Receiver and transmitter for lidar, lidar, and terminal device

Abstract

The utility model relates to a receiver and a transmitter for a laser radar, the laser radar and a terminal device. A receiver includes a plurality of detection areas including a first detection area, a second detection area, and other detection areas. The first detection area and the second detection area are located at different positions in the first direction. The first detection area and the second detection area are located at different positions in the second direction. The first direction is perpendicular to the second direction. The distance between the first detection area and the second detection area is smaller than or equal to the distance between the first detection area and other detection areas.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the field of photodetection, and more particularly to a receiver and a transmitter for a lidar, a lidar and a terminal device. BACKGROUND

[0002] A lidar is a radar system that uses a laser beam to detect the position, velocity and other characteristic quantities of an object. The lidar is widely used in automatic driving, traffic communication, unmanned aerial vehicles, intelligent robots, resource exploration and other fields due to its high resolution, strong anti-active interference capability, good detection performance, small size and light weight.

[0003] The angular resolution of a lidar can be determined by the focal length of the optical system of the lidar and the channel spacing of the transmitter or receiver. One channel of the transmitter corresponds to one or more light-emitting regions in the transmitter, and one channel of the receiver corresponds to one or more detection regions in the receiver. The arrangement of the light-emitting regions of the transmitter and the detection regions of the receiver will affect the angular resolution of the lidar. SUMMARY

[0004] The present disclosure aims to overcome the above and / or other problems in the prior art, and provides a receiver and a transmitter for a lidar, which facilitates flexible adjustment of the angular resolution of the lidar.

[0005] According to a first aspect of the present disclosure, a receiver for a lidar is provided. The receiver comprises a plurality of detection regions, the plurality of detection regions comprising a first detection region, a second detection region and other detection regions, wherein the first detection region and the second detection region are located at different positions in a first direction, the first detection region and the second detection region are located at different positions in a second direction, the first direction is perpendicular to the second direction, and the distance between the first detection region and the second detection region is less than or equal to the distance between the first detection region and the other detection regions.

[0006] Optionally, the receiver further comprises a third detection region and a fourth detection region. The third detection region and the fourth detection region are located at different positions in the first direction. The third detection region and the fourth detection region are located at the same position in the second direction.

[0007] Optionally, the receiver further comprises a fifth detection region and a sixth detection region. The fifth detection region and the sixth detection region are located at different positions in the first direction, and the fifth detection region and the sixth detection region are located at the same position in the second direction. The positions of the fifth detection region and the sixth detection region in the second direction are different from the positions of the third detection region and the fourth detection region in the second direction.

[0008] Optionally, the receiver comprises a first region and a second region. The first detection region and the second detection region are located in the first region, and the third detection region and the fourth detection region are located in the second region. The first region receives light closer to the center of the field of view of the lidar than the second region.

[0009] Optionally, the receiver comprises a plurality of detection region sets. Each detection region set comprises one or more detectors. The detectors comprise one or more detection regions.

[0010] Optionally, the plurality of detection region sets comprises a first detection region set. The first detection region set comprises at least two detection regions. The at least two detection regions of the first detection region set are arranged along a third direction. The third direction is different from the first direction and the second direction.

[0011] Optionally, the plurality of detection region sets further comprises a second detection region set. The second detection region set comprises at least two detection regions. The at least two detection regions of the second detection region set are arranged along the first direction. The first detection region set receives light closer to the center of the field of view of the lidar than the second detection region set.

[0012] Optionally, the plurality of detection region sets comprises a third detection region set. The third detection region set comprises at least two detection regions. The at least two detection regions of the third detection region set are arranged along a fourth direction. The fourth direction is different from the third direction. The first detection region set receives light closer to the center of the field of view of the lidar than the third detection region set.

[0013] Optionally, an angle between the fourth direction and the first direction is smaller than an angle between the third direction and the first direction.

[0014] Optionally, an angle between the fourth direction and the second direction is larger than an angle between the third direction and the second direction.

[0015] Optionally, the one or more detectors include a fourth set of detection regions. The fourth set of detection regions includes at least two detection regions. The at least two detection regions of the fourth set of detection regions are arranged along a fifth direction. The fifth direction is different from the third direction and the fourth direction. The third set of detection regions receives light closer to a center of a field of view of the lidar than the fourth set of detection regions.

[0016] Optionally, an angle of the fifth direction relative to the first direction is smaller than an angle of the fourth direction relative to the first direction.

[0017] Optionally, an angle of the fifth direction relative to the second direction is larger than an angle of the fourth direction relative to the second direction.

[0018] According to a second aspect of the present disclosure, a transmitter for a lidar is provided. The transmitter includes a plurality of light emitting regions, the plurality of light emitting regions including a first light emitting region, a second light emitting region, and other light emitting regions, wherein the first light emitting region and the second light emitting region are located at different positions in a first direction, the first light emitting region and the second light emitting region are located at different positions in a second direction, the first direction is perpendicular to the second direction, and a distance between the first light emitting region and the second light emitting region is less than or equal to a distance between the first light emitting region and the other light emitting regions.

[0019] Optionally, the transmitter further includes a third light emitting region and a fourth light emitting region. The third light emitting region and the fourth light emitting region are located at different positions in the first direction. The third light emitting region and the fourth light emitting region are located at the same position in the second direction.

[0020] Optionally, the transmitter further includes a fifth light emitting region and a sixth light emitting region. The fifth light emitting region and the sixth light emitting region are located at different positions in the first direction. The fifth light emitting region and the sixth light emitting region are located at the same position in the second direction. The position of the fifth light emitting region and the sixth light emitting region in the second direction is different from the position of the third light emitting region and the fourth light emitting region in the second direction.

[0021] Optionally, the transmitter includes a first region and a second region. The first light emitting region and the second light emitting region are located in the first region and the third light emitting region and the fourth light emitting region are located in the second region. The first region emits light closer to a center of a field of view of the lidar than the second region.

[0022] Optionally, the transmitter includes a plurality of sets of light emitting regions. Each set of light emitting regions includes one or more lasers. The lasers include one or more light emitting regions.

[0023] Optionally, the plurality of sets of light emitting regions includes a first set of light emitting regions. The first set of light emitting regions includes at least two light emitting regions. The at least two light emitting regions of the first set of light emitting regions are arranged along a third direction. The third direction is different from the first direction and the second direction.

[0024] Optionally, the plurality of sets of light emitting regions further includes a second set of light emitting regions. The second set of light emitting regions includes at least two light emitting regions. The at least two light emitting regions of the second set of light emitting regions are arranged along the first direction. Light emitted by the first set of light emitting regions is closer to a center of a field of view of the lidar than light emitted by the second set of light emitting regions.

[0025] Optionally, the plurality of sets of light emitting regions includes a third set of light emitting regions. The third set of light emitting regions includes at least two light emitting regions. The at least two light emitting regions of the third set of light emitting regions are arranged along a fourth direction. The fourth direction is different from the third direction. Light emitted by the first set of light emitting regions is closer to a center of a field of view of the lidar than light emitted by the third set of light emitting regions.

[0026] Optionally, an angle of the fourth direction relative to the first direction is less than an angle of the third direction relative to the first direction.

[0027] Optionally, an angle of the fourth direction relative to the second direction is greater than an angle of the third direction relative to the second direction.

[0028] Optionally, the one or more light emitting lasers includes a fourth set of light emitting regions. The fourth set of light emitting regions includes at least two light emitting regions. The at least two light emitting regions of the fourth set of light emitting regions are arranged along a fifth direction. The fifth direction is different from the third direction and the fourth direction. Light emitted by the third set of light emitting regions is closer to a center of a field of view of the lidar than light emitted by the fourth set of light emitting regions.

