Detection method and apparatus

Abstract

Disclosed in the present application are a detection method and apparatus. The method comprises: sequentially sending emission signals by means of N rows of lighting channels arranged in a column direction in an array emitter of a detection apparatus, and receiving echo signals of the emission signals by means of N rows of receiving channels arranged in the column direction in an array receiver of the detection apparatus, wherein there is a difference between two correspondences between the lighting channels of the array emitter and the receiving channels of the array receiver, i.e. the correspondence between some of the lighting channels in the array emitter and some of the receiving channels in the array receiver has changed. The detection method is applied to a scenario where a vertical field of view of an array emitter does not match a vertical field of view of an array receiver, can solve the problem of the mismatch between transmitting and receiving fields of view of a Flash LiDAR, and helps to improve the detection efficiency of the array receiver and the detection performance of the LiDAR.

Description

Detection method and device

[0001] This application claims priority to the Chinese patent application filed with the China National Intellectual Property Administration on January 24, 2024, with application number 202410104317.3 and application name “A Detection Method and Device”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of laser radar, and in particular to a detection method and device. Background Art

[0003] Pure solid-state Flash LiDAR has been widely used due to its lower cost, smaller size, and improved stability. One-dimensionally addressable Flash LiDAR uses an array of transmitters and receivers to scan the entire target surface horizontally or vertically, illuminating and receiving the signals row by row.

[0004] The optical system of Flash LiDAR is mainly divided into a transmitting optical system and a receiving optical system. The transmitting optical system shapes the laser emitted by the array transmitter through the transmitting optical lens and maps the shaped laser to the target field of view. The receiving optical system receives the scattered light from the array transmitter into the target field of view through the receiving optical lens and images it on the target surface of the array receiver.

[0005] However, due to the manufacturing and installation tolerances of the transmitting optical lens and the receiving optical lens, the transmitting and receiving fields of view of the Flash lidar are mismatched, which reduces the detection efficiency of the array receiver and also affects the detection performance of the lidar. Summary of the Invention

[0006] This application discloses a detection method and device, which can solve the problem of mismatch between the transmitting and receiving fields of view of Flash laser radar, and is conducive to improving the detection efficiency of the array receiver and the detection performance of the laser radar.

[0007] In a first aspect, the present application provides a detection method, applied to a detection device including an array transmitter and an array receiver, wherein the array transmitter includes multiple rows of lighting channels, and the array receiver includes multiple rows of receiving channels. The method comprises: sequentially emitting a transmission signal through N rows of lighting channels arranged along a column direction in the array transmitter, and receiving an echo signal of the transmission signal through N rows of receiving channels arranged along a column direction in the array receiver;

[0008] In which, in the column direction of the array transmitter, the correspondence between the 1st to M-1th rows of lighting channels and the receiving channels in the column direction of the array receiver is different from the correspondence between the Mth to Nth rows of lighting channels and the receiving channels in the column direction of the array receiver, or, in the column direction of the array receiver, the correspondence between the 1st to M-1th rows of receiving channels and the lighting channels in the column direction of the array transmitter is different from the correspondence between the Mth to Nth rows of receiving channels and the lighting channels in the column direction of the array transmitter; M and N are both positive integers greater than 2, and M is less than N.

[0009] For example, in an array transmitter, each row of lighting channels includes multiple light-emitting elements, and each row of lighting channels includes the same number of light-emitting elements. In an array receiver, each row of receiving channels includes multiple detection elements, and each row of receiving channels includes the same number of detection elements.

[0010] Exemplarily, the N rows of lighting channels may be part of the lighting channels in the array transmitter.

[0011] In one implementation, transmission signals are sequentially emitted through N rows of lighting channels arranged along the column direction in the array transmitter, including: sequentially lighting up one row of lighting channels or multiple adjacent rows of lighting channels in the N rows of lighting channels along the column direction of the array transmitter to emit transmission signals.

[0012] In the above method, in the detection device, there are two or two different correspondences between the lighting channels of the transmitter and the receiving channels of the receiver, that is, the correspondence between some lighting channels in the array transmitter and some receiving channels in the array receiver is changed. In this way, the lighting channels along the column direction of the array transmitter are sequentially illuminated to emit a transmission signal, and the receiving channel corresponding to the lighting channel in the array receiver receives the echo signal of the transmission signal. This detection method is applied to scenarios where the vertical field of view angle of the array transmitter does not match the vertical field of view angle of the array receiver. It can solve the problem of mismatch between the transmitting and receiving fields of view of the Flash lidar, and is beneficial to improving the detection efficiency of the array receiver and the detection performance of the lidar.

[0013] Optionally, the correspondence between the 1st to M-1th row lighting channels and the receiving channels in the column direction of the array receiver is different from the correspondence between the Mth to Nth row lighting channels and the receiving channels in the column direction of the array receiver, including: the 1st to M-1th row lighting channels respectively correspond to the 1st to M-1th row receiving channels among the N rows of receiving channels; the Mth to Nth row lighting channels respectively correspond to the M+1th to Nth row receiving channels among the N rows of receiving channels.

[0014] As an example, the 1st to M-1th rows of lighting channels respectively correspond to the 1st to M-1th rows of receiving channels in the N rows of receiving channels, including: the jth row of lighting channels corresponds to the jth row of receiving channels, j is an integer from 1 to M-1; the Mth to Nth rows of lighting channels respectively correspond to the M+1th to Nth rows of receiving channels in the N rows of receiving channels, including: the Mth row of lighting channels corresponds to the M+1th row of receiving channels, the M+1th row of lighting channels corresponds to the M+2th row of receiving channels,…, the N-1th row of lighting channels corresponds to the Nth row of receiving channels, and the Nth row of lighting channels corresponds to the Nth row of receiving channels.

