Dual-mode solid-state laser radar

Abstract

The utility model provides a dual-mode solid-state laser radar. Two emission sources of a floodlight illumination module and a dot matrix illumination module are configured, and a sensor sharing one area array is received. Floodlight illumination and dot matrix illumination are matched with the sensor, and the purpose of measuring a measured area in a surface irradiation measurement mode and a dot matrix irradiation mode respectively is achieved through a switching work method. The advantages of two existing independent solid-state laser radar systems and detection are ingeniously fused, and the advantages of safety, low power consumption, interference resistance, low algorithm consumption, high recognition real-time performance and the like are considered to the maximum extent by switching the two radars according to actual requirements during use. The method is particularly suitable for devices such as automatic / auxiliary driving vehicles, man-machine interaction robots (such as service robots), head-mounted ARVR and the like.

Description

Technical Field

[0001] The utility model relates to a 3D imaging system, in particular to a dual-mode solid-state laser radar. Background Art

[0002] Apple's latest Apple Vision Pro, which will be launched in February 2024, has amazed everyone with its "spatial video" and set off a new wave of technology. The realization of spatial video is based on the underlying technological breakthrough that Apple has developed the so-called "Apple LiDAR" and applied it to products such as the iPad Pro launched in the early years, the latest iPhone15 Pro Max models, and the Apple Vision Pro launched in February 24, making this technology available for mass production. This type of LiDAR is actually a non-point-by-point scanning solid-state point cloud LiDAR (Solid-State Point Cloud LiDAR), which transmits in a dot matrix manner through laser (whole / partition), and then receives and captures laser reflections to measure the time of flight (ToF) to finally generate a point cloud of the test area, thereby providing the depth information required for spatial perception for the picture. Because this solid-state array LiDAR itself does not have any mechanical moving parts, it has the characteristics of being small and durable, and its power consumption is greatly reduced compared to traditional LiDARs that require mechanical moving parts. However, solid-state array laser radars like Apple's also have a problem. Since the lasers emitted are distributed in a dot matrix and there is no mechanical structure scanning, the density of the point cloud that can be obtained is limited, that is, the resolution is limited. Figure 1 The figure shows the LiDAR used in early Apple devices, which can only project a 9*64 density matrix dot beam through the transmitter to capture and draw a depth map of the position within a range of up to 5 meters. Even in today's iPhone 15 and Vision Pro, although the dot beam density has been greatly enhanced, its overall resolution is still in the thousands or thousands.

[0003] In contrast, there is also a solid-state flash lidar, which can illuminate a range of lasers as a whole, and then receive the reflections on the surface to measure the flight time, and finally obtain dense depth information with a resolution far higher than that of the "Apple lidar". This solid-state array lidar has the advantages of no mechanical moving parts, compactness, durability and low power consumption. However, since the illumination and reception are both carried out in a "surface" manner, the transmission power is higher than that of the solid-state dot-matrix lidar that does not scan dot by dot, and receiving more data also means that more computing power is required for subsequent depth information calculations. Therefore, the two solutions of "Apple lidar" and solid-state array lidar have their own advantages and disadvantages. Utility Model Content

[0004] The technical problem to be solved by the utility model is to provide a dual-mode solid-state laser radar which is equipped with dot matrix lighting and flood lighting and shares a receiver.

[0005] In order to solve the above technical problems, the technical solution adopted by the utility model is: a dual-mode solid-state laser radar, including a receiving module, at least one floodlighting module, at least one dot-matrix lighting module and a driving module;

[0006] The floodlighting module comprises a first laser light source, which is emitted through a floodlight optical component to form surface light, and the floodlight optical component comprises a collimator and a homogenizing optical group;

[0007] The dot matrix lighting module includes a second laser light source, which is emitted through a dot matrix optical component to form dot matrix light, and the dot matrix optical component includes a collimator and a diffraction optical group;

[0008] The receiving module includes a sensor, and the sensor includes pixels arranged in a planar array;

[0009] The wavelength of the first laser light source is the same as that of the second laser light source, and the first laser light source and the second laser light source are wavelength-matched, time-synchronized, and spatially aligned with the sensor of the receiving module; the second laser light source is also aligned with the sensor pixel of the receiving module;

[0010] The driving module drives the floodlighting module and the dot-matrix lighting module to work non-simultaneously.