[0029] Optionally, an angle of the fifth direction relative to the first direction is less than an angle of the fourth direction relative to the first direction.

[0030] Optionally, an angle of the fifth direction relative to the second direction is greater than an angle of the fourth direction relative to the second direction.

[0031] According to a third aspect of the present disclosure, there is provided a lidar including at least one of the receiver and the transmitter as described above.

[0032] According to a fourth aspect of the present disclosure, there is provided a terminal device comprising a lidar as described above. BRIEF DESCRIPTION OF DRAWINGS

[0033] The accompanying drawings are included to provide a further understanding of the present disclosure and are incorporated in and constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the present disclosure, but are not intended to limit the present disclosure. In the drawings:

[0034] Figure 1 A structural block diagram of an exemplary lidar is shown, consistent with some embodiments of the present disclosure.

[0035] Figure 2 A structural block diagram of an exemplary vehicle system is shown, consistent with some embodiments of the present disclosure.

[0036] Figure 3 An example of a channel arrangement for a lidar is shown.

[0037] Figure 4 Another example of a channel arrangement for a lidar is shown.

[0038] Figure 5 A distribution diagram of multiple regions in a receiver or transmitter for a lidar for a first exemplary embodiment, consistent with some embodiments of the present disclosure, is shown.

[0039] Figure 6 A distribution diagram of multiple regions in a receiver or transmitter for a lidar for a second exemplary embodiment, consistent with some embodiments of the present disclosure, is shown.

[0040] Figure 7A An exemplary diagram of differentiation of a first azimuthal resolution for a receiver or transmitter for a lidar, consistent with some embodiments of the present disclosure, is shown.

[0041] Figure 7B An exemplary chart of channel pitch values and vertical angular resolution corresponding to different selected values of a rotation angle, consistent with some embodiments of the present disclosure, is shown.

[0042] Figure 8 A distribution diagram of multiple regions in a receiver or transmitter for a lidar for a third exemplary embodiment, consistent with some embodiments of the present disclosure, is shown.

[0043] Figure 9 A distribution diagram of multiple regions in a receiver or transmitter for a lidar for a fourth exemplary embodiment, consistent with some embodiments of the present disclosure, is shown.

[0044] Figure 10A schematic diagram showing the distribution of multiple areas in a receiver or transmitter for a lidar according to a fifth exemplary embodiment consistent with some embodiments of the present disclosure is shown.

[0045] Figure 11 Examples of channel arrangements in a receiver or transmitter for lidar consistent with some embodiments of the present disclosure are shown. DETAILED DESCRIPTION

[0046] The following describes the embodiments of the present disclosure. It should be noted that in the specific description of these embodiments, in order to provide a concise description, this specification cannot provide a detailed description of all the features of the actual embodiments. It should be understood that in the actual implementation of any embodiment, in order to achieve specific goals, changes from one embodiment to another will occur. In addition, it is also understood that although the efforts made in this development process may be complex and lengthy, for ordinary technicians in the field related to the contents of this disclosure, some changes in design, manufacturing or production based on the technical contents disclosed in this disclosure are just conventional technical means and should not be understood as the contents of this disclosure being insufficient.

[0047] Unless otherwise defined, the technical or scientific terms used in the claims and description should have the usual meaning understood by people with ordinary skills in the technical field to which the present disclosure belongs. The words "first", "second" and similar words used in the patent application description and claims of this disclosure do not indicate any order, quantity or importance, but are only used to distinguish different components. Words such as "one" or "a" do not indicate a quantity limitation, but rather indicate the existence of at least one. Words such as "include" or "comprising" mean that the elements or objects appearing before "include" or "comprising" cover the elements or objects listed after "include" or "comprising" and their equivalents, and do not exclude other elements or objects. Words such as "connect", "couple" or "connected" are not limited to physical or mechanical connections, nor are they limited to direct or indirect connections.

[0048] In the present disclosure, unless otherwise specified, all embodiments mentioned herein can be combined with each other to form a new technical solution. In the present disclosure, unless otherwise specified, all technical features and preferred features mentioned herein can be combined with each other to form a new technical solution.

[0049] In the present disclosure, the term “or” and “and / or” describes association between associated objects, and represents a non-exclusive inclusion. For example, “A and / or B” and “A or B” can include: only A, only B, and both A and B, where A and B can be singular or plural. For another example, “A, B, and / or C” and “A, B, or C” can include: only A, only B, only C, both A and B, both A and C, both B and C, and both A, B, and C, where A, B, and C can be singular or plural. In addition, the symbol “ / ” in the present disclosure represents an “or” relationship between the associated objects before and after the symbol. In the present disclosure, the term “at least one A or B” has the same meaning as the above-mentioned “A or B”. The term “at least one A, B, or C” has the same meaning as the above-mentioned “A, B, or C”.

[0050] Laser radar (LiDAR) is a remote sensing technology that uses laser light to measure distance and create three-dimensional (3D) images of objects and landscapes. During object detection, a laser radar emits laser light; the laser light encounters an object and is reflected off the object's surface; the reflected light, called a return, is received by the laser radar and converted into an electrical signal. The laser radar determines information about the object, such as the object's distance, location, or velocity, by processing the electrical signal. The laser radar system 110 can also be configured to create a real-time three-dimensional model of the environment, which can be represented as a point cloud. A point cloud can be a collection of three-dimensional data points that represent the surfaces of objects, structures, and the environment within a particular area. Each data point in a point cloud can be defined by its X, Y, and Z coordinates in space, which represent its location in three-dimensional space. With a point cloud, a vehicle can accurately identify the locations of objects on the road, such as cars, pedestrians, and / or cyclists.

[0051] In some examples, a laser radar can generate a point cloud, which can make the processing of an assisted driving algorithm simple and efficient. A laser radar can provide a high-resolution 3D vision for a vehicle, such as a smart vehicle, in coordination with a camera and a radar to enhance the vehicle's perception capabilities to handle more complex road conditions, such as unknown objects in a dark environment or on a highway. A laser radar can further provide a high-performance automotive-grade laser radar solution to ensure safer and smarter assisted driving, such as L2+ assisted driving. After being configured, a laser radar can be widely applied to passenger cars and commercial vehicles equipped with an advanced driver assistance system (ADAS) and / or autonomous driving (autonomous transportation). A laser radar can also be applied to any suitable terminal device, such as a drone or a robot. For example, a laser radar can support robot applications, such as delivery robots and logistics robots.

[0052] In some examples, a lidar can be configured as a long-range lidar sensor with a long detection range, e.g., from hundreds of meters to thousands of meters. A long-range lidar sensor can detect and classify objects at long distances. A long-range lidar sensor can be mounted on the roof of a vehicle (e.g., front roof and / or rear roof) to provide an unobstructed view of the road ahead and / or behind and to be able to detect objects at a greater distance, which is useful for highway driving and detecting objects far away as early as possible.

[0053] In some examples, a lidar can be configured as a short-range lidar sensor with a short detection range, e.g., within a few meters to tens of meters around the lidar, but with a wide field of view (FOV), e.g., from 60 degrees to 360 degrees horizontally. A wider FOV can detect objects at short distances and provide a more comprehensive view of the surrounding environment / objects. A short-range lidar sensor can be mounted near or on the side of a headlight to improve perception capabilities to assist with lane keeping and / or lane changing operations.