[0015] In the above implementation, the row number of the lighting channel in the M to N-1 rows is smaller than the row number of the receiving channel corresponding to the lighting channel. It is applied to the scenario where the vertical field of view of the array transmitter is larger than the vertical field of view of the array receiver. It can improve the matching degree between the vertical field of view of the lighting channel and the vertical field of view of the receiving channel, increase the energy received by the receiving channel, and solve the mismatch problem of the transmitting and receiving fields of view of the Flash lidar.

[0016] As another example, the M to N rows of lighting channels correspond to the M+1 to N rows of receiving channels in the above-mentioned N rows of receiving channels, respectively, including: the M row of lighting channels corresponds to the (M+1) and (M+2) rows of receiving channels, the M+1 row of lighting channels corresponds to the (M+2) and (M+3) rows of receiving channels,…, the N-2 row of lighting channels corresponds to the (N-1) and N rows of receiving channels, the N-1 row of lighting channels corresponds to the (N-2) and (N-1) rows of receiving channels, and the N row of lighting channels corresponds to the (N-1) and N rows of receiving channels.

[0017] Optionally, the correspondence between the 1st to M-1th row lighting channels and the receiving channels in the column direction of the array receiver is different from the correspondence between the Mth to Nth row lighting channels and the receiving channels in the column direction of the array receiver, including: the 1st to M-1th row lighting channels respectively correspond to the 1st to M-1th row receiving channels among the N rows of receiving channels; the Mth to Nth row lighting channels respectively correspond to the M-1th to N-1th row receiving channels among the N rows of receiving channels.

[0018] As an example, the 1st to M-1th rows of lighting channels respectively correspond to the 1st to M-1th rows of receiving channels in the above-mentioned N rows of receiving channels, including: the jth row of lighting channels corresponds to the jth row of receiving channels, j is an integer from 1 to M-1; the Mth to Nth rows of lighting channels respectively correspond to the M-1th to N-1th rows of receiving channels in the above-mentioned N rows of receiving channels, including: the Mth row of lighting channels corresponds to the M-1th row of receiving channels, the M+1th row of lighting channels corresponds to the Mth row of receiving channels,…, the N-1th row of lighting channels corresponds to the N-2th row of receiving channels, and the Nth row of lighting channels corresponds to the N-1th row of receiving channels.

[0019] In the above implementation, in the M to N rows of lighting channels, the row number of the lighting channel is greater than the row number of the receiving channel corresponding to the lighting channel. When applied to the scenario where the vertical field of view of the array transmitter is smaller than the vertical field of view of the array receiver, the matching degree between the vertical field of view of the lighting channel and the vertical field of view of the receiving channel can be improved, the energy received by the receiving channel can be increased, and the mismatch problem of the transmitting and receiving fields of view of the Flash lidar can be solved.

[0020] Optionally, the correspondence between the 1st to M-1th rows of receiving channels and the lighting channels in the column direction of the array transmitter is different from the correspondence between the Mth to Nth rows of receiving channels and the lighting channels in the column direction of the array transmitter, including: the 1st to M-1th rows of receiving channels respectively correspond to the 1st to M-1th rows of lighting channels among the N rows of lighting channels; the Mth to Nth rows of receiving channels respectively correspond to the M-1th to N-1th rows of lighting channels among the N rows of lighting channels.

[0021] As an example, the 1st to M-1th rows of receiving channels respectively correspond to the 1st to M-1th rows of lighting channels in the above-mentioned N rows of lighting channels, including: the jth row of receiving channels corresponds to the jth row of lighting channels, j is an integer from 1 to M-1; the Mth to Nth rows of receiving channels respectively correspond to the M-1th to N-1th rows of lighting channels in the above-mentioned N rows of lighting channels, including: the Mth row of receiving channels corresponds to the M-1th row of lighting channels, the M+1th row of receiving channels corresponds to the Mth row of lighting channels,…, the N-1th row of receiving channels corresponds to the N-2th row of lighting channels, and the Nth row of receiving channels corresponds to the N-1th row of lighting channels.

[0022] In the above implementation, in the M to N rows of receiving channels, the row number of the receiving channel is greater than the row number of the lighting channel corresponding to the receiving channel. This is applied to scenarios where the vertical field of view of the array transmitter is greater than the vertical field of view of the array receiver. This can improve the matching degree between the vertical field of view of the lighting channel and the vertical field of view of the receiving channel, increase the energy received by the receiving channel, and solve the mismatch problem of the transmitting and receiving fields of view of the Flash lidar.

[0023] Optionally, the correspondence between the 1st to M-1th rows of receiving channels and the lighting channels in the column direction of the array transmitter is different from the correspondence between the Mth to Nth rows of receiving channels and the lighting channels in the column direction of the array transmitter, including: the 1st to M-1th rows of receiving channels respectively correspond to the 1st to M-1th rows of lighting channels among the N rows of lighting channels; the Mth to Nth rows of receiving channels respectively correspond to the M+1th to Nth rows of lighting channels among the N rows of lighting channels.

