherein, The control module is further configured to control the at least two sub-deflection regions to deflect the light beams emitted by at least two light emitting groups to different deflection angles respectively in the same scanning period, so as to scan at least two sub-regions discontinuously distributed in the field of view range.

20. The launch module of claim 1, wherein, Further comprising a collimating lens, the plurality of light emitting blocks are arranged on the focal plane of the collimating lens, and the collimating lens is configured to collimate the light beams emitted by the plurality of light emitting blocks located at different positions in different directions respectively.

21. The launch module of claim 1, wherein: Further comprising a polarizer arranged in the light path before entering the solid-state light deflection device and configured to change the polarization state of the light beams emitted by the plurality of light emitting blocks.

22. The launch module of claim 1, wherein, The solid-state light deflection device is selected from an optical phased array, a liquid crystal polarization grating, an acousto-optic deflector, an electro-optic deflector, or a metasurface light beam deflector.

23. The launch module of claim 1, wherein: The solid-state light deflection device is a metasurface light beam deflector, the metasurface light beam deflector comprises a substrate, a metasurface microstructure arranged on the substrate, and a medium layer with adjustable refractive index filled in the metasurface structure.

24. The launch module of claim 23, wherein, The medium layer is a liquid crystal material.

25. The launch module of claim 23, wherein, The metasurface light beam deflector is a reflective metasurface light beam deflector, the reflective metasurface light beam deflector comprises a substrate with a reflective layer, the light beams emitted by the light source are reflected by the reflective metasurface light beam deflector to scan the field of view, and the control module is further configured to control the reflection direction of the reflective metasurface light beam deflector to adjust different deflection angles of the light beams emitted by the light source.

26. The launch module of claim 25, wherein, Further comprising a reflector, at least a part of the light beams emitted by the light source are reflected by the reflector and the reflective metasurface light beam deflector to scan the field of view.

27. The launch module of claim 26, wherein, The at least another part of the light beams emitted by the light source which are not reflected are used to scan another field of view in the light emitting direction of the light source.

28. The launch module of claim 26, wherein, The at least a part of the light beams are reflected by the reflective metasurface light beam deflector after being reflected by the reflector and deviating from the light emitting direction of the light source by a preset distance, to scan the field of view in the direction opposite to the light emitting direction of the light source.

29. A receiving module, comprising: Comprise: a receiving chip, a solid-state light deflection device, and a control module; The receiving chip comprises a plurality of light sensing pixels, which are arranged correspondingly with the plurality of light emitting blocks in the emitting module of any one of claims 1 to 28 to sense light beams from corresponding sub-regions in the field of view scanned by the plurality of light emitting blocks; The control module is configured to control each of the plurality of light sensing pixels to be turned on during a scanning period corresponding to a corresponding light emitting block, and to control the solid-state light deflection device to deflect light beams from different sub-regions in the field of view scanned by the plurality of light emitting blocks to corresponding light sensing pixels for receiving according to a receiving light path opposite to an emitting light path in the emitting module of any one of claims 1 to 28 according to the principle of light path reversibility.

30. A lidar, comprising: Comprise: The emitting module of any one of claims 1 to 28; and / or The receiving module of claim 29.

31. The lidar of claim 30, wherein, For the case that the laser radar comprises the emitting module of any one of claims 1 to 28 and the receiving module of claim 29; The solid-state light deflection device in the emitting module is a metasurface light beam deflector, and the solid-state light deflection device in the receiving module is a liquid crystal polarization grating.

32. An electronic device, comprising: The laser radar of claim 30 or 31.

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