[0011] In the above, the positional relationship between the receiving module, at least one floodlighting module, and at least one dot-matrix lighting module is any one of the following:

[0012] (1) The floodlight module and the dot matrix lighting module are arranged horizontally side by side on both sides of the sensor of the receiving module, and the floodlight module, the dot matrix lighting module and the receiving module are arranged close to each other;

[0013] (2) The floodlight module and the dot matrix lighting module are arranged horizontally side by side on one side of the sensor of the receiving module, and the floodlight module, the dot matrix lighting module and the receiving module are arranged close to each other;

[0014] (3) The floodlight module and the dot matrix lighting module are vertically arranged side by side on one side of the sensor of the receiving module, and the floodlight module, the dot matrix lighting module and the receiving module are arranged in close proximity.

[0015] In the above, the floodlight module, the dot-matrix lighting module and the receiving module are arranged close to each other, the homogenizing optical group of the floodlight module and the diffractive optical group of the dot-matrix lighting module are made of moldable materials, and the two are integrally formed.

[0016] In the above, the accuracy of the pixel alignment is within (±2 to ±4) pixels of the sensor.

[0017] In the above, the floodlighting assembly includes a lens, which constitutes the collimator and homogenizing optical group; a narrow-band bandpass filter coating is provided on the lens, the filter window of the narrow-band bandpass filter coating matches the wavelength of the first laser light source and the temperature drift of all lenses is synchronized;

[0018] The dot matrix optical component includes lenses, which constitute the collimating lens and the diffraction optical group; a narrow-band bandpass filter coating is provided on the lenses, the filter window of the narrow-band bandpass filter coating matches the wavelength of the second laser light source and the temperature drift of all lenses is synchronized.

[0019] In the above, the wavelength temperature drift of the filter window of the narrow-band bandpass filter coating of the lens matching the wavelength of the first laser light source is within ±(5-10)nm;

[0020] The wavelength temperature drift of the filter window of the narrow-band bandpass filter coating of the lens matching the wavelength of the second laser light source is within ±(5-10) nm.

[0021] In the above, the second laser light source of the dot matrix illumination module is an array composed of multiple laser light sources, and the diffraction optical group corresponds to the array multiple laser light sources.

[0022] In the above, the dot matrix light at the edge of the dot matrix light emitted by the dot matrix illumination module is aligned with the pixel corresponding space of the sensor of the receiving module.

[0023] The utility model also relates to a detection method based on a dual-mode solid-state laser radar, comprising the steps of:

[0024] S1) Preparation,

[0025] The first laser light source is equipped with a floodlight module so that it emits surface light;

[0026] The second laser light source is equipped with a dot matrix lighting module so that it emits dot matrix light;

[0027] Selecting a first laser light source, a second laser light source and a sensor with matching wavelengths;

[0028] S2) matches,

[0029] Synchronizing the driving time of the first laser light source, the second laser light source and the sensor;

[0030] spatially aligning the surface light emitted by the first laser light source with the sensor;

[0031] spatially aligning the dot matrix light emitted by the second laser light source with the sensor;

[0032] S3) drive, driving surface scanning and dot matrix scanning in interval / addressable / round training mode,

[0033] Scan the surface, determine that the second laser light source is not working, drive the first laser light source to work, receive the signal of the first laser light source through the sensor and calculate the flight time;

[0034] Dot scanning is performed to determine that the first laser light source is not working, the second laser light source is driven to work, and the signal of the second laser light source is received by the sensor and the flight time is calculated.

[0035] In the above, the step S1 further includes arranging a plurality of laser light sources in an array to form a second laser light source; the step of dot scanning in the step S3 specifically includes:

[0036] A1) determining that the first laser light source is not working;

[0037] A2) driving the plurality of laser light sources arranged in an array in the second laser light source in an addressable / round-robin manner, and performing the next addressing / round-robin driving after receiving a signal through a sensor after each driving;

[0038] The sensor receives the signal and calculates the flight time.

[0039] The beneficial effect of the utility model is that two emission sources are configured, namely a floodlighting module and a dot matrix lighting module, while a common array sensor is used for reception. The first laser light source, the second laser light source, and the first laser light source, the second laser light source and the receiving module are further matched to ensure their normal operation. Thereby, the purpose of measuring the measured area by surface illumination measurement and dot matrix illumination respectively is achieved. The whole system cleverly combines the advantages of the two existing independent solid-state laser radar systems, and maximizes the advantages of safety, low power consumption, anti-interference, low algorithm consumption, and high real-time recognition by switching the two radars according to actual needs during use. It is particularly suitable for equipment such as automatic / assisted driving vehicles, human-computer interaction robots (such as service robots), and head-mounted AR\VR. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The specific structure of the utility model is described in detail below with reference to the accompanying drawings