[0054] In some examples, a lidar can be configured as a mid-range lidar sensor. A mid-range lidar sensor strikes a balance between long-range and short-range lidar sensors in terms of detection range (e.g., from a few meters to a few hundred meters) and FOV (e.g., from 30 degrees to 180 degrees horizontally). A mid-range lidar sensor can be mounted on a front bumper, side panel, or rear bumper to detect objects near the vehicle, and thus is suitable for parking and detecting nearby objects during city driving.

[0055] In some examples, a lidar system with multiple lidars is arranged around a vehicle, with the multiple lidars configured to have different detection ranges and FOVs to cover the area around the vehicle. In some embodiments, for example, a lidar system includes one or more short-range lidar sensors and one or more mid-range lidar sensors. The lidar system uses lidar sensors at different locations on the vehicle in combination to provide a comprehensive view of the environment. Data from these lidar sensors can be processed with data from other sensors (e.g., cameras and / or millimeter wave radars) to make real-time decisions for safe and efficient autonomous driving. The combination of lidar sensors with different detection ranges, FOVs, and locations balances long-range visibility and short-range object detection while taking into account aesthetics and cost.

[0056] In some examples, multiple lidar sensors in the lidar system are activated. In some embodiments, multiple lidar sensors are activated or disabled according to different scenarios or requirements. For example, when the vehicle is traveling at a high speed (e.g., above 40 miles per hour), one or more short-range lidar sensors can be disabled, and one or more long-range lidar sensors and medium-range lidar sensors can be activated. For another example, when the vehicle is traveling at a lower speed (e.g., below 40 miles per hour), one or more long-range lidar sensors can be disabled, and one or more short-range lidar sensors and medium-range lidar sensors can be activated. In this way, energy consumption can be effectively saved and the service life of the lidar can be extended.

[0057] Figure 1 An example block diagram of an example lidar is shown, consistent with some embodiments of the present disclosure. Referring to Figure 1 , the lidar 100 includes a laser emission system 110, a laser receiving system 120, a control and processing system 130. Optionally, the lidar 100 also includes a scanning system 140. The scanning system 140 can include a rotating light machine, a rotating mirror, a reciprocating swing mirror or a vibrating mirror (e.g., a MEMS mirror, a Galvo mirror, etc.), and other components that can direct the laser to different directions in the environment, etc.

[0058] The laser emission system 110 is used to emit laser light, which encounters an object 10 and is reflected by the surface of the object 10 to form a return wave, and the return wave returns to the lidar 100; the laser receiving system 120 receives the reflected return wave and converts the received return wave into an electrical signal, which is pre-processed to determine return wave data, such as the reception time of the return wave, and provided to the control and processing system 130; the control and processing system 130 processes the return wave data to determine information of the object 10, such as distance, position or speed information of the object 10; this process is repeated multiple times to create an accurate, real-time three-dimensional environmental map, such as a point cloud. A computer in a terminal device such as a vehicle can use the point cloud for safe navigation.

[0059] The laser emission system 110 includes a driving circuit, a laser, and an emission optical device. The laser emits laser light under the driving of the driving circuit, and the laser light is emitted through the emission optical device. The laser can include a semiconductor laser, such as a vertical-cavity surface-emitting laser (VCSEL), an edge-emitting laser (EEL), or another semiconductor laser capable of generating laser light. In other embodiments, the laser can also include a fiber laser. The wavelength of the laser light emitted by the laser can be any one of 905 nm, 940 nm, or 1550 nm, and the laser can also emit laser light of other wavelengths. The driving circuit can include a driver integrated circuit, such as an analog chip or a digital-analog hybrid chip.

[0060] The laser receiving system 120 includes a receiving optics and a receiver. The receiving optics collects the echoes reflected by the object and focuses the echoes onto the receiver. The receiver converts the echoes into electrical signals using the photoelectric effect. The receiver can include single-photon detectors such as avalanche photodiodes (APDs), single-photon avalanche diodes (SPADs), or silicon photomultipliers (SiPMs). The lidar 100 can also include a pre-processing circuit. The pre-processing circuit can include a digitization circuit, e.g., including an analog-to-digital converter (ADC), to convert analog signals into digital signals for the control and processing system 130. The pre-processing circuit can also include a time-to-digital converter (TDC) to convert the time information (e.g., time stamps) of the echoes into digital signals for the control and processing system 130. The pre-processing circuit can also include an analog front-end circuit to perform channel gating and analog signal amplification. In some embodiments, the pre-processing circuit can be implemented in the form of a system on chip (SOC) or an application specific integrated circuit (ASIC). The transmitting optics and the receiving optics include one or more optical components such as lenses / lens groups, mirrors, filters, beam splitters, diaphragms, homogenizers, etc. The transmitting optics and the receiving optics can be separate optical components or can be fully or partially multiplexed.

[0061] The control and processing system 130 can include information processing circuitry and light source control circuitry. The information processing circuitry is configured to process electrical signals and determine information of the object. For example, the information processing circuitry includes an Application Specific Integrated Circuit (ASIC), or a circuit implemented by a Programmable Logic Device (PLD) such as a Field Programmable Gate Array (FPGA), or a Microcontroller Unit (MCU), or a Digital Signal Processor (DSP), or the like. For another example, the information processing circuitry includes a Central Processing Unit (CPU). The light source control circuitry is configured to send control signals to the excitation source to control the excitation source to drive the laser to emit light, so as to achieve pulsed emission of the laser. For example, the light source control circuitry can send timing signals to control the timing of the emission of the laser. For another example, the light source control circuitry can increase the pulse coding function and enhance the anti-interference capability of the lidar by controlling one or more of the pulse interval, the pulse intensity, and the pulse width. The light source control circuitry and the information processing circuitry can be integrated together, for example, integrated into a master control chip, or can be independent or partially independent chips. When the lidar 100 includes the scanning system 140, the control and processing system 130 can further include scanning control circuitry configured to control the scanning system. The scanning control circuitry can be integrated with one or all of the light source control circuitry and the information processing circuitry, for example, the scanning control circuitry, the light source control circuitry, and the information processing circuitry are integrated into a master control chip, or can be independent or partially independent chips. In some embodiments, the control and processing system 130 can be implemented in the form of a System On Chip (SOC) or an Application Specific Integrated Circuit (ASIC).

[0062] In applications, the lidar can be installed on a terminal device, and the sensing data obtained by the lidar is sent to the terminal device, and the terminal device uses the sensing data to achieve one or more functions such as analysis, decision, or control. The terminal device includes, for example, a vehicle, a ship, an aircraft (such as a flying vehicle or a drone), a robot (such as an industrial robot or a household robot), or the like.

[0063] Figure 2 A structural block diagram of an exemplary vehicle system consistent with some embodiments of the present disclosure is shown. Referring to FIG. 1, the vehicle system 100 includes a lidar 110, a control and processing system 130, and a terminal device 150. The lidar 110 is configured to emit laser beams and receive reflected laser beams, and determine information of an object based on the reflected laser beams. The control and processing system 130 is configured to control the lidar 110 and process the information of the object. The terminal device 150 is configured to receive the information of the object from the control and processing system 130, and use the information of the object to achieve one or more functions such as analysis, decision, or control. Figure 2The vehicle system 200 includes a sensor system 202, a perception system 204, a planning system 206, and a control system 208. The vehicle system 200 can have autonomous capabilities, e.g., have at least one function, feature, device, and / or the like that enables the vehicle to operate partially or fully without human intervention, including but not limited to a fully autonomous vehicle (e.g., a vehicle that relinquishes dependence on human intervention), a highly autonomous vehicle (e.g., a vehicle that relinquishes dependence on human intervention in certain situations), and / or the like. The sensor system 202 includes one or more devices, e.g., a lidar 202a, a radar 202b, a camera 202c, a sonar 202d, a global positioning system (GPS) 202e, and an inertial measurement unit (IMU) 202f. The lidar 202a can include a long-range lidar sensor, a mid-range lidar sensor, or a short-range lidar sensor. In some embodiments, the sensor system 202 uses one or more devices included in the sensor system 202 to generate data related to the environment. The data generated by the sensor system 202 can be used by one or more systems to observe the environment in which the vehicle is located.

