Laser radar system with adjustable field of view and detection method thereof

Abstract

This application discloses a field-of-view adjustable lidar system and its detection method, relating to the field of lidar technology. The system includes a main control unit for global scheduling and multi-channel parallel detection control, and for switching working modes according to scene requirements; a multi-wavelength laser array for emitting multiple lasers of different wavelengths under the scheduling of the main control unit; a micromirror array for receiving the lasers emitted by the multi-wavelength laser array and adjusting its own deflection angle according to the control signal of the main control unit; and a multi-wavelength detector array for receiving the echo signal corresponding to the wavelength of the micromirror unit and the laser emitting unit after reflection by the target object, and transmitting the echo signal to the main control unit for analysis to output target distance data and point cloud data. This application solves the technical problem in the prior art that the single MEMS micromirror has a small field of view coverage due to the limited deflection angle, and cannot simultaneously achieve large field of view coverage and real-time high-precision tracking of multiple targets.

Description

Technical Field

[0001] This application relates to the field of lidar technology, and in particular to a lidar system with adjustable field of view and its detection method. Background Technology

[0002] With the development of Micro-Electro-Mechanical Systems (MEMS) technology, MEMS micromirrors have been widely used as optical scanning devices in fields such as lidar and 3D imaging. MEMS micromirrors can achieve rapid and precise deflection of the mirror surface through external driving, thereby flexibly controlling the spatial scanning trajectory of the beam to meet the needs of different detection scenarios. Compared with traditional optical scanning devices, MEMS micromirrors have significant advantages such as small size, compact structure, fast response speed, and strong controllability of scanning angle, enabling multi-channel, high-precision beam scanning and control within a limited space. These characteristics align with the core requirements of miniature lidar for lightweight, integrated, and high-performance systems, effectively simplifying system optical path design, reducing device power consumption and cost, while improving the scanning resolution and dynamic adaptability of lidar.

[0003] However, LiDAR using a single MEMS micromirror still has certain limitations in applications. The main technical problem lies in the fixed field of view of a single MEMS micromirror, which prevents flexible allocation of point clouds as needed, resulting in low information throughput and difficulty in simultaneously meeting the requirements of large field of view coverage and real-time high-precision tracking of multiple targets. Target search requires expanding the field of view; a single MEMS micromirror, because it can only complete beam deflection and scanning in a single direction at a time, has a slow search speed and low efficiency. During target tracking, a single MEMS micromirror is prone to technical contradictions such as inaccurate target signal capture and delayed response in multi-target recognition and tracking, failing to effectively meet the stringent environmental perception requirements of LiDAR in complex application scenarios such as autonomous driving and industrial intelligent inspection. Summary of the Invention

[0004] The purpose of this application is to provide a field-of-view adjustable lidar system and its detection method, which can solve the technical problems of existing technologies such as fixed field of view of a single MEMS micromirror, inability to flexibly allocate point clouds as needed, low information throughput, and inability to simultaneously achieve large field of view coverage and real-time high-precision tracking of multiple targets.

[0005] To achieve the above objectives, this application provides the following solution: In a first aspect, this application provides a field-of-view adjustable lidar system, including: a main control unit for global scheduling and multi-channel parallel detection control, which integrates a main controller, a mode configuration module, a signal processing module, a micromirror array driver, and a laser array controller, wherein the mode configuration module is used to switch working modes according to scene requirements; A multi-wavelength laser array, electrically connected to the main control unit, includes multiple laser emitting units that emit lasers of different wavelengths, used to emit multiple lasers of different wavelengths under the control of the main control unit; The micromirror array, electrically connected to the main control unit, includes multiple independently driven micromirror units. The micromirror units are used to adjust their own deflection angle according to the control signal of the main control unit in order to directionally reflect the laser emitted by the multi-wavelength laser array to the target object under test. A multi-wavelength detector array, electrically connected to the main control unit, includes multiple receiving units for receiving lasers of different wavelengths. The receiving units are used to receive echo signals that are reflected by the target object and have wavelengths corresponding to the micromirror unit and the laser emitting unit, and transmit the echo signals to the main control unit for analysis to output target distance data and point cloud data.

[0006] Optionally, the working modes include exploration mode, single-target gaze mode, and multi-target gaze mode; In the exploration mode, the main control unit is used to control each micromirror unit to independently and in parallel scan its corresponding sub-field of view, and the multi-wavelength laser array synchronously emits lasers of corresponding wavelengths to achieve rapid parallel perception and initial screening of targets across the entire field of view. In the single-target staring mode, the main control unit is used to control all the micromirror units to deflect to the target azimuth angle in coordination after locking the target, and the multi-wavelength laser array synchronously emits lasers of corresponding wavelengths to achieve high-precision focusing monitoring and stable locking of a single target; In the multi-target staring mode, the main control unit is used to identify and prioritize multiple targets, and dynamically allocate the resources of the micromirror units according to the ranking results. The micromirror units allocated resources are controlled to independently deflect to their respective target positions. The multi-wavelength laser array synchronously emits lasers of corresponding wavelengths to achieve parallel ranging and tracking of multiple targets.

[0007] Optionally, each laser emitting unit in the multi-wavelength laser array is equipped with an independent collimating optical system to ensure the parallelism and stability of the emitted beam and to avoid initial crosstalk between different wavelengths.

[0008] Optionally, the micromirror array, the multi-wavelength laser array, and the multi-wavelength detector array form a pixel-level one-to-one correspondence: each laser emitting unit corresponds to one micromirror unit, and each micromirror unit corresponds to one receiving unit.

[0009] Optionally, each receiving unit in the multi-wavelength detector array includes a detector and a narrowband filter. The narrowband filter is used to perform beam splitting processing on echo signals of different wavelengths, ensuring that each receiving unit only receives the echo signal of the corresponding wavelength, while suppressing wavelength crosstalk and solar background light interference.

[0010] Optionally, each micromirror unit in the micromirror array has independent angle sensing and real-time attitude feedback capabilities, which are used to directly sense the real-time deflection angle and spatial pointing state of the mirror surface, and synchronously feed the angle information back to the main control unit, so as to provide an optical attitude reference for the orientation calibration and point cloud reconstruction of the parallel optical path.

[0011] Optionally, the field-of-view adjustable lidar system further includes: A receiving lens is used to collect the echo signal reflected by the target object and focus the echo signal onto the multi-wavelength detector array.

[0012] Optionally, the main control unit integrates a time-to-digital converter module, which is used to synchronously record the timestamp difference between laser emission and echo reception at each wavelength, calculate the relative distance of the target in the corresponding direction of each channel in parallel, and associate and map the distance information with the micromirror drive deflection parameters and wavelength channel identifiers; the main control unit is also used to stitch together the independent scanning trajectories of each micromirror unit in the corresponding detection period in parallel to generate a three-dimensional point cloud in a multi-target scene.