[0041] Figure 1 This is a schematic diagram of the dot matrix of Apple's laser radar when it is working in the prior art;

[0042] Figure 2 It is a schematic side view of the structure of an embodiment of the utility model;

[0043] Figure 3 It is a schematic diagram of the structure of an embodiment of the utility model;

[0044] Figure 4 This is a schematic diagram of the surface light formed by the emission of one embodiment of the utility model;

[0045] Figure 5 This is a schematic diagram of the emission forming surface light of another embodiment of the utility model;

[0046] Figure 6 A schematic diagram of a dot matrix light formed by the emission of an embodiment of the utility model;

[0047] Figure 7 is the original scene graph in an example;

[0048] Figure 8 For the corresponding Figure 7 Point cloud image under dot matrix lighting in the example scene image;

[0049] Fig. 9 is another original scene graph in an example;

[0050] Fig.10 For the corresponding Fig. 9 Point cloud image under dot matrix lighting in the example scene image;

[0051] Fig.11 This is a point cloud image under flood lighting;

[0052] Fig.12 It is a schematic diagram of the structure of another embodiment of the utility model;

[0053] Fig.13 It is a schematic diagram of the structure of another embodiment of the utility model;

[0054] Fig.14 It is a schematic diagram of the structure of another embodiment of the utility model;

[0055] Fig.15 This is a schematic diagram of the blind area of ​​the field of view when the transmitting corresponding receiving baseline is large;

[0056] Fig.16 This is a schematic diagram of stereo loss when the baseline of the transmission corresponding to the reception is large;

[0057] Fig.17 This is a schematic diagram of the blind area of ​​the field of view when the transmitting corresponding receiving baseline is small;

[0058] Fig.18 It is a schematic diagram of the structure of another embodiment of the utility model;

[0059] Fig.19 for Fig.18 Side view of the middle floodlighting module and dot-matrix lighting module;

[0060] Fig. 20 It is a schematic side view of the structure of another embodiment of the utility model;

[0061] Fig.21 for Fig. 20 Schematic diagram of the dot matrix light formed by the emission;

[0062] Fig. 22 This is a schematic diagram of the spatial matching of floodlighting and sensors in one embodiment of the utility model;

[0063] Fig.23 This is a schematic diagram of dot matrix lighting and sensor space matching in one embodiment of the utility model;

[0064] 100-receiving module; 200-floodlighting module; 300-dot matrix lighting module;

[0065] 11- sensor; 12- receiving optical group; 110- pixel;

[0066] 21-first laser light source; 22-collimator; 23-homogenizing optical group; 210-surface light; 211-surface reflected light; 203-reinforcement ribs;

[0067] 31-second laser light source; 32-collimator; 33-diffraction optical group; 310-lattice light; 311-point reflected light; 312-irradiation area;

[0068] A-baseline; B-blind area; C-object being tested. DETAILED DESCRIPTION

[0069] In order to explain the technical content, structural features, achieved objectives and effects of the present invention in detail, the following is a detailed description in conjunction with the implementation modes and the accompanying drawings.

[0070] See also Figure 2 as well as Figure 3 , a dual-mode solid-state laser radar, comprising a receiving module 100, at least one floodlight module 200, at least one dot-matrix lighting module 300 and a driving module;

[0071] The floodlight module 200 includes a first laser light source 21, which is emitted through a floodlight optical component to form a surface light 210 (see Figure 4 , 5 ), the floodlight optical assembly includes a collimator 22 and a homogenizing optical group 23;

[0072] Here, the homogenization optical group 23 is to configure the first laser light source of a small area into a uniform surface light source, and the homogenization optical group can be implemented by, for example, a microlens array, a diffraction grating, a fiber bundle or an optical phased array (OPA), etc. These optical components can convert the laser beam into a surface light source with uniform light intensity distribution.

[0073] The dot matrix illumination module includes a second laser light source 31, which is emitted through a dot matrix optical component to form a dot matrix light 310 (see Figure 6 ), the lattice optical assembly includes a collimator 32 and a diffraction optical group 33;

[0074] The diffraction optical group 33 can be implemented by using technologies such as micro lens array (DOE), meta lens or optical phased array (OPA).

[0075] The receiving module includes a sensor 11, and the sensor 11 includes pixels 110 arranged in a planar array. In some embodiments, the receiving module also includes a logic control unit and an operation unit, wherein the logic control unit is responsible for controlling the pixel working mode and data conversion, and the operation unit is further responsible for calculating the depth value of the received data, so that the receiving module in this embodiment can directly output the detected depth information, with higher integration and further reduced system size.