[0024] As an example, the 1st to M-1th rows of receiving channels respectively correspond to the 1st to M-1th rows of lighting channels in the above-mentioned N rows of lighting channels, including: the jth row of receiving channels corresponds to the jth row of lighting channels, j is an integer from 1 to M-1; the Mth to Nth rows of receiving channels respectively correspond to the M+1th to Nth rows of lighting channels in the above-mentioned N rows of lighting channels, including: the Mth row of receiving channels corresponds to the M+1th row of lighting channels, the M+1th row of receiving channels corresponds to the M+2th row of lighting channels,…, the N-1th row of receiving channels corresponds to the Nth row of lighting channels, and the Nth row of receiving channels corresponds to the Nth row of lighting channels.

[0025] In the above implementation, the row number of the receiving channel in the M to N-1 rows is smaller than the row number of the lighting channel corresponding to the receiving channel. When applied to the scenario where the vertical field of view of the array transmitter is smaller than the vertical field of view of the array receiver, the matching degree between the vertical field of view of the lighting channel and the vertical field of view of the receiving channel can be improved, the energy received by the receiving channel can be increased, and the mismatch problem of the transmitting and receiving fields of view of the Flash lidar can be solved.

[0026] Optionally, among the N rows of lighting channels, adjacent rows of lighting channels emit light simultaneously to form a light-emitting area, and among the N rows of receiving channels, the receiving channels corresponding to the adjacent rows of lighting channels form a receiving area, and the receiving area includes the adjacent rows of receiving channels.

[0027] In the above implementation, when multiple adjacent rows of lighting channels are simultaneously illuminated to form a light-emitting area to emit a transmission signal, based on the correspondence between the above lighting channels and the receiving channels, the corresponding receiving channels also form a receiving area for receiving the echo signal of the transmission signal.

[0028] Optionally, the ratio of the number of the lighting channels included in the light-emitting area to the number of the receiving channels included in the receiving area is a first value, and the first value is the ratio of the total number of rows of the lighting channels included in the array transmitter to the total number of rows of the receiving channels included in the array receiver.

[0029] For example, when the first value is 1, it means that the total number of rows of lighting channels included in the array transmitter is equal to the total number of rows of receiving channels included in the array receiver. In other words, although the correspondence between some lighting channels in the array transmitter and some receiving channels in the array receiver is changed, the number of lighting channels included in the light-emitting area can be equal to the number of receiving channels included in the receiving area.

[0030] Optionally, the first light-emitting area in the array transmitter corresponds to the first receiving area in the array receiver, and the existence of the first light-emitting area and the first receiving area satisfies the following conditions: the ratio of the number of the lighting channels included in the first light-emitting area to the number of the receiving channels included in the first receiving area is greater than a first value; or the ratio of the number of the lighting channels included in the first light-emitting area to the number of the receiving channels included in the first receiving area is less than a first value; wherein, the first value is the ratio of the total number of rows of the lighting channels included in the array transmitter to the total number of rows of the receiving channels included in the array receiver.

[0031] In the above implementation, the ratio of the number of illumination channels included in the first light-emitting area to the number of receiving channels included in the first receiving area is greater than the first value, which means that the vertical field of view of the first light-emitting area is greater than the vertical field of view of the first receiving area. The energy emitted by the first light-emitting area increases, and the corresponding emission angle is also expanded, which can increase the power of the system and improve the detection performance of the lidar. The ratio of the number of illumination channels included in the first light-emitting area to the number of receiving channels included in the first receiving area is less than the first value, which means that the vertical field of view of the first receiving area is greater than the vertical field of view of the first light-emitting area. The energy received by the receiving area increases, which can increase the power of the system and improve the detection performance of the lidar.

[0032] In a second aspect, the present application provides a detection method, applied to a detection device including an array transmitter and an array receiver, the array transmitter including row A of lighting channels, and the array receiver including row B of receiving channels, the method comprising: sequentially emitting a transmission signal through S light-emitting areas arranged along a column direction in the array transmitter, and receiving an echo signal of the transmission signal through S receiving areas arranged along a column direction in the array receiver, wherein the i-th light-emitting area of ​​the S light-emitting areas corresponds to the i-th receiving area of ​​the S receiving areas;

[0033] In which, the ratio of the number of the lighting channels included in the i-th light-emitting area to the number of the receiving channels included in the i-th receiving area is greater than the ratio of A to B, or the ratio of the number of the lighting channels included in the i-th light-emitting area to the number of the receiving channels included in the i-th receiving area is less than the ratio of A to B, A, B, S, and i are all positive integers, i is less than or equal to S, and S is less than A.

[0034] Exemplarily, each light-emitting area includes multiple adjacent rows of lighting channels, and the lighting channels in the light-emitting area belong to the above-mentioned row A of lighting channels.

[0035] For example, A is equal to B, or A and B are multiples of each other.

[0036] In the above method, in the detection device, the ratio of the number of lighting channels included in the light-emitting area of ​​the transmitter to the number of receiving channels included in the corresponding receiving area in the receiver is not the ratio of A to B mentioned above. When the detection device is applied to a scenario where the vertical field of view angle of the array transmitter does not match the vertical field of view angle of the array receiver (that is, they are not equal), it can increase the power of the system and is also beneficial to improving the detection performance of the lidar.

[0037] Optionally, when the ratio of the number of the lighting channels included in the i-th light-emitting area to the number of the receiving channels included in the i-th receiving area is greater than the ratio of A to B, the lighting channels included in any two adjacent light-emitting areas among the S light-emitting areas are repeated.