[0064] In some examples, the perception system 204 receives data related to at least one object in the environment and classifies the at least one object. In some examples, the perception system 204 receives image data (e.g., a point cloud) associated with at least one object captured by a lidar. In such examples, the perception system 204 classifies the object according to a grouping of objects (e.g., a bicycle, a vehicle, a traffic sign, a pedestrian, and / or the like). In some embodiments, the perception system 204 transmits data related to the classification of the object to the planning system 206.

[0065] In some examples, the planning system 206 receives data related to a destination and generates data related to at least one route or trajectory along which the vehicle can travel to the destination. In some embodiments, the planning system 206 receives data from the perception system 204 periodically or continuously and updates the route or trajectory according to the data generated by the perception system 204.

[0066] In some examples, the control system 208 receives data related to at least one trajectory from the planning system 206, the control system 208 controls the operation of the vehicle. In some embodiments, the control system 208 includes a steering control system 208a and a powertrain control system 208b. The control system 208 can control the operation of the steering control system 208a and the powertrain control system 208b according to the received trajectory. In some embodiments, the powertrain control system 208b receives control signals from the control system 208 to start, stop, accelerate, decelerate, turn left, turn right, or the like of the vehicle. The steering control system 208a is configured to receive control signals from the control system 208 to rotate one or more wheels of the vehicle. In some examples, when the trajectory includes a left turn, the control system 208 transmits a control signal to adjust the direction of the steering control system 208a.

[0067] Figure 3 An example of channel arrangement of a laser radar is shown, in which a plurality of channels 30 are arranged along the y direction. The laser radar can have transmitting channels and receiving channels. The transmitting channel can correspond to one or more light emitting regions in the transmitter. The receiving channel can correspond to one or more detection regions in the receiver. Hereinafter, the term "channel" can refer to a transmitting channel, or can also refer to a receiving channel. At a predetermined focal length and channel spacing, the interval between the y direction field of view corresponding to adjacent channels 30 (for example, the included angle of the field of view center of the light emitting region / detection region of adjacent channels in space after the optical system) is 0.4°, so that the y direction angular resolution of the laser radar can be 0.4°. Under such channel arrangement, when the focal length of the optical system of the laser radar changes or the laser radar needs a larger or smaller y direction angular resolution, the size of each channel 30 and the spacing between adjacent channels 30 need to be redesigned according to the new focal length or the required resolution, which consumes a lot of manpower and material resources and time cost.

[0068] A solution of staggered arrangement of multiple columns of optoelectronic devices is proposed, which can improve the angular resolution of the laser radar. Referring to Figure 4 , an example of staggered arrangement of multiple columns of optoelectronic devices is shown by arranging Figure 3The base of the channel arrangement shown is increased by one or more columns of channels 40 to achieve a smaller vertical angular resolution. For example, when the added channels 40 overlap 50% with the channels 30 in the y direction, the y direction angular resolution of the lidar can be achieved to be 0.2°. However, this solution has limited adjustment for angular resolution, and can only achieve equal proportion allocation of one-half, one-third, etc. In addition, if the number of columns of added channels 40 is large, the overall width of the channel array in the x direction will be large, which on the one hand will occupy more PCB area, and on the other hand, the optical performance of the channels far from the optical axis will be somewhat degraded. As the size of the lidar becomes smaller and smaller, the focal length becomes shorter and shorter, and the channel spacing becomes smaller and smaller, but limited by the PCB process, the spacing between two columns of channels is difficult to continue to be reduced. For this, the present disclosure proposes a new channel arrangement that can achieve flexible adjustment of the angular resolution. In the present disclosure, one or more light emitting regions of the transmitter represent one channel of the transmitter, and one or more detection regions of the receiver represent one channel of the receiver.

[0069] According to some embodiments of the present disclosure, a receiver for a lidar is provided. The receiver includes a plurality of detection regions. The plurality of detection regions includes a first detection region, a second detection region, and other detection regions. The first detection region and the second detection region are located at different positions in a first direction. The first detection region and the second detection region are located at different positions in a second direction. The first direction is perpendicular to the second direction. A distance between the first detection region and the second detection region is less than or equal to a distance between the first detection region and the other detection regions.

[0070] According to some embodiments of the present disclosure, a transmitter for a lidar is provided. The transmitter includes a plurality of light emitting regions. The plurality of light emitting regions includes a first light emitting region, a second light emitting region, and other light emitting regions. The first light emitting region and the second light emitting region are located at different positions in a first direction. The first light emitting region and the second light emitting region are located at different positions in a second direction. The first direction is perpendicular to the second direction. A distance between the first light emitting region and the second light emitting region is less than or equal to a distance between the first light emitting region and the other light emitting regions.

[0071] Referring to Figure 5 wherein a distribution diagram of a plurality of regions in a receiver 300 or a transmitter 400 for a lidar according to some embodiments of the present disclosure is shown. For brevity, in describing the receiver 300, Figure 5 the regions shown in FIG. 1 are used to represent light detection regions, and in describing the transmitter 400, Figure 5 the regions shown in FIG. 1 are used to represent light emitting regions.

[0072] The receiver 300 can include a plurality of detection regions. The plurality of detection regions can include the detection region 301, the detection region 302, and other detection regions. Figure 5 It is shown in FIG. 3 that the receiver 300 includes 8 detection regions only for illustrative purposes, and the present disclosure is not intended to limit the specific number of detection regions included in the receiver 300.

[0073] The detection region 301 and the detection region 302 can be located at different positions in a first direction (e.g., the y direction). For example, the center of the detection region 301 can have a coordinate y1 in the y direction, and the center of the detection region 302 can have a coordinate y2 in the y direction, y1≠ y2. The detection region 301 and the detection region 302 can be located at different positions in a second direction (e.g., the x direction). For example, the center of the detection region 301 can have a coordinate x1 in the x direction, and the center of the detection region 302 can have a coordinate x2 in the x direction, x1≠ x2. The first direction can be perpendicular to the second direction. For example, the x direction can be a horizontal direction, and the y direction can be a vertical direction. The distance between the detection region 301 and the detection region 302 can be less than or equal to the distance between the detection region 301 and other detection regions. In other words, the detection region 302 is the closest detection region to the detection region 301. In some embodiments, the distance between the detection region 301 and the detection region 302 can be less than or equal to the distance between the detection region 302 and other detection regions, so that the detection region 301 is also the closest detection region to the detection region 302. The distance between the detection region A and the detection region B can be represented by the distance between the center of the detection region A and the center of the detection region B, for example.

[0074] In some embodiments, the adjacent detection region 301 and the detection region 302 in the receiver 300 are located at different positions in the first direction and the second direction, so that the detection angle corresponding to the detection region 301 and the detection region 302 of the receiver 300 can be flexibly configured by setting the positions of the detection region 301 and the detection region 302 in the first direction and the second direction. Some embodiments can achieve flexible adjustment of the angular resolution (the interval between the detection angles corresponding to the detection region 301 and the detection region 302).