[0076] The wavelengths of the first laser light source 21 and the second laser light source 31 are the same, and the first laser light source 21 and the second laser light source 31 match the sensor 11 of the receiving module 100;

[0077] In the laser radar system, the emitted light and the light received by the sensor need to meet specific conditions to work effectively. Therefore, the matching of the first laser light source 21, the second laser light source 31 and the sensor 11 of the receiving module 100 at least includes: wavelength matching, time synchronization, and spatial alignment. The second laser light source 31 and the sensor 11 of the second receiving module 100 also include pixel alignment matching, specifically:

[0078] Wavelength matching: The wavelengths of the first laser light source, the second laser light source, and the sensor of the lidar system need to match each other, which means that the sensor can effectively detect the specific wavelengths of light emitted by the first laser light source and the second laser light source.

[0079] Time synchronization: In the lidar system, the distance is calculated by time flight (ToF), so there needs to be strict time synchronization between the laser pulses emitted by the first laser light source, the second laser light source and the reflected light pulses received by the sensor. This synchronization ensures that the system can accurately calculate the time it takes for the light beam to reach the target object and return, thereby measuring the distance.

[0080] Spatial alignment: usually refers to the physical alignment between the laser transmitter and the receiver, and their relative positional relationship with the object being measured. In spatial alignment, the key is to ensure that the lasers emitted by the first laser light source and the second laser light source can accurately illuminate the target, and the sensor can effectively capture the reflected light. This alignment involves the geometric layout and angle adjustment of the entire system to ensure the accuracy and reliability of the measurement.

[0081] Pixel alignment: This work involves the pixels arranged in the array inside the sensor. It is necessary to ensure that the pixels in the actual physical world, especially the dot matrix light emitted by the second laser, can accurately match certain pixels arranged in the array inside the sensor. The selected alignment pixels are usually the same as the matrix of the dot matrix light (for example, when the dot matrix light is 5*5, the received pixel matrix is ​​also 5*5), so that it can obtain the reflected light information and ensure the subsequent image processing and data analysis. This alignment can ensure that the pixels of the image data can correctly represent its corresponding part in space, so that the subsequent accuracy includes image stitching, stereo vision processing or augmented reality applications.

[0082] The driving module drives the floodlighting module 200 and the dot-matrix lighting module 300 to work non-simultaneously.

[0083] From the above description, it can be seen that the beneficial effect of the utility model is that two emission sources are configured, namely the floodlighting module and the dot-matrix lighting module, and a common array sensor is used for receiving. The first laser light source, the second laser light source, and the first laser light source, the second laser light source and the receiving module are further matched to ensure their normal operation. Thus, the purpose of measuring the measured area by plane illumination measurement and dot-matrix illumination is achieved respectively. The use of the patented radar can take into account the advantages of the two existing radars.

[0084] The dot matrix lighting module and the area array sensor work together to achieve functions similar to those of previous solid-state area array lidars. Due to the low density of dot matrix lighting, the cumulative energy per unit area irradiated per unit time is also low, which can meet the overall product (mainly laser irradiation) for personnel safety. In addition, the low-density layout of the dot matrix lighting itself makes its working energy consumption lower, and because only some of the corresponding pixels of the area array sensor work when combined with dot matrix lighting, and the others do not work, it has better anti-interference ability in strong light environments such as sunlight. Furthermore, the smaller amount of irradiated / received data greatly reduces the data for subsequent calculations, which can effectively reduce the energy consumption of the algorithm and enable the algorithm to provide high-speed response, thereby improving real-time characteristics.

[0085] However, dot matrix lighting is only suitable for simple scene recognition or mapping because it has very few dots, and cannot provide sufficient data information for obstacle avoidance. Figure 7 , 9 This is a typical indoor scene. When the dot matrix lighting module is working, only Figure 8 , 10This type of sparse point cloud. It is not difficult to see that sparse point clouds are difficult to identify when objects (people) in the picture change, let alone identify which specific object has changed. Therefore, in practical applications, dot matrix is ​​particularly suitable for judging non-real-time changes (or changes with little impact) in fixed environments or far away, and performing applications such as scene recognition, map modeling, and path planning.

[0086] In order to solve more detailed detection problems, the utility model technology can use a floodlighting module in conjunction with an area array sensor for surface perception.