[0038] In the above implementation method, the ratio of the number of lighting channels included in the i-th light-emitting area to the number of receiving channels included in the i-th receiving area is greater than the above-mentioned ratio of A to B, so that the vertical field of view angle of the i-th light-emitting area is greater than the vertical field of view angle of the i-th receiving area. The energy emitted by the i-th light-emitting area increases, and the corresponding emission angle is also expanded, which can increase the power of the system and improve the detection performance of the lidar.

[0039] Optionally, when the ratio of the number of the lighting channels included in the i-th light-emitting area to the number of the receiving channels included in the i-th receiving area is less than the ratio of A to B, the receiving channels included in any two adjacent receiving areas among the S receiving areas are repeated.

[0040] In the above implementation method, the ratio of the number of lighting channels included in the i-th light-emitting area to the number of receiving channels included in the i-th receiving area is smaller than the above-mentioned ratio of A to B, and the vertical field angle of the i-th receiving area is larger than the vertical field angle of the i-th light-emitting area. The energy received by the receiving area increases, which can increase the power of the system and improve the detection performance of the lidar.

[0041] In a third aspect, the present application provides a detection device, which includes an array transmitter and an array receiver, the array transmitter is used to emit a transmission signal, and the array receiver is used to receive an echo signal corresponding to the transmission signal, and the detection device is used to execute the method in the above-mentioned first aspect or any possible implementation of the first aspect, or execute the above-mentioned second aspect or any possible implementation of the second aspect.

[0042] In a fourth aspect, the present application provides a laser radar, which includes the detection device described in the third aspect above.

[0043] In a fifth aspect, the present application provides a terminal, which includes the detection device described in the third aspect, or includes the laser radar described in the fourth aspect.

[0044] Optionally, the terminal can be an intelligent terminal or transportation tool such as a vehicle, a drone, or a robot.

[0045] In a sixth aspect, the present application provides a computer-readable storage medium comprising computer instructions, which, when executed by a processor, implement the method of the above-mentioned first aspect or any possible implementation of the first aspect, or implement the method of the above-mentioned second aspect or any possible implementation of the second aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] FIG1 is a schematic diagram of the architecture of a detection device provided in an embodiment of the present application;

[0047] FIG2 is a schematic diagram of an array transmitter provided in an embodiment of the present application;

[0048] FIG3 is a schematic diagram of an array transmitter provided in an embodiment of the present application;

[0049] FIG4 is a schematic diagram of a light emitting area of ​​an array emitter provided in an embodiment of the present application;

[0050] FIG5A is a schematic diagram of an operating scenario of a detection device provided in an embodiment of the present application;

[0051] FIG5B is a schematic diagram of an operating scenario of another detection device provided in an embodiment of the present application;

[0052] FIG6 is a schematic diagram of a configuration of a detection device without field of view mismatch provided by an embodiment of the present application;

[0053] 7 is a schematic diagram showing the distribution of vertical field angles of a light-emitting area and a receiving area when a field mismatch exists in a detection device provided by an embodiment of the present application;

[0054] FIG8 is a schematic diagram of vertical viewing angles of some light-emitting areas and receiving areas provided in an embodiment of the present application;

[0055] FIG9 is a flow chart of a detection method provided in an embodiment of the present application;

[0056] FIG10 is a schematic diagram showing the correspondence between the lighting channel of a transmitter and the receiving channel of a receiver in a detection device provided in an embodiment of the present application;

[0057] FIG11 is a schematic diagram showing the correspondence between the lighting channel of a transmitter and the receiving channel of a receiver in another detection device provided in an embodiment of the present application;

[0058] FIG12 is a schematic diagram showing the correspondence between the lighting channel of a transmitter and the receiving channel of a receiver in another detection device provided in an embodiment of the present application;

[0059] FIG13 is a schematic diagram showing the correspondence between the lighting channel of a transmitter and the receiving channel of a receiver in another detection device provided in an embodiment of the present application;

[0060] FIG14 is a schematic diagram showing the correspondence between the lighting channel of a transmitter and the receiving channel of a receiver in another detection device provided in an embodiment of the present application;

[0061] FIG15 is a schematic diagram showing the correspondence between the lighting channel of a transmitter and the receiving channel of a receiver in another detection device provided in an embodiment of the present application;

[0062] FIG16 is a flow chart of another detection method provided in an embodiment of the present application;

[0063] FIG17 is a schematic diagram showing the correspondence between the lighting channels of the light-emitting area in a transmitter and the receiving channels of the receiving area in a receiver provided in an embodiment of the present application;

[0064] FIG18 is a schematic diagram of the correspondence between a lighting channel of a light-emitting area in a transmitter and a receiving channel of a receiving area in a receiver provided in an embodiment of the present application. DETAILED DESCRIPTION

[0065] It should be noted that the prefixes such as "first" and "second" used in this application are only for distinguishing different description objects, and do not have any limiting effect on the position, order, priority, quantity or content of the described objects. For example, if the described object is a "field", then the ordinal number before the "field" in the "first field" and the "second field" does not limit the position or order between the "fields", and "first" and "second" do not limit whether the "fields" they modify are in the same message, nor do they limit the order of the "first field" and the "second field". For another example, if the described object is a "level", then the ordinal number before the "level" in the "first level" and the "second level" does not limit the priority between the "levels". For another example, the number of described objects is not limited by the prefix and can be one or more. Taking "first device" as an example, the number of "devices" can be one or more. In addition, the objects modified by different prefixes can be the same or different. For example, if the described object is a "device," then the "first device" and the "second device" can be the same device, the same type of device, or different types of devices. For another example, if the described object is "information," then the "first information" and the "second information" can be information of the same content or information of different contents. In short, the use of prefixes to distinguish the described objects in the embodiments of this application does not constitute a limitation on the described objects. For the description of the described objects, please refer to the description in the context of the claims or embodiments, and the use of such prefixes should not constitute an unnecessary limitation.