[0075] In some embodiments of the present disclosure, the receiver can include a plurality of detection region sets. For example, Figure 5The illustrated receiver 300 can include a set of detection regions 31 and a set of detection regions 32. Each set of detection regions can include one or more detectors. A detector can include a photodiode, a photodiode array, an APD, an APD array, a SPAD, a SPAD array, a SiPM, or a SiPM array. A detector can include one or more detection regions. Taking the set of detection regions 31 as an example, the set of detection regions 31 can include one detector that provides detection regions 301 and 302 that can be independently read out data; or, the set of detection regions 31 can include at least two detectors, one detector providing detection region 301 and the other detector providing detection region 302.

[0076] In some embodiments, a set of detection regions can include at least two detection regions, at least the two detection regions being arranged along a third direction, the third direction being different from the first direction and the second direction. For example, the set of detection regions 31 can include detection regions 301 and 302, which can be arranged along the o direction.

[0077] In some embodiments, a set of detection regions can include a set of multiple discrete detectors. In other embodiments, a set of detection regions can include one or more detectors integrated on a chip, e.g., implemented as a detector chip.

[0078] The transmitter 400 can include a plurality of light emitting regions. The plurality of light emitting regions can include light emitting region 401, light emitting region 402, and other light emitting regions. Figure 5 The illustration of the transmitter 400 including 8 light emitting regions is for illustrative purposes only, and the disclosure is not intended to limit the specific number of light emitting regions included in the transmitter 400.

[0079] The light emitting region 401 and the light emitting region 402 can be located at different positions in a first direction (for example, the y direction). For example, the center of the light emitting region 401 can have a coordinate y1 in the y direction, and the center of the light emitting region 402 can have a coordinate y2 in the y direction, y1≠y2. The light emitting region 401 and the light emitting region 402 can be located at different positions in a second direction (for example, the x direction). For example, the center of the light emitting region 401 can have a coordinate x1 in the x direction, and the center of the light emitting region 402 can have a coordinate x2 in the x direction, x1≠x2. The first direction can be perpendicular to the second direction. For example, the x direction can be a horizontal direction, and the y direction can be a vertical direction. The distance between the light emitting region 401 and the light emitting region 402 can be less than or equal to the distance between the light emitting region 401 and other light emitting regions. In other words, the light emitting region 402 is the closest light emitting region to the light emitting region 401. In some embodiments, the distance between the light emitting region 401 and the light emitting region 402 can be less than or equal to the distance between the light emitting region 402 and other light emitting regions, so that the light emitting region 401 is also the closest light emitting region to the light emitting region 402. The distance between the light emitting region A and the light emitting region B can be represented by the distance between the center of the light emitting region A and the center of the light emitting region B.

[0080] In some embodiments, adjacent light emitting regions 401 and 402 in the emitter 400 can be located at different positions in the first direction and the second direction, so that the light emitting angles corresponding to the light emitting regions 401 and 402 of the emitter 400 can be flexibly configured by setting the positions of the light emitting regions 401 and 402 in the first direction and the second direction. Some embodiments can achieve flexible adjustment of the angular resolution (the interval between the light emitting angles corresponding to the light emitting regions 401 and 402).

[0081] In some embodiments of the present disclosure, the emitter can include a plurality of light emitting region sets. For example, Figure 5 The emitter 400 shown can include a light emitting region set 41 and a light emitting region set 42. Each light emitting region set can include one or more lasers. The lasers can include VCSELs, EELs, or fiber lasers. The lasers can include one or more light emitting regions. Taking the light emitting region set 41 as an example, the light emitting region set 41 can include one laser that provides the light emitting regions 401 and 402 that can emit light independently; or the light emitting region set 41 can include at least two lasers, one laser providing the light emitting region 401 and the other laser providing the light emitting region 402.

[0082] In some embodiments, the set of light emitting regions can include at least two light emitting regions, and the at least two light emitting regions are arranged along a third direction. The third direction is different from the first direction and the second direction. For example, the set of light emitting regions 41 can include the light emitting region 401 and the light emitting region 402, and the light emitting region 401 and the light emitting region 402 can be arranged along the o direction.

[0083] In some embodiments, the set of light emitting regions can include a set of a plurality of discrete lasers. In other embodiments, the set of light emitting regions can include one or more lasers integrated on a chip, e.g., implemented as a laser chip.

[0084] Referring to Figure 6 , a distribution diagram of a plurality of regions in a receiver 500 or a transmitter 600 for a lidar is shown, which is consistent with some embodiments of the present disclosure. For brevity, in the description of the receiver 500, Figure 6 , the regions shown in Figure 6 are used to represent light emitting regions. Several details of the second exemplary embodiment are similar to the first exemplary embodiment, and are not described again here. The following mainly describes the particularities of the second exemplary embodiment.

[0085] The receiver 500 can include the detection regions 301, 302, and other detection regions in the receiver 300 described above. Figure 5 The receiver 500 can also include the detection regions 501 and 502.

[0086] As shown in Figure 6 , the detection regions 501 and 502 can be located at different positions in the first direction (e.g., the y direction) and at the same position in the second direction (e.g., the x direction). For example, the center of the detection region 501 can have a coordinate y3 in the y direction, the center of the detection region 602 can have a coordinate y4 in the y direction, y3≠y4, and the centers of the detection regions 501 and 502 can have the same coordinate x3 in the x direction.

[0087] In some embodiments, the receiver 500 can include a first region and a second region. The detection regions 301 and 302 can be located in the first region. The detection regions 501 and 502 can be located in the second region. The light received by the first region is closer to the center of the field of view of the lidar than the light received by the second region.

[0088] In some embodiments, the plurality of sets of detection regions of the receiver can further include a set of detection regions in which at least two detection regions are arranged along a first direction. For example, the set of detection regions 51 can include at least the detection region 501 and the detection region 502, which can be arranged along the y direction.

[0089] When the set of detection regions 31 and the set of detection regions 51 have the same configuration (e.g., formed by the same detector or detector array), the set of detection regions 31 and the set of detection regions 51 can achieve different angular resolutions.

[0090] In other embodiments, the set of detection regions 31 and the set of detection regions 51 can also have different configurations. For example, the set of detection regions 31 and the set of detection regions 51 can have different detector types. Alternatively, the set of detection regions 31 and the set of detection regions 51 can have different numbers of detectors. Alternatively, the spacing between adjacent detectors in the set of detection regions 31 is different from the spacing between adjacent detectors in the set of detection regions 51.

[0091] Figure 7A An exemplary diagram showing the implementation of the differentiation of the first direction angular resolution of the receiver or transmitter for lidar consistent with some embodiments of the present disclosure is shown. Taking the distance between the centers of the detection regions of the set of detection regions 31 and the set of detection regions 51 as L, the detection regions in the set of detection regions 51 are arranged along the y direction, and the channel spacing D1 thereof is equal to the distance L between the centers of the detection regions; the detection regions in the set of detection regions 31 are arranged along the o direction, and the channel spacing D2 thereof depends on the rotation angle a of the o direction relative to the x direction, D2 = L x sin a. Assuming that the channel spacing D1 of the set of detection regions 51 cooperates with the focal length of the receiving lens to achieve a y direction angular resolution of 0.4°, the y direction angular resolution of the set of detection regions 31 can be set by selecting the rotation angle a of the arrangement direction o of the detection regions in the set of detection regions 31 relative to the x direction. Figure 7B An exemplary chart showing the values of the channel spacing and the first direction (e.g., vertical direction) angular resolution corresponding to different selected values of the rotation angle consistent with some embodiments of the present disclosure is shown. In this example, taking L as 300 pm, it can be seen from the chart that as the rotation angle a changes from small to large, the y direction angular resolution that the set of detection regions 31 can achieve also gradually increases.