[0087] like Fig.11 The figure shows a typical outdoor scene with more complex situations. It can be seen that under the area array illumination detection, the density of the feedback image point cloud is very high (often when the dot array is in the hundreds of thousands, the area array is in the hundreds of thousands). Although the power of area illumination is bound to be much greater than that of dot matrix illumination, or the range of action is smaller at the same power, the denser data enables it to distinguish complex objects such as trees and people within the range, thereby realizing object recognition and obstacle avoidance, so that the system can obtain changes in real time and respond promptly. Such applications are often required at a short distance, so when the power consumption of the two is comparable, the area array can perform close-range detection and the dot matrix can perform long-range detection, thereby cooperating to achieve planning and obstacle avoidance applications in complex environments.

[0088] In summary, the utility model cleverly combines two existing independent solid-state laser radar systems. When in use, the lighting source is switched according to actual needs to maximize the advantages of the two radar systems. It is particularly suitable for automatic / assisted driving vehicles, human-machine interactive robots (such as service robots), head-mounted AR\VR devices, etc., and realizes including but not limited to:

[0089] (1) In autonomous driving systems (automatic / assisted driving vehicles): The floodlight mode is used to identify nearby objects and avoid obstacles. The dot matrix mode is used to draw maps and plan travel routes.

[0090] (2) Head-mounted devices: Floodlight mode is used to identify the user's hand movements. Dot matrix mode is used to determine the user's posture (such as head rotation, squatting, standing up, etc.).

[0091] Example 1

[0092] Furthermore, by studying and testing the arrangement relationship of the receiving module, at least one floodlighting module, and at least one dot matrix lighting module, this embodiment provides three structural modes, and the advantages and disadvantages thereof are as follows:

[0093] 1. Distributed on both sides

[0094] That is, the floodlight module 200 and the dot-matrix lighting module 300 are respectively disposed on both sides of the sensor 11 of the receiving module 100. Figure 3 , Fig.18 The biggest advantage of doing so is that the floodlight module 200 and the dot-matrix lighting module 300 are both arranged on both sides of the sensor 11, and the distances can be close or even the same. It is relatively easier to debug.

[0095] 2. One-side distribution

[0096] That is, the floodlight module 200 and the dot-matrix lighting module 300 are arranged horizontally side by side on the same side of the sensor 11 of the receiving module 100. Figure 12-14 However, the arrangement of the floodlighting module 200 and the dot-matrix lighting module 300 disposed on the same side can be further divided into:

[0097] (1) The floodlight module 200, the dot-matrix lighting module 300, and the sensor 11 of the receiving module 100 are arranged horizontally. Fig.12 Although this arrangement makes it more difficult to match and modulate the floodlight module 200 / dot-matrix lighting module 300 that is farther away from the sensor 11, it may be used in some special cases (such as product circuit board layout restrictions, other special usage cases, etc.).

[0098] (2) The floodlight module 200 and the dot-matrix lighting module 300 are arranged vertically and distributed on the side of the sensor 11 of the receiving module 100. The biggest advantage of this arrangement is that the space between the three modules is maximized, which is much smaller than the above two distribution methods. In addition, because the existing floodlight module 200 and dot-matrix lighting module 300 are relatively small in size, they occupy the same area as the receiving module 100 when they are put together. Therefore, when they are stacked two by two and then placed next to the receiving module 100, the entire module has the smallest surface area and the most compact volume, making it suitable for highly integrated electronic products.

[0099] It should be further noted that the sensor 11 of the receiving module 100 is usually rectangular, and the most common is a long rectangle. Fig.13 As shown, the floodlight module 200 and the dot-matrix lighting module 300 are placed on the short side of the rectangular sensor 11 (commonly known as horizontal placement), which is more suitable for use in a horizontal wide field of view. Fig.14 As shown, the floodlight module 200 and the dot-matrix lighting module 300 are placed on one side of the long side of the rectangular sensor 11, which is more suitable for use in vertical up and down viewing conditions.

[0100] In addition to the distribution method, the spacing between the three is also set as close as possible or even close to each other for the best result. Figure 15-17This is because the floodlight module 200 and the receiving module 100, and the dot matrix lighting module 300 and the receiving module 100 need to be matched for use in the end. Therefore, the surface light 210 or the dot matrix light 310 emitted by the floodlight module 200 or the dot matrix lighting module 300 must eventually be reflected and transformed into surface reflected light 211 or point emitted light 311 to be received by the sensor 11. The distance between the first laser light source 21 or the second laser light source 31 and the sensor 11, commonly known as the baseline A, determines the size of the blind area B during operation. The larger the baseline A, the larger the blind area, which is particularly unfavorable for close-range detection applications. In addition, a large baseline A spacing is more likely to cause stereoscopic failure problems, such as Fig.16 As shown, when the detected object C (especially the object C with a small volume or even a triangular cross section as shown in the extreme case) is close to the blind area and the surface light 210 or the dot matrix light 310 just intersects with the surface reflected light 211 or the dot radiated light 311 (close to the blind area B), part of the surface light 210 or the dot matrix light 310 cannot be received by the sensor, which is a stereo failure. Therefore, if it is allowed, Fig.17 As shown, it is optimal to place the floodlight module 200 , the dot-matrix lighting module 300 and the sensor 11 as close as possible.