[0013] Secondly, this application provides a detection method for a field-of-view adjustable lidar system, comprising: The main control unit switches its working mode according to the needs of the scenario: When switching to exploration mode, the main control unit controls each of the micromirror units to independently and in parallel scan their respective sub-field of view regions, and the multi-wavelength laser array synchronously emits lasers of corresponding wavelengths to achieve rapid parallel perception and initial screening of targets across the entire field of view. When switching to single-target staring mode, after locking onto the target, the main control unit controls all the micromirror units to deflect in coordination to the target azimuth angle, and the multi-wavelength laser array synchronously emits lasers of the corresponding wavelengths to achieve high-precision focusing monitoring and stable locking of a single target; When switching to multi-target staring mode, the main control unit identifies and prioritizes multiple targets, and dynamically allocates resources to the micromirror units according to the ranking results. The micromirror units allocated resources are controlled to independently deflect to their respective target positions. The multi-wavelength laser array synchronously emits lasers of corresponding wavelengths to achieve parallel ranging and tracking of multiple targets.

[0014] Optionally, in the single-target gaze mode or the multi-target gaze mode, the detection method further includes: The target detection unit in the main control unit detects candidate targets that meet the conditions according to the preset target feature threshold, calls the target recognition algorithm to process the point cloud data, and outputs the center point cloud coordinates of the target point cloud map bounding box. The offset calculation unit in the main control unit calculates the offset based on the point cloud center coordinates of the target bounding box and the point cloud center coordinates of the point cloud map. The micromirror information generation unit in the main control unit generates a control voltage to drive the micromirror unit to deflect according to the offset, and drives the micromirror unit to adjust the deflection angle according to the control voltage so that the laser beam continuously points to the target. The micromirror information generation unit includes a voltage conversion subunit. This subunit reads the horizontal point cloud offset, the vertical point cloud offset, the voltage-point cloud coordinate conversion coefficient, and the bias voltage, and performs calculations to output the driving voltage. The calculation process involves the following expressions: ; ; in, The driving voltage applied to the X-axis drive arm of the micromirror unit. The driving voltage applied to the Y-axis drive arm of the micromirror unit. The horizontal voltage-point cloud coordinate transformation coefficient. The vertical voltage-point cloud coordinate transformation coefficient. This represents the horizontal point cloud offset. This is the vertical point cloud offset. This is the horizontal bias voltage. This is the vertical bias voltage.

[0015] According to the specific embodiments provided in this application, the following technical effects are disclosed: This application provides a field-of-view adjustable lidar system and its detection method. A main control unit is set as the system control center, integrating a main controller, a mode configuration module, a signal processing module, a micromirror array driver, and a laser array controller for global scheduling and multi-channel parallel detection control. The mode configuration module of the main control unit can switch operating modes according to scene requirements, enabling the system to flexibly adjust detection strategies according to different detection tasks. During target search, an exploration mode is used for rapid full-field scanning; during single-target tracking, a staring mode is used to converge all resources to a single point; and during multi-target monitoring, a multi-target staring mode is used to dynamically allocate micromirror resources, effectively solving the problem of a fixed field of view for a single MEMS micromirror and the inability to flexibly allocate point clouds as needed. A multi-wavelength laser array is set up, comprising multiple laser emitting units that emit lasers of different wavelengths, which emit multiple lasers of different wavelengths under the scheduling of the main control unit. The multi-wavelength design gives each detection optical path an independent wavelength identifier. Parallel emission of multiple lasers significantly increases the system's information throughput, providing a physical basis for the subsequent receiver to separate echo signals from different channels and avoid crosstalk between channels, thus solving the problem of low information throughput in a single MEMS micromirror. By setting up a micromirror array, which includes multiple independently driven micromirror units, each micromirror unit receives the incident laser of its corresponding wavelength and independently adjusts its deflection angle according to the control signal from the main control unit, directionally reflecting the laser to the target object. Multiple micromirror units work collaboratively, and by stitching together the field of view, the total field of view of the system can be significantly expanded, achieving large field-of-view coverage. In exploration mode, each micromirror unit independently and in parallel scans its own sub-field of view, reducing the scanning time to 1 / N of that of a single-mirror scan, solving the problem of slow and inefficient search speed of a single micromirror. In staring mode, the independent controllability of each micromirror unit provides a flexible hardware foundation for achieving parallel tracking of multiple targets. By setting up a multi-wavelength detector array, which includes multiple receiving units for receiving lasers of different wavelengths, each receiving unit receives the echo signal reflected by the target object and corresponding to the wavelength of the micromirror unit and the laser emitting unit, and transmits the echo signal to the main control unit for analysis. This multi-channel parallel receiving architecture corresponds one-to-one with the transmitting end, forming multiple independent transceiver detection optical paths, realizing true multi-channel parallel laser detection. It can simultaneously cover multiple spatial orientations without relying on timing scheduling, greatly improving detection efficiency and solving the technical contradictions of inaccurate target signal capture and delayed recognition and tracking response when a single micromirror is used for multi-target tracking. This application constructs a field-of-view adjustable lidar system based on an analog micromirror array through the organic integration and synergistic work of the above four core components.This system forms multiple parallel transceiver channels through pixel-level correspondence between multi-wavelength laser arrays, micromirror arrays, and multi-wavelength detector arrays. It fundamentally solves the technical problems pointed out in the background technology, such as the small field of view coverage caused by the limited deflection angle of a single micromirror, and the inability to simultaneously achieve large field of view coverage and real-time high-precision tracking of multiple targets. It achieves a balance between fast search of a large field of view, high-precision staring of a single target, and parallel tracking of multiple targets, significantly improving the environmental perception capability and detection efficiency of lidar in complex scenarios. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 A schematic diagram of the architecture of a field-of-view adjustable lidar system provided in an embodiment of this application; Figure 2 A schematic diagram of the optical path structure of a field-of-view adjustable lidar system provided in an embodiment of this application; Figure 3 This is a schematic diagram of a multi-target optical path provided in an embodiment of this application, featuring multi-wavelength laser coordinated multi-mirror pointing. Figure 4 This is a schematic diagram illustrating the working process of an exploration mode provided in one embodiment of this application; Figure 5 A schematic diagram of the workflow of the exploration mode provided in one embodiment of this application; Figure 6 A schematic diagram illustrating the operation of a single-target gaze pattern provided in an embodiment of this application; Figure 7 A schematic diagram illustrating the workflow of a single-target gaze pattern provided in an embodiment of this application; Figure 8 This is a schematic diagram illustrating the operation of a multi-target gaze mode provided in an embodiment of this application; Figure 9 This is a schematic diagram of the workflow of a multi-target gaze mode provided in an embodiment of this application.