[0092] Some embodiments can use the same type of set of detection regions (the same type of detector or detector array having the same size and detector distribution) to achieve the differentiation of the first direction (y direction) angular resolution of the receiver.

[0093] In some embodiments, because the y-direction angular resolution of detection region set 31 is higher than that of detection region set 51, detection region set 31 can be configured so that the light it receives is closer to the region of interest (ROI) of the lidar field of view than the light received by detection region set 51, which helps to improve the resolution of the region of interest of the lidar field of view. For example, the region of interest of the lidar field of view can include the center of the lidar field of view.

[0094] The transmitter 600 may include the Figure 5 The emitter 400 includes the light emitting area 401, the light emitting area 402 and other light emitting areas. The emitter 600 may also include the light emitting area 601 and the light emitting area 602.

[0095] like Figure 6 As shown, the light-emitting region 601 and the light-emitting region 602 may be located at different positions in a first direction (e.g., the y direction) and may be located at the same position in a second direction (e.g., the x direction). For example, the center of the light-emitting region 601 may have a coordinate y3 in the y direction, and the center of the light-emitting region 602 may have a coordinate y4 in the y direction, y3≠y4, and the centers of the light-emitting region 601 and the light-emitting region 602 may have the same coordinate x3 in the x direction.

[0096] In some embodiments, emitter 600 may include a first region and a second region. Light-emitting region 601 and light-emitting region 602 may be located in the first region. Light-emitting region 601 and light-emitting region 602 may be located in the second region. The light emitted by the first region is closer to the center of the laser radar's field of view than the light emitted by the second region.

[0097] In some embodiments, the plurality of light-emitting region sets of the emitter may further include a light-emitting region set in which at least two light-emitting regions are arranged along a first direction. For example, light-emitting region set 61 may include at least light-emitting region 601 and light-emitting region 602, and light-emitting region 601 and light-emitting region 602 may be arranged along the y-direction.

[0098] When the light emitting region set 41 and the light emitting region set 61 have the same configuration (eg, are formed of the same laser or laser array), the light emitting region set 41 and the light emitting region set 61 may achieve different angular resolutions.

[0099] In other embodiments, the sets of light emitting regions 41 and 61 can also have different configurations. For example, the sets of light emitting regions 41 and 61 can have different laser types. Or, the sets of light emitting regions 41 and 61 can have different numbers of lasers. Or, the spacing between adjacent lasers in the set of light emitting regions 41 is different from the spacing between adjacent lasers in the set of light emitting regions 61.

[0100] Referring to Figure 7A For example, taking the distance between the centers of the light emitting regions of the sets of light emitting regions 41 and 61 as L, the light emitting regions in the set of light emitting regions 61 are arranged along the y direction with a channel spacing D1 equal to the distance L between the centers of the light emitting regions; the light emitting regions in the set of light emitting regions 41 are arranged along the o direction with a channel spacing D2 depending on the rotation angle a of the o direction relative to the x direction, D2 = L x sin a. Assuming that the channel spacing D1 of the set of light emitting regions 61, in cooperation with the focal length of the emission lens, can achieve a y direction angular resolution of 0.4°, the y direction angular resolution of the set of light emitting regions 41 can be set by selecting the rotation angle a of the arrangement direction o of the light emitting regions in the set of light emitting regions 41 relative to the x direction. Referring to Figure 7B where a chart showing the channel spacing values and the y direction angular resolutions corresponding to different selected values of the rotation angle a according to this example is shown. In this example, taking L as 300 pm, it can be seen from the chart that as the rotation angle a changes from small to large, the y direction angular resolution that the set of light emitting regions 41 can achieve also gradually increases.

[0101] Some embodiments can use the same type of set of light emitting regions (the same type of laser or laser array with the same size and laser distribution) to achieve the differentiation of the angular resolution of the emitter in the first direction (y direction).

[0102] In some embodiments, since the y direction angular resolution of the set of light emitting regions 31 is higher than that of the set of light emitting regions 51, the set of light emitting regions 31 can be set such that the light rays it emits are closer to the region of interest of the laser radar field of view than the light rays emitted by the set of light emitting regions 51. For example, the region of interest of the laser radar field of view can include the center of the field of view of the laser radar.

[0103] Referring to Figure 8 where a distribution diagram of multiple regions in a receiver 700 or an emitter 800 for a laser radar of a third exemplary embodiment consistent with some embodiments of the present disclosure is shown. For brevity, in describing the receiver 700, Figure 8 the regions shown in FIG. 8A are used to represent the light receiving regions, and in describing the emitter 800, Figure 8The regions shown in the middle are used to represent light emitting regions. Some details of the third exemplary embodiment are the same as those of the first or second exemplary embodiments, which are not described here again. The following mainly describes the particularities of the third exemplary embodiment.

[0104] The receiver 700 can include the detection regions 301, 302, and other detection regions in the receiver 300 described above with respect to Figure 5 The receiver 700 can also include the detection regions 501 and 502 in the receiver 500 described above with respect to Figure 6 The receiver 700 can also include the detection regions 501 and 502 in the receiver 500 described above with respect to

[0105] The receiver 700 can also include the detection regions 501 and 502 in the receiver 500 described above with respect to

[0106] The transmitter 800 can include the light emitting regions 401, 402, and other light emitting regions in the transmitter 400 described above with respect to Figure 5 The transmitter 800 can also include the light emitting regions 601 and 602 in the transmitter 600 described above with respect to Figure 6 The transmitter 800 can also include the light emitting regions 601 and 602 in the transmitter 600 described above with respect to

[0107] The transmitter 800 can also include the light emitting regions 601 and 602 in the transmitter 600 described above with respect to Figure 8As shown, the light emitting region 801 and the light emitting region 802 can be located at different positions in the first direction (e.g., the y direction) and at the same position in the second direction (e.g., the x direction). For example, the center of the light emitting region 801 can have a coordinate y5 in the y direction, and the center of the light emitting region 802 can have a coordinate y6 in the y direction, y5≠y6. The positions of the light emitting region 801 and the light emitting region 802 in the second direction (e.g., the y direction) can be different from the positions of the light emitting region 601 and the light emitting region 602 in the second direction. For example, the centers of the light emitting region 601 and the light emitting region 602 can have the same coordinate x3 in the x direction, and the centers of the light emitting region 801 and the light emitting region 802 can have the same coordinate x4 in the x direction, x3≠x4.

[0108] Referring to Figure 9 wherein a distribution diagram of a plurality of regions in a receiver 900 or a transmitter 1000 for a lidar is shown, in accordance with some embodiments of the present disclosure. For brevity, in describing the receiver 900, Figure 9 the regions shown in FIG. 10A are used to represent light sensing regions, while in describing the transmitter 1000, Figure 9 the regions shown in FIG. 10B are used to represent light emitting regions. Some details of the third exemplary embodiment are the same as those of the first, second, or third exemplary embodiments, and are not repeated here. The following mainly describes the particularities of the fourth exemplary embodiment.

[0109] The receiver 900 can include the detection regions 301, 302, and other detection regions in the receiver 300 described above with respect to Figure 5 The set of detection regions 31 can include at least the detection region 301 and the detection region 302, which can be arranged along a third direction (e.g., the o direction).

[0110] The receiver 900 can further include a set of detection regions 91. The set of detection regions 91 can include at least the detection region 901 and the detection region 902, which can be arranged along a fourth direction (e.g., the p direction).

[0111] In some embodiments, the third direction can be different from the fourth direction. For example, the angle βp of the fourth direction (e.g., the p direction) relative to the first direction (e.g., the y direction) is smaller than the angle βo of the third direction (e.g., the o direction) relative to the first direction (e.g., the y direction). For example, the angle αp of the fourth direction (e.g., the p direction) relative to the second direction (e.g., the x direction) is larger than the angle αo of the third direction (e.g., the o direction) relative to the second direction (e.g., the x direction).