[0101] Example 2

[0102] On the basis of the above, this embodiment adopts the floodlighting module 200, the dot-matrix lighting module 300 and the receiving module 100 to be arranged close to each other. Fig.18 , 19 In addition, in order to further reduce the volume, the homogenization optical group 23 of the floodlight module 200 and the diffraction optical group 33 of the dot-matrix lighting module 300 are integrally formed. In order to make the two integrally formed, the diffraction optical group 33 of the dot-matrix lighting module 300 is made of a moldable material (such as plastic, moldable glass, etc.). If necessary, a reinforcing rib 203 is formed between the two to ensure their strength, which can further reduce the volume of the two modules, thereby reducing the baseline distance and error between them and the sensor 11.

[0103] However, since the collimating mirrors 22 / 32 in the structure need to match the light source height respectively, they usually need to be adjusted separately in subsequent production, so it is usually not suitable to be integrally formed / increase the complexity of the structure.

[0104] Example 3

[0105] In the above, the accuracy of the pixel alignment is within (±2 to ±4) pixels of the sensor.

[0106] In order to ensure the good operation of the system, the pixel alignment accuracy in this system is relatively high. Specifically, the alignment accuracy between the dot matrix light of the second laser and the corresponding pixel of the sensor should be controlled within (±2 to ±4) pixels. This means that several adjacent pixels on the sensor will be aligned to a point in the dot matrix light in a regional manner for reception, and the specific alignment accuracy is based on an integer multiple of 2-4 pixels. For example, when the pixel alignment accuracy is ±2, a matrix of 2*N (N=natural number) adjacent pixel areas are aligned to a point in the dot matrix light, and when the pixel alignment accuracy is ±3, a matrix of 3*N (N=natural number) adjacent pixel areas are aligned to a point in the dot matrix light. This pixel area is usually rectangular, and the best is a regular rectangle (square), because the dot light is usually circular, and the coverage effect of the two will be the best.

[0107] If the alignment accuracy of the dot light exceeds the above range, the sensor's receiving sensitivity will decrease, which will eventually lead to a larger error in the depth data or even a failure to receive depth data.

[0108] For a surface light source, since its emission angle is usually greater than or equal to the receiving angle of the sensor's field of view, it is only necessary to control the corresponding emission angle. Otherwise, the larger the emission angle, the more energy is wasted, and the smaller the emission angle, the higher the processing requirements.

[0109] It should be pointed out that, when necessary, in addition to the optical components, the temperature drift characteristics of the housing, especially the lens support components, which serve as floodlight components and dot-matrix optical components, must also be particularly stable. Under the temperature drift during overall operation, it is also necessary to ensure that the pixel alignment accuracy of the second laser is within (±2 to ±4) pixels of the sensor.

[0110] Example 4

[0111] In the above, the floodlighting assembly includes a lens, which constitutes the collimating lens and the homogenizing optical group; a narrow-band bandpass filter coating is provided on the lens, the filter window of the narrow-band bandpass filter coating matches the wavelength of the first laser light source and the temperature drift of all lenses is synchronized.

[0112] In order to remove the interference of light other than laser light source, the lenses of optical components are usually coated with narrow bandpass filter coating. Unlike general lighting, the working power of laser is relatively large and the energy is concentrated, so it will directly affect the heat of surrounding devices, especially the temperature change of directly irradiated optical lenses. Therefore, the best system, whether it is the collimator, homogenizing optical group in the floodlighting component or the collimator, diffraction optical group in the optical component, the temperature drift properties of each lens must be synchronized to ensure the transmittance of the light source during operation.

[0113] Furthermore, in the above, the wavelength temperature drift of the filter window of the narrow-band bandpass filter coating of the lens matching the wavelength of the first laser light source is within ±(5-10)nm;

[0114] According to experiments, the filter window wavelength change of the narrow-band bandpass filter coating superimposed on all lenses during temperature drift is optimally within ±(5-10)nm. If it exceeds this range, it is easy to cause a significant reduction in the laser pass rate, and stray light may enter, causing interference (for example, the window becomes larger, and irrelevant wavelengths of light enter the receiving system), or the energy of the laser emission light source is weakened or even filtered out (the temperature rise characteristics of different lenses are inconsistent, resulting in window misalignment), which greatly reduces the working effect. In addition, the temperature rise caused by absorbing lasers is increased, and even causes the system to fail temporarily.