[0018] In the picture: 101. Main control unit; 102. Multi-wavelength laser array; 103. Micromirror array; 104. Multi-wavelength detector array; 105. Receiving lens. 1021, Laser emitting unit; 1022, Collimating optical system; 1031, Micromirror unit; 1041, Receiving unit; 1042, Detector; 1043, Narrowband filter. Detailed Implementation

[0019] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0020] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0021] In one exemplary embodiment, such as Figure 1 As shown, a field-of-view adjustable lidar system is provided, including a main control unit 101, a multi-wavelength laser array 102, a micromirror array 103, and a multi-wavelength detector array 104. These components are electrically connected and optically coupled to form a cooperative multi-channel parallel detection system, wherein: The main control unit 101 is used for global scheduling and multi-channel parallel detection control. It integrates a main controller, a mode configuration module, a signal processing module, a micromirror array driver, and a laser array controller. The mode configuration module is used to switch working modes according to scenario requirements.

[0022] In this embodiment, the main control unit 101 can use a high-performance field-programmable gate array (FPGA) or digital signal processor (DSP) as the core main controller to meet the requirements of multi-channel parallel data processing, real-time computation of complex algorithms, and high-precision timing control of the micromirror array 103 and the laser array. The mode configuration module, as a functional logic module within the main controller, stores control strategies and parameter sets corresponding to different operating modes, and can automatically switch operating modes in response to external commands or based on built-in algorithms.

[0023] This implementation method endows the main control unit 101 with powerful parallel processing capabilities and flexible mode scheduling capabilities. Utilizing the hardware parallelism of the FPGA or DSP, independent and synchronous control of multiple laser emission, micromirror deflection, and echo reception can be achieved simultaneously. The presence of the mode configuration module allows the system to flexibly reconstruct the detection strategy from the hardware level, providing a decision-making and control foundation for adapting to different application scenarios such as exploration, single-target staring, and multi-target staring.

[0024] The multi-wavelength laser array 102 is electrically connected to the main control unit 101 and includes multiple laser emitting units 1021 that emit lasers of different wavelengths, which are used to emit multiple lasers of different wavelengths under the control of the main control unit 101.

[0025] In this embodiment, the multi-wavelength laser array 102 consists of multiple vertical-cavity surface-emitting lasers (VCSELs) or edge-emitting lasers (EELs), which are integrated on the same substrate using micro-assembly processes. The emission wavelengths can be selected from common bands such as 905 nm, 1310 nm, and 1550 nm, and the wavelengths of each laser emitting unit 1021 are different. For example, a 2×2 array can contain four independent lasers with wavelengths of λ1, λ2, λ3, and λ4, respectively.

[0026] In this embodiment, the laser array controller inside the main control unit 101 is responsible for generating multiple independent drive pulse signals, which are applied to each laser emitting unit 1021 respectively. The laser array controller can control all laser emitting units 1021 to emit synchronously, or control only a portion of them to emit, according to the instructions of the mode configuration module, and can precisely adjust the width, amplitude, and repetition frequency of each laser pulse. For example, in exploration mode, all lasers may operate synchronously at a repetition frequency of 100 kHz; while in single-target staring mode, the laser assigned to that target may increase the repetition frequency to 300 kHz to obtain higher density point cloud data.

[0027] This implementation method enables the system to have multiple independently controllable laser emission sources with different wavelengths. The use of different wavelengths provides a physical basis for the subsequent receiver to separate the echo signals from different detection channels by wavelength, thus preventing mutual interference between channels at the source. The independent driving capability of the laser array controller allows the system to dynamically adjust the emission strategy according to different operating modes, such as changing the emission frequency and power, to optimize detection performance and power consumption.

[0028] The micromirror array 103, electrically connected to the main control unit 101, includes multiple independently driven micromirror units 1031. Each micromirror unit 1031 is used to adjust its own deflection angle according to the control signal of the main control unit 101, so as to directionally reflect the laser emitted by the multi-wavelength laser array 102 to the target object under test.

[0029] In this embodiment, the micromirror array 103 employs an analog micromirror array chip manufactured using microelectromechanical systems (MEMS) technology. This chip integrates multiple independently driveable micromirror units 1031 on a single silicon wafer using micro-nano manufacturing processes. Each micromirror unit 1031 typically consists of a rotatable reflective mirror, a support beam, and an electrostatic, electromagnetic, or electrothermal actuator. The micromirror array driver in the main control unit 101 is a digital-to-analog converter (DAC) array, used to convert the digital angle commands calculated by the main controller into analog drive voltages, which are precisely applied to the drive arm of each micromirror unit 1031, thereby achieving independent, continuous, and high-precision control of its two-dimensional deflection angle.

[0030] This implementation upgrades the system's beam scanning mechanism from a single macroscopic galvanometer or a single MEMS micromirror to an arrayed micromirror scanning platform. The independent driving capability of each micromirror unit 1031 is the physical basis for the system to achieve multi-channel parallel scanning, field-of-view stitching, and independent tracking of multiple targets. Compared to a single micromirror, the micromirror array 103, through the collaborative work of multiple units, can not only significantly expand the total field of view but also significantly improve the scanning rate and data refresh rate through parallel operation.

[0031] The multi-wavelength detector array 104 is electrically connected to the main control unit 101 and includes multiple receiving units 1041 for receiving lasers of different wavelengths. The receiving unit 1041 is used to receive the echo signal after being reflected by the target object and corresponding to the wavelength of the micromirror unit 1031 and the laser emitting unit 1021, and transmit the echo signal to the main control unit 101 for analysis to output target distance data and point cloud data.

[0032] As an optional implementation, the micromirror array 103, the multi-wavelength laser array 102, and the multi-wavelength detector array 104 form a pixel-level one-to-one correspondence, with each laser emitting unit 1021 corresponding to one micromirror unit 1031, and each micromirror unit 1031 corresponding to one receiving unit 1041.

[0033] In this embodiment of the application, the specific optical path structure is as follows: Figure 2As shown, the multi-wavelength laser array 102 serves as the core of the transmitter and consists of multiple laser emitting units 1021 with different wavelengths. Commonly used wavelengths include 905nm, 1310nm, and 1550nm. Each laser emitting unit 1021 is equipped with an independent collimating optical system 1022. The collimating optical system 1022 may include one or more collimating lenses to collimate the diverging beam emitted by the laser emitting unit 1021 into an approximately parallel beam, ensuring the parallelism and stability of the emitted beam and limiting its divergence angle to a very small range (e.g., less than 1 milliradian). At the same time, through structural isolation design, initial crosstalk between lasers of different wavelengths is avoided.