[0066] It should be noted that the descriptions used in the embodiments of the present application, such as "at least one of a1, a2, ..., and an" and the like, include any one of a1, a2, ..., and an existing alone, and any combination of any multiple of a1, a2, ..., and an, each of which can exist alone. For example, the description "at least one of a, b, and c" includes a alone, b alone, c alone, a combination of a and b, a combination of a and c, a combination of b and c, or a combination of ab and c.

[0067] The technical solution in this application will be described below with reference to the accompanying drawings.

[0068] Referring to Figure 1, Figure 1 is a schematic diagram of the structure of a possible detection device provided in an embodiment of the present application. The detection device 10 includes a transmitter 101 and a receiver 102. Optionally, the detection device 10 further includes one or more of a controller 103, a modulator 104, a filter 105, a signal processing module 106, etc. The multiple modules of the detection device can be connected via wired and / or wireless means. The following is an exemplary introduction to each module:

[0069] (1) The transmitter 101 is used to generate a laser signal. For example, the transmitter 101 may include a laser diode (LD), a vertical cavity surface emitting laser (VCSEL), a photonic crystal surface emitting semiconductor lasers (PCSEL), an edge emitting laser (EEL), a distributed feedback laser diode (DFB-LD), a grating coupled sampling reflection laser diode (GCSR-LD), or a micro opto electromechanical system laser diode (MOEMS-LD), or other types of light-emitting elements.

[0070] The optical signal emitted by the emitter 101 may be irradiated onto a detection area (the detection area refers to a real area in the field of view) through the emission optical system.

[0071] Optionally, when the emitter 101 includes multiple light-emitting elements, the multiple light-emitting elements can be arranged in an array. In this case, the emitter can be called an array emitter (or a flash emitter). The embodiments of the present application do not limit the rules of the array. During specific implementation, the array emitter can be, for example, a 1×10 array, a 2×5 array, or an 8×9 array.

[0072] See Figure 2, which is a schematic diagram of a possible array transmitter provided by an embodiment of the present application. Transmitter 101 includes an 8×8 array light source consisting of 64 light-emitting elements. In Figure 2, each small square in transmitter 101 represents a light-emitting element 201. During transmission, one or more light-emitting elements in transmitter 101 emit a light signal, which is then illuminated into the field of view through the transmission optical system 202.

[0073] Based on the lighting method of the emitter (or called the lighting method), the array emitter includes multiple rows of lighting channels (i.e., lighting in a row-by-row manner) or multiple columns of lighting channels (i.e., lighting in a column-by-column manner). Referring to Figure 3, Figure 3 is a schematic diagram of a possible array emitter provided in an embodiment of the present application. As can be seen from Figure 3, the array emitter includes 8 rows of lighting channels, which include the 1st row of lighting channels (hereinafter referred to as lighting channel 1, where "1" is the row number of the lighting channel), the 2nd row of lighting channels (hereinafter referred to as lighting channel 2), ..., the 8th row of lighting channels (hereinafter referred to as lighting channel 8), and each row of lighting channels contains corresponding light-emitting elements. Each circle in Figure 3 can be represented as a light-emitting element, for example, or it can be represented as multiple light-emitting elements and these multiple light-emitting elements are arranged in an array. For example, in Figure 3, if each circle represents a 2*2 array of light-emitting elements, then each row of lighting channels contains a 2*16 array of light-emitting elements. The embodiment of the present application does not specifically limit the number of light-emitting elements contained in the lighting channel.

[0074] In the column direction of the array emitter, adjacent rows of lighting channels emit light simultaneously to form a light-emitting area, that is, each light-emitting area includes two or more adjacent rows of lighting channels.

[0075] Exemplarily, the array emitter includes a plurality of light-emitting regions arranged in sequence along a column direction of the array emitter. The laser signal emitted by each light-emitting region is irradiated into the field of view through the transmitting optical system.

[0076] Refer to Figure 4, which is a schematic diagram of the light-emitting area of ​​an array emitter provided in an embodiment of the present application. Assuming that along the column direction of the array emitter, two rows of lighting are simultaneously lit each time, and the lighting channels of two adjacent lightings do not overlap, then based on the array emitter shown in Figure 3, it includes 4 light-emitting areas. As shown in Figure 4, these 4 light-emitting areas are arranged in sequence along the column direction of the array emitter, and each light-emitting area includes two adjacent rows of lighting channels, and for any two adjacent light-emitting areas, the lighting channels included therein do not overlap. Taking the first light-emitting area in Figure 4 as light-emitting area 1 as an example, light-emitting area 1 includes the above-mentioned lighting channel 1 and lighting channel 2. Correspondingly, light-emitting area 2 includes the above-mentioned lighting channel 3 and lighting channel 4, light-emitting area 3 includes the above-mentioned lighting channel 5 and lighting channel 6, and light-emitting area 4 includes the above-mentioned lighting channel 7 and lighting channel 8.

[0077] Here, Figure 4 is only an example of the light-emitting area of ​​the array emitter, and does not limit the number of light-emitting areas of the array emitter and the number of lighting channels contained in the light-emitting areas. It is only shown in Figure 4. Whether the number of lighting channels included in different light-emitting areas is the same depends on whether the number of lighting channels that are lit at the same time each time is the same.