[0115] Example 5

[0116] The dot matrix optical component includes lenses, which constitute the collimating lens and the diffraction optical group; a narrow-band bandpass filter coating is provided on the lenses, the filter window of the narrow-band bandpass filter coating matches the wavelength of the second laser light source and the temperature drift of all lenses is synchronized.

[0117] In order to remove the interference of light other than laser light source, the lenses of optical components are usually coated with narrow bandpass filter coating. Unlike general lighting, the working power of laser is relatively large and the energy is concentrated, so it will directly affect the heat of surrounding devices, especially the temperature change of directly irradiated optical lenses. Therefore, the best system, whether it is the collimator, homogenizing optical group in the floodlighting component or the collimator, diffraction optical group in the optical component, the temperature drift properties of each lens must be synchronized to ensure the transmittance of the light source during operation.

[0118] The wavelength temperature drift of the filter window of the narrow-band bandpass filter coating of the lens matching the wavelength of the second laser light source is within ±(5-10) nm.

[0119] According to experiments, the filter window wavelength change of the narrow-band bandpass filter coating superimposed on all lenses during temperature drift is optimally within ±(5-10)nm. If it exceeds this range, it is easy to cause a significant reduction in the laser pass rate, and stray light may enter, causing interference (for example, the window becomes larger, and irrelevant wavelengths of light enter the receiving system), or the energy of the laser emission light source is weakened or even filtered out (the temperature rise characteristics of different lenses are inconsistent, resulting in window misalignment), which greatly reduces the working effect. In addition, the temperature rise caused by absorbing lasers is increased, and even causes the system to fail temporarily.

[0120] Example 6

[0121] In this embodiment, the second laser light source 31 of the dot matrix illumination module 300 is an array composed of multiple laser light sources, and the diffraction optical group corresponds to the array multiple laser light sources.

[0122] like Fig. 20The second laser light source 31 shown is a 2*5 laser light source array, and to match the array, the diffraction optical component also corresponds to it. Fig.21 , is a schematic diagram of the illumination of such an array. In the figure, a 2*5 laser light source array corresponds to 2*5 illumination areas 312, each of which has a number of dot-matrix lights 310. Thus, multiple laser light sources can be illuminated separately / simultaneously / addressed / round-robin according to actual needs, thereby achieving lower power consumption / partitioned illumination work and other requirements.

[0123] Example 7

[0124] The emission angle of floodlighting is usually larger than the receiving angle of the sensor. You only need to adjust it to cover the sensor receiving angle. If the emission angle of floodlighting is equal to or slightly larger than the receiving angle, then Fig. 22 As shown, optimally, the pixels at the outermost edges of the sensor of the receiving module are spatially aligned with the surface light emitted by the floodlighting module.

[0125] like Fig.23 As shown, optimally, the edge dot matrix lights in the dot matrix lights emitted by the dot matrix illumination module are spatially aligned with the pixels corresponding to the sensor of the receiving module.

[0126] By ensuring that the floodlighting module's surface area fully covers the sensor pixels of the receiving module during the alignment process, the effective working area of ​​the sensor can be utilized to the maximum extent.

[0127] By ensuring that the dot matrix light of the dot matrix illumination module does not leak outside the sensor pixels of the receiving module during the alignment process, the effective working area of ​​the sensor is utilized to the maximum extent.

[0128] By ensuring that the surface light area of ​​the floodlight module fully covers the sensor pixels of the receiving module during the alignment process, the effective working area of ​​the sensor can be utilized to the maximum extent.

[0129] For the entire system, the sensor is the most cost-critical component. Therefore, when using it, it should be configured to fully utilize the sensor's receiving field of view. Therefore, the floodlighting should not be less than / can cover the sensor's receiving field of view, and there should be no holes or leakage areas in the collection. The dot matrix lighting is within the sensor's receiving field of view, avoiding the waste of detection light and maximizing the use of precious sensors.