[0034] After collimation, laser beams of various wavelengths are irradiated onto the micromirror array 103. Under the control of the main control unit 101, each micromirror unit 1031 in the micromirror array 103 can independently adjust its two-dimensional deflection angle. When the laser beam is incident on the reflecting surface of the micromirror unit 1031, the micromirror unit 1031 reflects the incident laser beam in a specific spatial direction according to its current deflection state, thereby achieving directional projection of the laser beam. By continuously changing the deflection angle of the micromirror unit 1031, the reflected laser beam can be scanned in space, covering a certain field of view.

[0035] When the laser reaches the target object, it undergoes diffuse reflection on its surface. Part of the reflected light returns in a direction roughly opposite to the outgoing light path, and is collected as an echo signal by the receiving part of the system. The echo signal first passes through the receiving lens 105, which is an array of receiving lenses composed of multiple small receiving lenses. This array can collect as many weak echo signals as possible and efficiently focus them onto the photosensitive surfaces of the multi-wavelength detector array 104 located on its focal plane.

[0036] The receiving end employs a multi-channel receiving array corresponding one-to-one with the micromirror array 103. Each receiving unit 1041 includes a detector 1042 and a narrowband filter 1043. The narrowband filter 1043 is located between the receiving lens 105 and the photosensitive surface of the detector 1042, integrating a narrowband filter array that corresponds one-to-one with the pixels of the receiving lens array and the detector array. The narrowband filter 1043 is used to perform beam splitting processing on echo signals of different wavelengths. Its center transmits wavelength precisely aligned with the laser wavelength of the corresponding channel, with an extremely narrow bandwidth (e.g., ±5nm), allowing only the echo signal of the corresponding wavelength to pass through, while strongly suppressing light of other wavelengths (including sunlight and signals from other lasers), ensuring that each receiving unit 1041 only receives the echo of the corresponding wavelength, while suppressing wavelength crosstalk and solar background light interference. The detector 1042 is an avalanche photodiode (APD) or a silicon photomultiplier (SiPM) used to convert weak light signals into electrical signals and transmit them to the main control unit 101 for further processing.

[0037] In this embodiment, a 2×2 array is used as an example to illustrate the pixel-level correspondence: the multi-wavelength laser array 102 includes four laser emitting units 1021, emitting lasers with wavelengths λ1, λ2, λ3, and λ4 respectively; the micromirror array 103 includes four micromirror units 1031, each corresponding to one of the four laser emitting units 1021; the multi-wavelength detector array 104 includes four receiving units 1041, each corresponding to one of the four micromirror units 1031. The laser emitted by the laser emitting unit 1021 emitting λ1 wavelength laser is collimated by the corresponding collimating optical system 1022 and then illuminates the corresponding micromirror unit 1031. The reflective surface of the micromirror unit 1031 reflects the laser signal to the target direction; the λ1 wavelength echo signal reflected by the target is focused by the receiving lens 105, passes through the narrowband filter 1043 with a center wavelength of λ1, and is finally received by the corresponding detector 1042. The remaining channels follow the same principle. Through the coordinated work of the three, parallel emission and parallel reception of the array are achieved.

[0038] This implementation method results in a highly integrated and functionally distinct transceiver architecture. The pixel-level one-to-one correspondence simplifies the system control logic and signal processing flow, and each channel operates independently, greatly reducing signal crosstalk issues that may occur when multiple channels operate in parallel. This architecture provides a guarantee for achieving true multi-target parallel and collision-free detection, and is the hardware foundation for realizing the system's various advanced functions.

[0039] As an optional implementation, each of the laser emitting units 1021 in the multi-wavelength laser array 102 is equipped with an independent collimating optical system 1022 to ensure the parallelism and stability of the emitted beam and to avoid initial crosstalk between different wavelengths.

[0040] In this embodiment, the independent collimating optical system 1022 can be a microlens array aligned one-to-one with the laser. Each microlens is responsible for collimating the diverging beam emitted by the corresponding laser into an approximately parallel beam and limiting its divergence angle to a very small range. At the same time, by implementing an isolation design in the structure, it is possible to prevent the beams emitted by different lasers from crossing and mixing during the emission stage.

[0041] This implementation method ensures the beam quality and directivity of each emitted laser, laying the foundation for precise reflection and long-distance transmission by the subsequent micromirrors. Avoiding initial crosstalk is a prerequisite for ensuring the wavelength independence of each channel, thus guaranteeing the effectiveness of the subsequent wavelength-splitting reception scheme.

[0042] As an optional implementation, the field-of-view adjustable lidar system further includes a receiving lens 105, which is used to collect the echo signal reflected by the target object and focus it onto the multi-wavelength detector array 104.

[0043] In the embodiments of this application, such as Figure 2 As shown, the receiving lens 105 adopts a receiving lens array 105 composed of multiple small receiving lenses, each small receiving lens corresponds to a receiving unit 1041, and the detector 1042 is set at a strict image plane position.

[0044] This implementation method achieves multiplexing of the receiving optical path. By using an array of small receiving lenses, with each detector unit having its own lens, the complexity of the system structure and cost can be effectively reduced. At the same time, by placing the detectors at precise image plane positions, the optical receiving accuracy and signal quality of each receiving channel are guaranteed.

[0045] As an optional implementation, each receiving unit 1041 in the multi-wavelength detector array 104 includes a detector 1042 and a narrowband filter 1043. The narrowband filter 1043 is used to perform beam splitting processing on echo signals of different wavelengths, ensuring that each receiving unit 1041 only receives the echo signal of the corresponding wavelength, while suppressing wavelength crosstalk and solar background light interference. The detector 1042 is an avalanche photodiode or a silicon photomultiplier tube.

[0046] In the embodiments of this application, such as Figure 2As shown, a narrowband filter array 1043, corresponding one-to-one with the pixels of the detector array, is integrated between the receiving lens 105 and the photosensitive surface of the detector 1042. For example, the filter corresponding to the receiving unit 1041 (the channel receiving the λ1 wavelength signal) has its center precisely aligned with λ1, has an extremely narrow bandwidth, and only allows echo signals near λ1 to pass through, while strongly suppressing light of other wavelengths (including sunlight and signals from other lasers). Located behind the filter is a high-sensitivity APD or SiPM detector 1042, used to convert weak optical signals into electrical signals.

[0047] This implementation method enables the receiver to achieve wavelength resolution. The narrowband filter 1043 is a key component for achieving multi-channel parallel reception without crosstalk. It separates the spatially mixed multi-wavelength echo signals in the wavelength domain and directs them to their respective detectors 1042. At the same time, the narrowband filter 1043 can greatly suppress broadband noise such as solar background light, significantly improving the system's signal-to-noise ratio and detection range.

[0048] As an optional implementation, each micromirror unit 1031 in the micromirror array 103 has independent angle sensing and real-time attitude feedback capabilities, which are used to directly sense the real-time deflection angle and spatial pointing state of the mirror surface, and simultaneously feed the angle information back to the main control unit 101, providing an optical attitude reference for the orientation calibration and point cloud reconstruction of the parallel optical path.