[0112] In some embodiments, since the first direction (e.g., y direction) angular resolution of the set of detection regions 31 is higher than the first direction (e.g., y direction) angular resolution of the set of detection regions 91, the set of detection regions 31 can be arranged such that it receives light closer to the region of interest of the lidar field of view than the set of detection regions 91, which helps to improve the resolution of the region of interest of the lidar field of view. For example, the region of interest of the lidar field of view can include the center of the lidar field of view.

[0113] The transmitter 1000 can include the light emitting regions 401, 402, and other light emitting regions described above with respect to the transmitter 400. The set of light emitting regions 41 can include at least the light emitting regions 401 and 402, which can be arranged along a third direction (e.g., o direction). Figure 5

[0114] The transmitter 1000 can further include a set of light emitting regions 101. The set of light emitting regions 101 can include at least the light emitting regions 1001 and 1002, which can be arranged along a fourth direction (e.g., p direction).

[0115] In some embodiments, the third direction can be different from the fourth direction. For example, the angle βp of the fourth direction (e.g., p direction) with respect to the first direction (e.g., y direction) is smaller than the angle βo of the third direction (e.g., o direction) with respect to the first direction (e.g., y direction). For example, the angle αp of the fourth direction (e.g., p direction) with respect to the second direction (e.g., x direction) is larger than the angle αo of the third direction (e.g., o direction) with respect to the second direction (e.g., x direction).

[0116] In some embodiments, since the first direction (e.g., y direction) angular resolution of the set of light emitting regions 41 is higher than the first direction (e.g., y direction) angular resolution of the set of light emitting regions 101, the set of light emitting regions 41 can be arranged such that it emits light closer to the region of interest of the lidar field of view than the set of light emitting regions 101, which helps to improve the resolution of the region of interest of the lidar field of view. For example, the region of interest of the lidar field of view can include the center of the lidar field of view.

[0117] Referring to Figure 10 where a distribution diagram of a plurality of regions in a receiver 1100 or a transmitter 1200 for a lidar is shown, in accordance with some embodiments of the present disclosure. For brevity, in describing the receiver 1100, Figure 10 the regions shown in FIG. 11A are used to represent light sensing regions, while in describing the transmitter 1200, Figure 10 ​The regions shown in the middle are used to represent light emitting regions. Some details of the third example embodiment are similar to the first, second, third, or fourth example embodiments, and are not described again here. The following mainly describes the particularities of the fifth example embodiment.

[0118] The receiver 1100 can include the detection regions 301, 302, and other detection regions described above with respect to Figure 5 The set of detection regions 31 can include at least the detection region 301 and the detection region 302, which can be arranged along a third direction (e.g., the o direction).

[0119] The receiver 1100 can also include a set of detection regions 91. The set of detection regions 91 can include at least the detection region 901 and the detection region 902, which can be arranged along a fourth direction (e.g., the p direction).

[0120] The receiver 1100 can also include a set of detection regions 111. The set of detection regions 111 can include at least the detection region 1101 and the detection region 1102, which can be arranged along a fifth direction (e.g., the q direction).

[0121] In some embodiments, the fifth direction can be different from the third direction and the fourth direction. For example, the fifth direction (e.g., the q direction) has a smaller angle βq with respect to the first direction (e.g., the y direction) than the fourth direction (e.g., the p direction) has with respect to the first direction (e.g., the y direction). For example, the fifth direction (e.g., the q direction) has a larger angle αq with respect to the second direction (e.g., the x direction) than the fourth direction (e.g., the p direction) has with respect to the second direction (e.g., the x direction).

[0122] In some embodiments, because the first direction (e.g., the y direction) angular resolution of the set of detection regions 91 is higher than the first direction (e.g., the y direction) angular resolution of the set of detection regions 111, the set of detection regions 91 can be arranged such that it receives light closer to a region of interest of the lidar field of view than the set of detection regions 111, which helps to improve the resolution of the region of interest of the lidar field of view. For example, the region of interest of the lidar field of view can include the center of the lidar field of view.

[0123] Referring to Figure 11 which shows an example of channel arrangement in a receiver or transmitter for a lidar consistent with some embodiments of the present disclosure. The receiver or transmitter can include a set of channels 50. The set of channels 50 can include a plurality of channels 50 arranged along an o direction. Figure 11The eight sets of channels 50 shown in FIG. 5 and each set includes four channels 50 are for illustrative purposes only, and the present disclosure is not intended to limit the number of channel sets included in a receiver or transmitter and the number of channels in each set. Figure 3 When the channels 30 shown are the same and the focal length of the optical system is consistent, the y-direction angular resolution of the laser radar can be flexibly adjusted by setting the angle of the o direction relative to the x-direction or the y-direction. For example, the angle of the o direction relative to the x-direction or the y-direction can be set so that the set of channels 50 can achieve a y-direction angular resolution of the laser radar of 0.2°, which is better than Figure 3 The y-direction angular resolution achieved by the set of channels 30 shown is doubled. In addition, due to the limitations of PCB technology, the spacing between adjacent channel sets must be greater than the minimum limit, and Figure 11 The channel arrangement shown is compared to Figure 4 The channel arrangement shown may allow multiple sets of channels 50 to have smaller spans in the x-direction, thereby helping to reduce the x-direction size of a receiver or transmitter.

[0124] So far, the receiver and transmitter for laser radar, laser radar and terminal device according to the present disclosure are described. The receiver for laser radar of the present disclosure adopts adjacent detection areas located at different positions in the first direction and the second direction, so the detection angles corresponding to the adjacent detection areas of the receiver can be flexibly configured by setting the positions of the adjacent detection areas in the first direction and the second direction, thereby achieving flexible adjustment of the angular resolution (the interval between the detection angles corresponding to the adjacent detection areas). The transmitter for laser radar of the present disclosure adopts adjacent luminous areas located at different positions in the first direction and the second direction, so the detection angles corresponding to the adjacent luminous areas of the receiver can be flexibly configured by setting the positions of the adjacent luminous areas in the first direction and the second direction, thereby achieving flexible adjustment of the angular resolution (the interval between the laser emission angles corresponding to the adjacent luminous areas).

[0125] Optionally, the lidar receiver of the present disclosure can employ the same type of detection area set (the same type of detector or a detector array with the same size and detector distribution) to achieve differentiated designs of the receiver's angular resolution in the first direction. For example, the detection area set can include multiple detection areas extending along a direction. Multiple such detection area sets can be arranged at different locations on the receiver, and the detection area extension directions of the detection area sets at different locations have different angles relative to the first direction, so that the detection area sets at different locations on the receiver have different detection angular resolutions.

[0126] Optionally, the transmitter for lidar of the present disclosure can employ the same type of light emitting region set (the same laser or laser array with the same size and laser distribution) to realize the differentiated design of the transmitter in the first direction angle resolution. For example, the light emitting region set can include a plurality of light emitting regions extending along a direction, a plurality of such light emitting region sets can be arranged at different positions of the transmitter, and the extension directions of the light emitting regions in the light emitting region sets at different positions have different included angles with respect to the first direction, so that the light emitting region sets at different positions of the transmitter have different emission angle resolutions.

[0127] In the lidar of the present disclosure, the arrangement of the light emitting regions in the transmitter and the arrangement of the detection regions in the receiver can have a corresponding relationship satisfying the following requirement: the field of view of each light emitting region corresponds to the field of view of at least one detection region, so that at least part of the first light beams emitted by each light emitting region can form a return wave after being reflected by an object in space and returning to the corresponding detection region.