[0130] It can be seen that this is completely different from the use of visible light. When configuring the use of visible light, the primary goal is not to pursue the projection of all received information on the sensor. For example, fisheye imaging often results in black areas with no image information. If visible light is used in the floodlighting of this patented lidar system, the black area will be greatly wasted because there is no information. It is usually most practical for a long rectangular sensor with its long side corresponding to the horizontal wide field of view. If a black area with no data appears, the actual field of view is equal to a large loss, so it should be as follows Fig. 22 Even if the reflective lighting area is wasted up, down, left, and right, it should be ensured that the sensor's receiving field of view is wrapped as a whole to make full use of the area. In practical applications, when the long side corresponds to the horizontal wide field of view, the top and bottom correspond to the vertical field of view. For machine vision, the upper part usually corresponds to the sky information and is usually not needed, so even if it is wasted, it has no effect.

[0131] In this patent, first, second, etc. only represent the distinction in name and do not represent any difference in their importance and position.

[0132] In this patent, up, down, left, right, front, and back only represent relative positions and do not represent absolute positions.

[0133] The above description is only an embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A dual-mode solid-state laser radar, characterized in that: It includes a receiving module, at least one floodlighting module, at least one dot-matrix lighting module and a driving module; The floodlighting module comprises a first laser light source, which is emitted through a floodlight optical component to form surface light, and the floodlight optical component comprises a collimator and a homogenizing optical group; The dot matrix lighting module includes a second laser light source, which is emitted through a dot matrix optical component to form dot matrix light, and the dot matrix optical component includes a collimator and a diffraction optical group; The receiving module includes a sensor, and the sensor includes pixels arranged in a planar array; The wavelength of the first laser light source is the same as that of the second laser light source, and the first laser light source and the second laser light source are wavelength-matched, time-synchronized, and spatially aligned with the sensor of the receiving module; the second laser light source is also aligned with the sensor pixel of the receiving module; The driving module drives the floodlighting module and the dot-matrix lighting module to work non-simultaneously.

2. The dual-mode solid-state laser radar according to claim 1, characterized in that: The positional relationship among the receiving module, at least one floodlighting module, and at least one dot-matrix lighting module is any one of the following: (1) The floodlight module and the dot matrix lighting module are arranged horizontally side by side on both sides of the sensor of the receiving module, and the floodlight module, the dot matrix lighting module and the receiving module are arranged close to each other; (2) The floodlight module and the dot matrix lighting module are arranged horizontally side by side on one side of the sensor of the receiving module, and the floodlight module, the dot matrix lighting module and the receiving module are arranged close to each other; (3) The floodlight module and the dot matrix lighting module are vertically arranged side by side on one side of the sensor of the receiving module, and the floodlight module, the dot matrix lighting module and the receiving module are arranged in close proximity.

3. The dual-mode solid-state laser radar according to claim 2, characterized in that: The floodlight module, the dot-matrix lighting module and the receiving module are arranged close to each other. The homogenizing optical group of the floodlight module and the diffraction optical group of the dot-matrix lighting module are made of moldable materials and are integrally formed.

4. The dual-mode solid-state laser radar according to any one of claims 1 to 3, characterized in that: The accuracy of the pixel alignment is within (±2 to ±4) pixels of the sensor.

5. The dual-mode solid-state laser radar according to any one of claims 1 to 3, characterized in that: The floodlight module includes a lens, which constitutes the collimator and the homogenizing optical group; a narrow-band bandpass filter coating is provided on the lens, the filter window of the narrow-band bandpass filter coating matches the wavelength of the first laser light source and the temperature drift of all lenses is synchronized.

6. The dual-mode solid-state laser radar according to claim 5, characterized in that: The wavelength temperature drift of the filter window of the narrow-band bandpass filter coating of the lens matching the wavelength of the first laser light source is within ±(5-10) nm.

7. The dual-mode solid-state laser radar according to any one of claims 1 to 3, characterized in that: The dot matrix optical component includes lenses, which constitute the collimating lens and the diffraction optical group; a narrow-band bandpass filter coating is provided on the lenses, the filter window of the narrow-band bandpass filter coating matches the wavelength of the second laser light source and the temperature drift of all lenses is synchronized.

8. The dual-mode solid-state laser radar according to claim 7, characterized in that: The wavelength temperature drift of the filter window of the narrow-band bandpass filter coating of the lens matching the wavelength of the second laser light source is within ±(5-10)nm.

9. The dual-mode solid-state laser radar according to any one of claims 1 to 3, characterized in that: The second laser light source of the dot matrix illumination module is an array composed of multiple laser light sources, and the diffraction optical group corresponds to the array multiple laser light sources.

10. The dual-mode solid-state laser radar according to any one of claims 1 to 3, characterized in that: The dot matrix light at the edge of the dot matrix light emitted by the dot matrix illumination module matches the pixel corresponding space of the sensor of the receiving module.

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