[0049] In this embodiment, each micromirror unit 1031 integrates an angle sensor, such as a piezoresistive or capacitive angle sensor. When the micromirror deflects, the sensor converts the angle change into an electrical signal. This signal is amplified and converted to an analog-to-digital converter (ADC), and then read in real time by the main control unit 101. The signal processing module of the main control unit 101 uses this precise angle feedback value, rather than relying on open-loop control commands, as the actual direction of the current laser beam.

[0050] This implementation significantly improves the accuracy and reliability of the system's point cloud reconstruction. By acquiring the actual deflection angle of each micromirror, the system can precisely determine the direction of each laser beam in space, thereby accurately mapping the measured distance information to the three-dimensional coordinate system. This effectively overcomes the pointing errors caused by nonlinear effects such as hysteresis, creep, or temperature drift that may exist in MEMS micromirrors, ensuring the generation of high-precision three-dimensional point clouds.

[0051] As an optional implementation, the main control unit 101 integrates a Time-to-Digital Converter (TDC) module, which is used to synchronously record the timestamp difference between laser emission and echo reception at each wavelength, calculate the relative distance of the target in the corresponding direction of each channel in parallel, and associate and map the distance information with the micromirror drive deflection parameters and wavelength channel identifiers; the main control unit 101 is also used to stitch together the independent scanning trajectories of each micromirror unit 1031 in the corresponding detection period in parallel to generate a three-dimensional point cloud in a multi-target scene.

[0052] In this embodiment, the TDC module is a multi-channel design, with each receiving channel corresponding to an independent TDC. When a laser emitting unit 1021 emits a laser pulse, the TDC module records the emission time t0; when the corresponding receiving unit 1041 receives the echo pulse, the TDC module records the reception time t1. The time difference Δt = t1 - t0, then the distance d of the target in the detection direction of that channel is d = c × Δt / 2, where c is the speed of light. The main control unit 101 binds the calculated distance d with the deflection angle (azimuth angle, elevation angle) of the micromirror unit 1031 at that time and the wavelength identifier of that channel to form a three-dimensional data point with spatial coordinates and intensity information. The system synchronously collects and calculates data from all channels, and finally stitches together all data points from different micromirror units 1031 and different times in parallel to generate a complete three-dimensional point cloud of the scene.

[0053] This implementation method constitutes a complete data chain for ranging and point cloud generation. The multi-channel TDC parallel processing architecture ensures that the system can simultaneously calculate the distances to multiple targets without time-division processing, guaranteeing the real-time performance of multi-target detection. Precisely associating distance, angle, and wavelength markers is fundamental to achieving accurate 3D spatial positioning, fully demonstrating the advantages of the end-to-end parallel detection architecture.

[0054] In this embodiment, each micromirror unit 1031, with its independent deflection capability, achieves true multi-channel parallel laser detection through the coordinated control of the main control unit 101. Lasers of various wavelengths are emitted synchronously and in parallel from the multi-wavelength laser array 102. Simultaneously, each micromirror unit 1031, under the independent drive of the main control unit 101, deflects in parallel to a preset target angle, forming multiple spatially distinguishable and wavelength-independent detection optical paths. This parallel emission and parallel scanning architecture allows the system to simultaneously cover multiple spatial orientations without relying on timing scheduling, significantly improving detection efficiency. Figure 3As shown, to meet the detection needs of different scenarios, the main control unit 101 achieves flexible switching of parallel strategies through patterned scheduling. Since the tilt angle and deflection direction of each micromirror unit 1031 are independently configured, and different wavelength lasers correspond to dedicated transmit-receive links, multi-wavelength laser beams, after being reflected by the micromirrors, form multiple parallel detection optical paths that combine spatial pointing differences and wavelength identification. The echo signals scattered by the target object are received in parallel by the multi-wavelength detector array 104. The system synchronously records the timestamp difference between the emission and echo reception of each wavelength laser through the TDC module, calculates the relative distance of the target in the corresponding direction for each channel in parallel, and associates and maps the distance information with the micromirror driving deflection parameters and wavelength channel identification. Finally, the system efficiently generates high-precision 3D point clouds in multi-target scenarios by parallel stitching together the independent scanning trajectories of each micromirror unit 1031 within the corresponding detection period (the trajectory is mapped one-to-one with the micromirror deflection angle and wavelength channel), fully demonstrating the advantages of the end-to-end parallel detection architecture.

[0055] As an optional implementation, the working modes include exploration mode, single-target gaze mode, and multi-target gaze mode.

[0056] In the exploration mode, the main control unit 101 controls each of the micromirror units 1031 to independently and in parallel scan their respective sub-field regions, and the multi-wavelength laser array 102 synchronously emits lasers of corresponding wavelengths to achieve rapid parallel perception and initial screening of targets across the entire field of view.

[0057] In the single-target staring mode, the main control unit 101 is used to control all the micromirror units 1031 to deflect to the target azimuth angle in a coordinated manner after locking the target, and the multi-wavelength laser array 102 synchronously emits lasers of corresponding wavelengths to achieve high-precision focusing monitoring and stable locking of a single target.

[0058] In the multi-target staring mode, the main control unit 101 is used to identify and prioritize multiple targets, and dynamically allocate resources of the micromirror unit 1031 according to the ranking result. The micromirror unit 1031 allocated resources is controlled to independently deflect to their respective target positions. The multi-wavelength laser array 102 synchronously emits lasers of corresponding wavelengths to achieve parallel ranging and tracking of multiple targets.