[0078] In some possible embodiments, the lighting channels included in two adjacent light-emitting areas may also overlap. For example, lighting channel 1 and lighting channel 2 are lit for the first time to form light-emitting area 1, lighting channel 2 and lighting channel 3 are lit for the second time to form light-emitting area 3, lighting channel 3 and lighting channel 4 are lit for the third time, ... In this way, 7 light-emitting areas can be formed based on the array emitter shown in Figure 3.

[0079] (2) The receiver 102 is used to receive the optical signal. Furthermore, the receiver 102 can obtain the electrical signal based on the optical signal.

[0080] For example, the receiver 102 may include a single-photon avalanche diode (SPAD), a silicon photomultiplier (SiPM), a semiconductor avalanche photodiode (APD), a multi-pixel photon counter (MPPC), or an electron multiplying charge-coupled device (EMCCD) or other types of detection elements.

[0081] After the light signal irradiated to the detection area by the transmitting optical system encounters the target object, it interacts with the target object to form a reflected / scattered echo beam. After the echo beam is collected by the receiving optical system, it is received by the receiver 102 and the light signal is converted into an electrical signal.

[0082] Optionally, when the receiver includes multiple detection elements, the multiple detection elements can be arranged in an array. In this case, the receiver can also be called an array receiver (or array detector). For example, the array can be a 1×10 array, a 20×10 array, or other specifications. This application does not limit the number of rows and columns of the array arrangement. As a possible implementation, the receiver 102 can specifically be a SPAD array, a SiPM array, or the like.

[0083] Exemplarily, when the transmitter 101 includes multiple rows of lighting channels, the receiver 102 includes multiple rows of receiving channels; when the transmitter 101 includes multiple columns of lighting channels, the receiver 102 includes multiple columns of receiving channels.

[0084] Here, for example, transmitter 101 includes multiple rows of lighting channels and receiver 102 includes multiple rows of receiving channels. A corresponding relationship exists between the lighting channels in the transmitter and the receiving channels in the transmitter. This correspondence is associated with the total number of rows of lighting channels in the transmitter and the total number of rows of receiving channels in the receiver. This correspondence can be, for example, one-to-one, one-to-many, or many-to-one, and is not specifically limited here.

[0085] In one implementation, the total number of rows of the transmitter's lighting channels is the same as the total number of rows of the receiver's receiving channels. In another implementation, the total number of rows of the transmitter's lighting channels is a multiple of the total number of rows of the receiver's receiving channels.

[0086] As an example, the transmitter includes 90 rows of lighting channels and the receiver includes 90 rows of receiving channels. The vertical field of view of the transmitter and the vertical field of view of the receiver are both 90 degrees. The vertical field of view of each row of lighting channels is 1 degree, and the vertical field of view of each row of receiving channels is 1 degree. Then, one row of lighting channels of the transmitter corresponds to one row of receiving channels of the receiver. For example, the first row of lighting channels of the transmitter corresponds to the first row of receiving channels of the receiver, the second row of lighting channels of the transmitter corresponds to the second row of receiving channels of the receiver, ..., and the 90th row of lighting channels of the transmitter corresponds to the 90th row of receiving channels of the receiver.

[0087] As another example, the transmitter includes 45 rows of lighting channels and the receiver includes 90 rows of receiving channels. The vertical field of view of the transmitter and the vertical field of view of the receiver are both 90 degrees. The vertical field of view of each row of lighting channels is 2 degrees, and the vertical field of view of each row of receiving channels is 1 degree. Then, one row of lighting channels of the transmitter corresponds to two rows of receiving channels of the receiver. For example, the first row of lighting channels of the transmitter corresponds to the first and second rows of receiving channels of the receiver, the second row of lighting channels of the transmitter corresponds to the second and third rows of receiving channels of the receiver, ..., and the 45th row of lighting channels of the transmitter corresponds to the 89th and 90th rows of receiving channels of the receiver.

[0088] Because there's a correspondence between the transmitter's lighting channels and the receiver's receiving channels, when multiple adjacent rows of lighting channels illuminate simultaneously to form a single luminous area, the corresponding receiving channels corresponding to these adjacent rows of lighting channels form a single receiving area, which includes either a single row of receiving channels or multiple adjacent rows of receiving channels. This receiving area is used to receive the echo signal of the laser signal emitted by the luminous area. In other words, there's a one-to-one correspondence between the transmitter's luminous area and the receiver's receiving area.

[0089] Exemplarily, when the array transmitter includes multiple light-emitting areas and the multiple light-emitting areas are arranged in sequence along the column direction of the array transmitter, the array receiver includes multiple receiving areas and the multiple receiving areas are arranged in sequence along the column direction of the array receiver.

[0090] Here, the receiving channel, receiving area, etc. of the array receiver can be similarly described with reference to the lighting channel of the array transmitter shown in Figure 3 and the light-emitting area of ​​the array transmitter shown in Figure 4. For the sake of brevity of the specification, they will not be repeated here.

[0091] Refer to Figure 5A, which is a schematic diagram of an operating scenario of a detection device provided in an embodiment of the present application, in which the transmitter in the detection device is an array transmitter. As can be seen from Figure 5A, the array transmitter has S (S is a positive integer) light-emitting areas arranged in sequence along the column direction of the array transmitter, and the array receiver has S receiving areas arranged in sequence along the column direction of the array receiver, the i-th light-emitting area corresponds to the i-th receiving area, and i is an integer from 1 to S; the i-th light-emitting area of ​​the array transmitter emits a transmission signal, and correspondingly, the i-th receiving area of ​​the array receiver receives the echo signal of the transmission signal. Here, the operating scenario of the detection device shown in Figure 5A is only used as an example, and does not limit the array transmitter in the detection device to operate only in a row-by-row lighting manner.