[0128] It should be noted that the above description is illustrative rather than restrictive. Any modification, equivalent replacement, improvement, etc. made to the embodiments of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A receiver for laser radar, characterized in that: The receiver comprises: multiple detection areas, the multiple detection areas including a first detection area, a second detection area and other detection areas, The first detection area and the second detection area are located at different positions in the first direction, the first detection area and the second detection area are located at different positions in the second direction, the first direction is perpendicular to the second direction, and the distance between the first detection area and the second detection area is less than or equal to the distance between the first detection area and the other detection areas.

2. The receiver according to claim 1, wherein The receiver further comprises: The third detection area and the fourth detection area, The third detection area and the fourth detection area are located at different positions in the first direction, and the third detection area and the fourth detection area are located at the same position in the second direction.

3. The receiver according to claim 2, wherein The receiver further comprises: The fifth detection area and the sixth detection area, The fifth detection area and the sixth detection area are located at different positions in the first direction, the fifth detection area and the sixth detection area are located at the same position in the second direction, and the positions of the fifth detection area and the sixth detection area in the second direction are different from the positions of the third detection area and the fourth detection area in the second direction.

4. The receiver according to claim 2, wherein The receiver includes a first area and a second area, wherein the first detection area and the second detection area are located in the first area and the third detection area and the fourth detection area are located in the second area, wherein the light received by the first area is closer to the center of the field of view of the lidar than the light received by the second area.

5. The receiver according to claim 1, wherein The receiver includes a plurality of detection area sets, each detection area set includes one or more detectors, and the detectors include one or more detection areas.

6. The receiver according to claim 5, wherein The multiple detection area sets include a first detection area set, the first detection area set includes at least two detection areas, and the at least two detection areas of the first detection area set are arranged along a third direction, which is different from the first direction and the second direction.

7. The receiver according to claim 6, wherein The plurality of detection area sets further includes a second detection area set, the second detection area set includes at least two detection areas, and the at least two detection areas of the second detection area set are arranged along the first direction, The light received by the first detection area set is closer to the center of the field of view of the laser radar than the light received by the second detection area set.

8. The receiver according to claim 6, wherein The plurality of detection area sets include a third detection area set, the third detection area set includes at least two detection areas, the at least two detection areas of the third detection area set are arranged along a fourth direction, and the fourth direction is different from the third direction, The light received by the first detection area set is closer to the center of the field of view of the laser radar than the light received by the third detection area set.

9. The receiver according to claim 8, wherein An angle formed by the fourth direction relative to the first direction is smaller than an angle formed by the third direction relative to the first direction.

10. The receiver according to claim 8, wherein An angle formed by the fourth direction relative to the second direction is greater than an angle formed by the third direction relative to the second direction.

11. The receiver according to claim 8, wherein The one or more detectors include a fourth detection area set, the fourth detection area set includes at least two detection areas, the at least two detection areas of the fourth detection area set are arranged along a fifth direction, and the fifth direction is different from the third direction and the fourth direction, The light received by the third detection area set is closer to the center of the field of view of the laser radar than the light received by the fourth detection area set.

12. The receiver according to claim 11, wherein An angle formed by the fifth direction relative to the first direction is smaller than an angle formed by the fourth direction relative to the first direction.

13. The receiver according to claim 11, wherein An angle formed by the fifth direction relative to the second direction is greater than an angle formed by the fourth direction relative to the second direction.

14. A transmitter for laser radar, characterized in that: The transmitter comprises: a plurality of light-emitting regions, wherein the plurality of light-emitting regions include a first light-emitting region, a second light-emitting region and other light-emitting regions; The first light-emitting area and the second light-emitting area are located at different positions in the first direction, the first light-emitting area and the second light-emitting area are located at different positions in the second direction, the first direction is perpendicular to the second direction, and the distance between the first light-emitting area and the second light-emitting area is less than or equal to the distance between the first light-emitting area and the other light-emitting areas.

15. The transmitter according to claim 14, wherein The transmitter further comprises: the third light emitting region and the fourth light emitting region, The third light emitting area and the fourth light emitting area are located at different positions in the first direction, and the third light emitting area and the fourth light emitting area are located at the same position in the second direction.

16. The transmitter according to claim 15, characterized in that The transmitter further comprises: the fifth light emitting region and the sixth light emitting region, The fifth light-emitting area and the sixth light-emitting area are located at different positions in the first direction, the fifth light-emitting area and the sixth light-emitting area are located at the same position in the second direction, and the positions of the fifth light-emitting area and the sixth light-emitting area in the second direction are different from the positions of the third light-emitting area and the fourth light-emitting area in the second direction.

17. The transmitter according to claim 15, characterized in that The transmitter includes a first area and a second area, wherein the first light-emitting area and the second light-emitting area are located in the first area and the third light-emitting area and the fourth light-emitting area are located in the second area, wherein the light emitted by the first area is closer to the center of the field of view of the lidar than the light emitted by the second area.

18. The transmitter according to claim 14, wherein The emitter includes a plurality of light emitting area sets, each light emitting area set includes one or more lasers, and the lasers include one or more light emitting areas.

19. The transmitter according to claim 18, wherein The multiple light-emitting area sets include a first light-emitting area set, the first light-emitting area set includes at least two light-emitting areas, and the at least two light-emitting areas of the first light-emitting area set are arranged along a third direction, and the third direction is different from the first direction and the second direction.

20. The transmitter according to claim 19, wherein The plurality of light-emitting area sets further includes a second light-emitting area set, the second light-emitting area set includes at least two light-emitting areas, and the at least two light-emitting areas of the second light-emitting area set are arranged along the first direction, The light emitted by the first set of light-emitting areas is closer to the center of the field of view of the laser radar than the light emitted by the second set of light-emitting areas.

21. The transmitter according to claim 19, wherein The plurality of light-emitting area sets include a third light-emitting area set, the third light-emitting area set includes at least two light-emitting areas, and the at least two light-emitting areas of the third light-emitting area set are arranged along a fourth direction, and the fourth direction is different from the third direction. The light emitted by the first set of light-emitting areas is closer to the center of the field of view of the laser radar than the light emitted by the third set of light-emitting areas.

22. The transmitter according to claim 21, wherein An angle formed by the fourth direction relative to the first direction is smaller than an angle formed by the third direction relative to the first direction.

23. The transmitter according to claim 21, wherein An angle formed by the fourth direction relative to the second direction is greater than an angle formed by the third direction relative to the second direction.

24. The transmitter according to claim 21, wherein The one or more light-emitting lasers include a fourth light-emitting region set, the fourth light-emitting region set includes at least two light-emitting regions, the at least two light-emitting regions of the fourth light-emitting region set are arranged along a fifth direction, and the fifth direction is different from the third direction and the fourth direction. The light emitted by the third set of light-emitting areas is closer to the center of the field of view of the laser radar than the light emitted by the fourth set of light-emitting areas.

25. The transmitter according to claim 24, wherein An angle formed by the fifth direction relative to the first direction is smaller than an angle formed by the fourth direction relative to the first direction.

26. The transmitter according to claim 24, wherein An angle formed by the fifth direction relative to the second direction is greater than an angle formed by the fourth direction relative to the second direction.

27. A laser radar, characterized in that: The laser radar includes at least one of the following: A receiver as claimed in any one of claims 1 to 13; and A transmitter as claimed in any one of claims 14 to 26.

28. A terminal device, characterized in that: The terminal device includes the laser radar as described in claim 27.

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