[0059] In this embodiment of the application, the specific implementation logic of these three working modes is as follows: Exploration mode: such as Figure 4 and Figure 5As shown, this mode aims to achieve blind-spot-free coverage of the detection field of view. Before activating the exploration mode, the system first performs parameter pre-configuration. In this embodiment, the operator or host computer sets the relevant parameters of the exploration mode through the mode configuration module of the main control unit 101, including but not limited to: full field of view range (e.g., 120 degrees horizontally, 60 degrees vertically), laser emission repetition frequency (e.g., 100kHz), scanning trajectory type (e.g., raster scanning or Lissajous scanning), target feature threshold (e.g., the size range of the closed contour formed by point clouds, the lower limit of reflectivity intensity), etc. After the parameter pre-configuration is completed, the system enters the full field of view gridding step: the main control unit 101 divides the entire detection field of view into several non-overlapping sub-field of view regions according to the number of micromirror units 1031. For example, for a 2×2 micromirror array 103, the full field of view is divided into 4 quadrants. Subsequently, each micromirror unit 1031 enters the parallel scanning step: the micromirror array driver drives each micromirror unit 1031 to scan its assigned sub-field of view region. Each micromirror unit 1031 operates independently within its respective sub-field of view according to a preset scanning trajectory, and all micromirror units 1031 execute scanning tasks in parallel. During this process, lasers of corresponding wavelengths synchronously emit laser pulses. In the point cloud acquisition and target recognition steps, the receiver receives echo signals from all channels in parallel and generates point cloud data for each sub-field of view in real time through the TDC module and signal processing module. The target detection unit in the main control unit 101 analyzes the real-time generated point cloud and calls target recognition algorithms (such as clustering and segmentation algorithms based on Euclidean distance, target detection networks based on deep learning, etc.) to detect whether it meets the preset target feature threshold. In the suspected target determination step, the target detection unit determines whether there are candidate targets that meet the conditions in the current point cloud data. If no suspected target is detected, the system continues to perform parallel scanning and point cloud acquisition, and continues to perform environmental perception. If a suspected target is detected, the system proceeds to record target information, including the micromirror unit 1031 number corresponding to the target (used to determine the sub-field of view where the target is located), the laser emission timing (used to associate specific wavelength channels), and the initial azimuth angle of the target in the point cloud map (used for subsequent precise positioning), forming the original dataset of suspected targets. After completing one round of full-field scanning, the system can determine whether the exploration termination condition is met; if not, it continues to the next round of scanning.

[0060] This implementation method, leveraging the parallelism of the micromirror array 103, reduces the scanning time to 1 / N of a single-mirror scan (where N is the number of micromirrors), enabling rapid search and initial target screening across a large field of view, significantly improving the system's initial environmental perception efficiency. The parameter pre-configuration step ensures the flexibility and adaptability of the exploration mode, while the target recognition and recording steps provide precise initial guidance information for subsequent high-precision tracking modes.

[0061] Single-target gaze pattern: such as Figure 6 and Figure 7 As shown, once the system locks onto a key target (such as a high-speed moving vehicle) through exploration mode or external commands, it will switch to this mode. In this embodiment, the system first performs parameter configuration: the main control unit 101 configures relevant parameters of the staring mode according to the initial target orientation and detection requirements, including but not limited to: target locking azimuth angle (provided by target information recorded in exploration mode), laser emission repetition frequency (increased from 100kHz in exploration mode to 300kHz to obtain higher density point cloud data), and micromirror cooperative deflection strategy (all micromirror units 1031 uniformly point to the target area), etc. After the parameter configuration is completed, the system enters the micromirror array cooperative deflection step: the main control unit 101 issues cooperative deflection commands to all micromirror units 1031, driving each micromirror unit 1031 to uniformly adjust its deflection angle to point to the target orientation. Due to differences in manufacturing processes and installation locations, the initial zero position of each micromirror unit 1031 may have slight deviations. The main control unit 101 uses real-time attitude information fed back by the angle sensors built into each micromirror unit 1031 to perform closed-loop calibration, ensuring that the pointing height of all micromirror units 1031 is consistent. Subsequently, the system enters the laser synchronous emission and point cloud acquisition step: the multi-wavelength laser array 102 synchronously emits laser pulses at an enhanced repetition frequency, and all laser beams converge on the target area. Since multiple micromirror units 1031 illuminate the same target from slightly different perspectives, the laser spots they produce will overlap on the target surface, thereby significantly improving the point cloud density and spatial resolution of the target area. The receiver receives the echo signals from all channels in parallel and generates high-density point cloud data. In the point cloud processing and motion state calculation step, the signal processing module of the main control unit 101 processes the high-density point cloud data in real time. The system not only calculates the real-time distance of the target (based on laser time-of-flight), but also derives the target's motion state by combining the distance change in consecutive frames with a preset inter-frame time interval. Specifically, the radial velocity Vr = Δd / Δt, where Δd is the change in distance of the target in the radial direction between two adjacent frames, and Δt is the time interval between frames. The tangential velocity Vt can be calculated by combining the target's lateral pixel displacement in the point cloud map with a calibration coefficient. The system can construct a real-time updated distance-velocity dynamic evolution curve to intuitively reflect the target's motion state. During continuous tracking, the system determines whether the target has left the lock-on range: if the target has not left, the system continues to perform point cloud acquisition and motion state calculation to achieve continuous and stable lock-on tracking; if the target leaves the lock-on range (e.g., the target exceeds the field of view boundary or is severely occluded), the system can automatically switch back to exploration mode to re-search for the target, or send a target loss alarm signal to the host computer.

[0062] This implementation method, by focusing all system scanning resources on a single target, significantly enhances the point cloud density and refresh rate of that target, providing rich data support for high-precision ranging, contour recognition, and motion state estimation. Parameter configuration enables the system to optimize detection strategies based on target characteristics, while the motion state calculation step provides the ability to dynamically track and predict the trajectory of high-speed moving targets.

[0063] Multi-target gaze patterns: such as Figure 8 and Figure 9As shown, this mode is used to monitor multiple key targets simultaneously. In this embodiment, the system first identifies all key targets within the field of view through a round of exploration mode scanning (or based on an externally input target list) and obtains the initial orientation information of each target. Subsequently, the system enters the target priority sorting step: the mode configuration module in the main control unit 101 prioritizes the identified targets according to preset rules. Sorting indicators may include: the distance between the target and the detection system (close targets have higher priority than distant targets), the target's moving speed (high-speed moving targets have higher priority than low-speed targets), the target's geometric size (large targets have higher priority than small targets), and the target type (for example, in an autonomous driving scenario, pedestrian targets may have higher priority than vehicle targets). The priority sorting results are updated in real time based on the dynamic evolution of the target state. If there are state changes such as close targets moving away or low-speed targets suddenly accelerating, the system will adaptively adjust the target priority weights. After sorting, the system performs dynamic resource allocation: based on the number of targets and the priority sorting results of each target, the main control unit 101 dynamically allocates the hardware resources of the micromirror array 103. For example, in an array with 16 micromirror units 1031, the system detects three targets A, B, and C, where target A has the highest priority (e.g., a high-speed vehicle at close range), target B has the next highest priority (e.g., a vehicle at medium range), and target C has the lowest priority (e.g., a pedestrian at a distance). The system can allocate 8 micromirror units 1031 to track target A, 5 micromirror units 1031 to track target B, and 3 micromirror units 1031 to track target C. Each micromirror unit 1031 allocated resources enters an independent deflection tracking step, adjusting its own deflection angle to precisely point to the target it is responsible for: the corresponding laser emitting unit 1021 synchronously emits laser pulses. The point cloud data of all targets are acquired and processed in parallel through their respective allocated receiving channels, achieving synchronous parallel ranging of multiple targets. When the total number of micromirror units 1031 is significantly greater than the number of targets to be monitored, the system can adopt a hybrid point cloud acquisition strategy that combines full field-of-view coverage with enhancement of key targets. Under the hybrid strategy, dedicated micromirror units 1031 assigned to key targets perform local area fine-grained scanning in single-target staring mode to improve the spatial resolution of the key target point cloud data; the remaining unassigned micromirror units 1031 perform full-field coverage scanning in exploration mode (but the scanning frequency can be reduced to save power), generating a basic point cloud representing the global environment. Finally, the system fuses the high-precision point cloud of the key targets with the basic point cloud of the global environment to form a hybrid point cloud combining global coverage and key enhancement. During continuous monitoring, the system determines whether the conditions for mode termination or resource reallocation are met. If the number of targets changes (such as the appearance of new targets or the loss of existing targets), or the target priority changes significantly, the system can re-execute target identification and priority ranking, dynamically adjusting the allocation scheme of micromirror resources.