[0092] Referring to Figure 5B , Figure 5B is a schematic diagram illustrating an operating scenario of another detection device provided in an embodiment of the present application. The transmitter within the detection device is an array transmitter. As can be seen in Figure 5B , the array transmitter has S light-emitting areas arranged sequentially along the rows of the array transmitter, and the array receiver has S receiving areas arranged sequentially along the rows of the array receiver. The i-th light-emitting area corresponds to the i-th receiving area, where i is an integer from 1 to S. The array transmitter within the detection device shown in Figure 5B operates in a column-by-column manner.

[0093] (3) The controller is used to generate control signals to control other modules to complete their functions.

[0094] For example, the controller may enable some detection elements in the array receiver through a control signal, and the enabled detection elements may obtain electrical signals based on the optical signals.

[0095] For another example, the controller may control some of the light-emitting elements in the array transmitter to emit light at a certain moment through a control signal.

[0096] Optionally, filters, signal processing modules, etc. are used to process the received echo signals. Exemplarily, the filters include, but are not limited to, finite impulse response (FIR) filters, infinite impulse response (IIR) filters, low-pass filters, or band-pass filters. Exemplarily, the signal processing module performs signal processing including, but not limited to, one or more of analog-to-digital conversion, time-to-digital conversion, signal detection, TOF extraction, distance compensation, and reflectivity compensation.

[0097] In addition, the detection device also includes one or more optical elements, such as the receiving optical system and the transmitting optical system shown in Figure 4. Optical elements include but are not limited to collimators, lenses, filters, beam splitters, light homogenizers, reflectors, rotating mirrors, oscillating mirrors, or micro-vibration mirrors. This application does not limit the number or placement of optical elements.

[0098] In the embodiment of the present application, the array transmitter is illuminated row by row (as shown in FIG5A ) for illustrative purposes. In this case, the aforementioned transmit-receive field of view mismatch refers to a mismatch between the vertical field of view of the array transmitter and the vertical field of view of the array receiver. However, the embodiment of the present application is not limited to the operating scenario shown in FIG5A . For example, it is also applicable to a scenario where the array transmitter is illuminated column by column (as shown in FIG5B ). In this case, the aforementioned transmit-receive field of view mismatch refers to a mismatch between the horizontal field of view of the array transmitter and the horizontal field of view of the array receiver.

[0099] Before introducing the detection method provided in the embodiments of the present application, it is first introduced that when there is no mismatch between the vertical field of view angle of the array transmitter (denoted as TX_FOV) and the vertical field of view angle of the array receiver (denoted as RX_FOV) (i.e., TX_FOV = RX_FOV), the correspondence between the lighting channel of the array transmitter and the receiving channel of the array receiver can be shown in, for example, FIG6 .

[0100] Refer to Figure 6, which is a configuration diagram of a detection device without field of view mismatch provided by an embodiment of the present application. In Figure 6, an array transmitter includes 40 rows of lighting channels and an array receiver includes 40 rows of receiving channels as an example. Assuming that the vertical field of view of the array transmitter matches the vertical field of view of the array receiver, for example, TX_FOV = RX_FOV = 80 degrees, the size of the vertical field of view of each row of lighting channels is the same as the size of the vertical field of view of each row of receiving channels, both of which are 2 degrees. It can be seen that the correspondence between the lighting channels of the array transmitter and the receiving channels of the array receiver is one-to-one, specifically including: the 1st row of lighting channels corresponds to the 1st row of receiving channels, the 2nd row of lighting channels corresponds to the 2nd row of receiving channels, ..., the 40th row of lighting channels corresponds to the 40th row of receiving channels.

[0101] Furthermore, assume that the array transmitter illuminates two rows of lighting channels along the column direction at a time to form a light-emitting area, and similarly, the array receiver illuminates two rows of receiving channels along the column direction at a time to form a receiving area. As can be seen from the mapping table shown in Figure 6, there is no duplication of lighting channels between two adjacent illuminated areas. To achieve detection with a vertical field of view of 80 degrees, the array transmitter has 20 light-emitting areas and the array receiver has 20 receiving areas, where the vertical field of view of each light-emitting area is 4 degrees and the vertical field of view of each receiving area is 4 degrees. For the correspondence between the row numbers of the lighting channels in the light-emitting areas and the row numbers of the receiving channels in the receiving areas, please refer to the mapping table shown in Figure 6. This mapping table shows the sequence number i, the row number of the lighting channels in the i-th light-emitting area, and the row number of the receiving channels in the i-th receiving area. Taking the correspondence of "1-(1, 2)-(1, 2)" as an example, it means that the first light-emitting area includes the first and second rows of lighting channels, and the first receiving area includes the first and second rows of receiving channels.