[0064] This implementation method endows the system with flexible parallel processing capabilities, enabling dynamic allocation of hardware resources based on task priorities. While ensuring high-precision tracking of key targets, it maintains awareness of the overall environment, perfectly adapting to the needs of complex and dynamic scenarios. Target priority ranking and dynamic resource allocation achieve intelligent management of system resources, while the hybrid point cloud generation strategy achieves the optimal balance between detection range and accuracy with limited hardware resources.

[0065] As an optional implementation, the main control unit 101 includes a target detection unit, an offset calculation unit, and a micromirror information generation unit.

[0066] The target detection unit is used to detect candidate targets that meet the conditions according to the preset target feature threshold, call the target recognition algorithm to process the point cloud data, and output the center point cloud coordinates of the target point cloud map bounding box.

[0067] The offset calculation unit is used to calculate the offset based on the point cloud center coordinates of the target bounding box and the point cloud center coordinates of the point cloud map.

[0068] The micromirror information generation unit is used to generate a control voltage that drives the micromirror unit 1031 to deflect based on the offset.

[0069] In this embodiment of the application, the offset calculation unit performs the following calculation formula: ; ; in, This represents the horizontal point cloud offset. This is the vertical point cloud offset. The coordinates of the center point of the target bounding box. The vertical point cloud coordinates of the center of the target bounding box. The horizontal coordinates of the center of the point cloud map are: The coordinates of the point cloud are the vertical coordinates of the center of the point cloud image.

[0070] As an optional implementation, the micromirror information generation unit includes a voltage conversion subunit, which is used to read the horizontal point cloud offset, the vertical point cloud offset, the voltage-point cloud coordinate conversion coefficient and the bias voltage, and perform calculations to output the driving voltage.

[0071] In this embodiment, the voltage conversion subunit performs the following calculation: ; ; in, The driving voltage applied to the X-axis drive arm of the micromirror unit. The driving voltage applied to the Y-axis drive arm of the micromirror unit. The horizontal voltage-point cloud coordinate transformation coefficient. The vertical voltage-point cloud coordinate transformation coefficient. This represents the horizontal point cloud offset. This is the vertical point cloud offset. This is the horizontal bias voltage. This is the vertical bias voltage.

[0072] This implementation establishes a precise conversion model from image spatial deviation to micromirror physical control signals. The voltage conversion subunit uses the aforementioned formula to convert the abstract pixel offset (ΔX, ΔY) into specific analog driving voltage values ​​(ΔX, ΔY). , ).coefficient and This was obtained through prior calibration, establishing a linear relationship between the micromirror deflection angle and pixel displacement on the point cloud image. Bias voltage and This is the voltage required to bring the micromirror to its zero position. Through this closed-loop control mechanism, as long as the target deviates from the center of the field of view, the system can automatically calculate the correction voltage and drive the micromirror to deflect in the direction that reduces the deviation, thereby achieving stable and accurate target tracking.

[0073] In an exemplary embodiment, a detection method for a field-of-view adjustable lidar system is provided, applied to the aforementioned field-of-view adjustable lidar system, comprising the following steps: The main control unit 101 switches its working mode according to the needs of the scenario: When switching to exploration mode, the main control unit 101 controls each of the micromirror units 1031 to independently and in parallel scan their respective sub-field regions, and the multi-wavelength laser array 102 synchronously emits lasers of corresponding wavelengths to achieve rapid parallel perception and initial screening of targets across the entire field of view. When switching to single-target staring mode, after locking onto the target, the main control unit 101 controls all the micromirror units 1031 to deflect in coordination to the target azimuth angle, and the multi-wavelength laser array 102 synchronously emits lasers of the corresponding wavelengths to achieve high-precision focusing monitoring and stable locking of a single target. When switching to the multi-target staring mode, the main control unit 101 identifies and prioritizes multiple targets, and dynamically allocates resources to the micromirror unit 1031 according to the ranking result. The micromirror unit 1031 allocated resources is controlled to independently deflect to its corresponding target position. The multi-wavelength laser array 102 synchronously emits lasers of corresponding wavelengths to achieve parallel ranging and tracking of multiple targets.

[0074] As an optional implementation, in the single-target gaze mode or the multi-target gaze mode, the detection method further includes: The target detection unit in the main control unit 101 detects candidate targets that meet the conditions according to the preset target feature threshold, calls the target recognition algorithm to process the point cloud data, and outputs the center point cloud coordinates of the target point cloud map border. The offset calculation unit in the main control unit 101 calculates the offset based on the point cloud center coordinates of the target bounding box and the point cloud center coordinates of the point cloud map. The micromirror information generation unit in the main control unit 101 generates a control voltage to drive the micromirror unit 1031 to deflect according to the offset, and drives the micromirror unit 1031 to adjust the deflection angle according to the control voltage so that the laser beam continuously points to the target. The micromirror information generation unit includes a voltage conversion subunit. This subunit reads the horizontal point cloud offset, the vertical point cloud offset, the voltage-point cloud coordinate conversion coefficient, and the bias voltage, and performs calculations to output the driving voltage. The calculation process involves the following expressions: ; ; in, The driving voltage applied to the X-axis drive arm of the micromirror unit. The driving voltage applied to the Y-axis drive arm of the micromirror unit. The horizontal voltage-point cloud coordinate transformation coefficient. The vertical voltage-point cloud coordinate transformation coefficient. This represents the horizontal point cloud offset. This is the vertical point cloud offset. This is the horizontal bias voltage. This is the vertical bias voltage.

[0075] This implementation method provides a complete and feasible detection process. It tightly integrates the system's hardware capabilities with software algorithms, automating the entire process from environmental perception and target locking to dynamic tracking through clearly defined steps. This enables the system protected by this application to be practically applied in real-world scenarios.

[0076] In this embodiment, all mode switching, target recognition, offset calculation, and micromirror control command generation are automatically completed by the main control unit 101 without manual intervention, thus forming a highly intelligent adaptive lidar system.

[0077] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0078] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. Furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A field-of-view adjustable lidar system, characterized in that, The field-of-view adjustable lidar system includes: The main control unit is used for global scheduling and multi-channel parallel detection control. It integrates a main controller, a mode configuration module, a signal processing module, a micromirror array driver, and a laser array controller. The mode configuration module is used to switch the working mode according to the scene requirements. A multi-wavelength laser array, electrically connected to the main control unit, includes multiple laser emitting units that emit lasers of different wavelengths, used to emit multiple lasers of different wavelengths under the control of the main control unit; The micromirror array, electrically connected to the main control unit, includes multiple independently driven micromirror units. The micromirror units are used to adjust their own deflection angle according to the control signal of the main control unit in order to directionally reflect the laser emitted by the multi-wavelength laser array to the target object under test. A multi-wavelength detector array, electrically connected to the main control unit, includes multiple receiving units for receiving lasers of different wavelengths. The receiving units are used to receive echo signals that are reflected by the target object and have wavelengths corresponding to the micromirror unit and the laser emitting unit, and transmit the echo signals to the main control unit for analysis to output target distance data and point cloud data.

2. The field-of-view adjustable lidar system according to claim 1, characterized in that, The working modes include exploration mode, single-target gaze mode, and multi-target gaze mode; In the exploration mode, the main control unit is used to control each micromirror unit to independently and in parallel scan its corresponding sub-field of view, and the multi-wavelength laser array synchronously emits lasers of corresponding wavelengths to achieve rapid parallel perception and initial screening of targets across the entire field of view. In the single-target staring mode, the main control unit is used to control all the micromirror units to deflect to the target azimuth angle in coordination after locking the target, and the multi-wavelength laser array synchronously emits lasers of corresponding wavelengths to achieve high-precision focusing monitoring and stable locking of a single target; In the multi-target staring mode, the main control unit is used to identify and prioritize multiple targets, and dynamically allocate the resources of the micromirror units according to the ranking results. The micromirror units allocated resources are controlled to independently deflect to their respective target positions. The multi-wavelength laser array synchronously emits lasers of corresponding wavelengths to achieve parallel ranging and tracking of multiple targets.

3. The field-of-view adjustable lidar system according to claim 1, characterized in that, Each laser emitting unit in the multi-wavelength laser array is equipped with an independent collimating optical system to ensure the parallelism and stability of the emitted beam and to avoid initial crosstalk between different wavelengths.

4. The field-of-view adjustable lidar system according to claim 1, characterized in that, The micromirror array, the multi-wavelength laser array, and the multi-wavelength detector array form a pixel-level one-to-one correspondence: each laser emitting unit corresponds to one micromirror unit, and each micromirror unit corresponds to one receiving unit.

5. The field-of-view adjustable lidar system according to claim 1, characterized in that, Each receiving unit in the multi-wavelength detector array includes a detector and a narrowband filter. The narrowband filter is used to split the echo signals of different wavelengths to ensure that each receiving unit only receives the echo signal of the corresponding wavelength, while suppressing wavelength crosstalk and solar background light interference.

6. The field-of-view adjustable lidar system according to claim 1, characterized in that, Each micromirror unit in the micromirror array has independent angle sensing and real-time attitude feedback capabilities, which are used to directly sense the real-time deflection angle and spatial pointing state of the mirror surface, and simultaneously feed the angle information back to the main control unit, providing an optical attitude reference for the orientation calibration and point cloud reconstruction of the parallel optical path.

7. The field-of-view adjustable lidar system according to claim 1, characterized in that, The field-of-view adjustable lidar system also includes: A receiving lens is used to collect the echo signal reflected by the target object and focus the echo signal onto the multi-wavelength detector array.

8. The field-of-view adjustable lidar system according to claim 1, characterized in that, The main control unit integrates a time-to-digital converter module, which is used to synchronously record the timestamp difference between the laser emission and echo reception of each wavelength, calculate the relative distance of the target in the corresponding direction of each channel in parallel, and associate and map the distance information with the micromirror drive deflection parameters and wavelength channel identifiers; the main control unit is also used to stitch together the independent scanning trajectories of each micromirror unit in the corresponding detection period in parallel to generate a three-dimensional point cloud in a multi-target scene.

9. A detection method for a field-of-view adjustable lidar system, applied to the field-of-view adjustable lidar system according to any one of claims 1 to 8, characterized in that, The detection method of the field-of-view adjustable lidar system includes: The main control unit switches its working mode according to the needs of the scenario: When switching to exploration mode, the main control unit controls each of the micromirror units to independently and in parallel scan their respective sub-field of view regions, and the multi-wavelength laser array synchronously emits lasers of corresponding wavelengths to achieve rapid parallel perception and initial screening of targets across the entire field of view. When switching to single-target staring mode, after locking onto the target, the main control unit controls all the micromirror units to deflect in coordination to the target azimuth angle, and the multi-wavelength laser array synchronously emits lasers of the corresponding wavelengths to achieve high-precision focusing monitoring and stable locking of a single target; When switching to multi-target staring mode, the main control unit identifies and prioritizes multiple targets, and dynamically allocates resources to the micromirror units according to the ranking results. The micromirror units allocated resources are controlled to independently deflect to their respective target positions. The multi-wavelength laser array synchronously emits lasers of corresponding wavelengths to achieve parallel ranging and tracking of multiple targets.

10. The detection method of the field-of-view adjustable lidar system according to claim 9, characterized in that, In the single-target gaze mode or the multi-target gaze mode, the detection method further includes: The target detection unit in the main control unit detects candidate targets that meet the conditions according to the preset target feature threshold, calls the target recognition algorithm to process the point cloud data, and outputs the center point cloud coordinates of the target point cloud map bounding box. The offset calculation unit in the main control unit calculates the offset based on the point cloud center coordinates of the target bounding box and the point cloud center coordinates of the point cloud map. The micromirror information generation unit in the main control unit generates a control voltage to drive the micromirror unit to deflect according to the offset, and drives the micromirror unit to adjust the deflection angle according to the control voltage so that the laser beam continuously points to the target. The micromirror information generation unit includes a voltage conversion subunit. This subunit reads the horizontal point cloud offset, the vertical point cloud offset, the voltage-point cloud coordinate conversion coefficient, and the bias voltage, and performs calculations to output the driving voltage. The calculation process involves the following expressions: ； ； in, The driving voltage applied to the X-axis drive arm of the micromirror unit. The driving voltage applied to the Y-axis drive arm of the micromirror unit. The horizontal voltage-point cloud coordinate transformation coefficient. The vertical voltage-point cloud coordinate transformation coefficient. This represents the horizontal point cloud offset. This is the vertical point cloud offset. This is the horizontal bias voltage. This is the vertical bias voltage.

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