[0102] The mapping table shown in FIG6 is only an example. In some possible embodiments, when the number of lighting channels that are simultaneously lit each time is 2, the lighting channels included in two adjacent light-emitting areas are repeated. For example, the corresponding relationship "2-(3, 4)-(3, 4)" in the mapping table shown in FIG6 can be changed to "2-(2, 3)-(2, 3)", which means that the second light-emitting area includes the second row of lighting channels and the third row of lighting channels and the second receiving area includes the second row of receiving channels and the third row of receiving channels. In some possible embodiments, the number of lighting channels that are simultaneously lit each time is 3, 4 or other values. Compared with the mapping table shown in FIG6, the number of lighting channels in the light-emitting area and the row number of the lighting channels will change. Accordingly, the number of receiving channels in the corresponding receiving area and the row number of the receiving channels will change, and the number of light-emitting areas may change.

[0103] Assuming that the energy of each lighting channel is 1 and is uniformly distributed in the angular space, if the reflectivity of the target is a, since the vertical field of view of the array transmitter and the vertical field of view of the array receiver are not mismatched, based on the two-dimensional plane diagram between the sequence number and the received energy shown in Figure 6, it can be seen that the received energy of each receiving area can be stably maintained at 2a.

[0104] In addition, it can be seen from the two-dimensional planar diagram of the sequence number and the vertical angle shown in Figure 6 that the size of the vertical field of view of each light-emitting area is the same as the size of the vertical field of view of each receiving area, both of which are 4 degrees. Therefore, the upper distribution of TX (representing the transmitter) in the vertical angle completely coincides with the distribution of RX (representing the receiver) in the vertical angle, and the vertical field of view of each light-emitting area completely matches the vertical field of view of the receiving area corresponding to the light-emitting area. Based on the configuration of the mapping table shown in Figure 6, when the vertical field of view of the transmitter is greater than the vertical field of view of the receiver (for example, the vertical field of view of the transmitter = 81 degrees, the vertical field of view of the receiver = 80 degrees), the two-dimensional planar diagram between the sequence number and the vertical angle can be seen in Figure 7 (1), for example. It can be seen that the upper distribution of TX in the vertical angle does not completely coincide with the distribution of RX in the vertical angle. As the sequence number i increases, the difference between the vertical field of view of the i-th light-emitting area and the vertical field of view of the i-th receiving area becomes larger and larger. Based on the configuration of the mapping table shown in FIG6 , when the vertical field of view of the transmitter is smaller than the vertical field of view of the receiver (for example, the vertical field of view of the transmitter = 80 degrees, and the vertical field of view of the receiver = 81 degrees), the two-dimensional plane diagram between the serial number and the vertical angle can be seen, for example, in FIG7 (2). It can be seen that the upper distribution of TX in the vertical angle is not completely consistent with the distribution of RX in the vertical angle. As the serial number i increases, the difference between the vertical field of view of the i-th light-emitting area and the vertical field of view of the i-th receiving area becomes larger and larger.

[0105] Whether the vertical field of view of the transmitter is larger than the vertical field of view of the receiver, or the vertical field of view of the transmitter is smaller than the vertical field of view of the receiver, it means that the vertical field of view of the transmitter does not match the vertical field of view of the receiver, which will cause the receiving energy to be attenuated in at least some of the multiple receiving areas of the receiver.

[0106] The correspondence between the vertical field of view angles of the light-emitting areas and the vertical field of view angles of the receiving areas can be seen in Figure 8, which is a schematic diagram of the vertical field of view angles of some light-emitting areas and the vertical field of view angles of the receiving areas provided in an embodiment of the present application. In Figure 8, based on the configuration of the mapping table shown in Figure 6, taking i = P as an example, the Pth light-emitting area corresponds to the Pth receiving area, the Pth light-emitting area includes the rth row lighting channel and the r+1th row lighting channel, and the Pth receiving area includes the rth row receiving channel and the r+1th row receiving channel. Figure 8 (1) shows the correspondence between the vertical field of view of the Pth light-emitting area and the vertical field of view of the Pth receiving area when the vertical field of view of the transmitter matches the vertical field of view of the receiver. Figure 8 (2) shows the correspondence between the vertical field of view of the Pth light-emitting area and the vertical field of view of the Pth receiving area when the vertical field of view of the transmitter is greater than the vertical field of view of the receiver. Figure 8 (3) shows the correspondence between the vertical field of view of the Pth light-emitting area and the vertical field of view of the Pth receiving area when the vertical field of view of the transmitter is less than the vertical field of view of the receiver. Both Figure 8 (2) and Figure 8 (3) will cause the received energy of the Pth receiving area to be lower than the energy lower limit, affecting the detection performance of the lidar.

[0107] For example, if the vertical field of view of the transmitter and the vertical field of view of the receiver do not match, assuming that based on the configuration of the mapping table shown in Figure 6, the laser radar test determines that the energy of the echo signal received by the i-th receiving area is less than the energy lower limit since i=P. To address this problem, the embodiments of the present application propose multiple compensation solutions based on the central principle of changing the correspondence between some lighting channels in the array transmitter and some receiving channels in the array receiver:

[0108] Compensation solution 1: Adjust the strobe timing of the receiving channel;

[0109] Compensation solution 2: Adjust the lighting timing of the lighting channel;

[0110] Compensation 3: Increase the number of lighting channels lit simultaneously; and

[0111] Compensation solution 4: Increase the number of simultaneously enabled receiving channels.

[0112] Based on the above compensation scheme 1 or compensation scheme 2, when the mismatch between transmission and reception reaches a certain level, the degree of matching between the vertical field of view of the light-emitting area and the vertical field of view of the corresponding receiving area can be improved as much as possible, so that the receiving energy of the receiving area can be improved. Based on the above compensation scheme 3, it can be ensured that the transient vertical field of view of the array transmitter is greater than the transient vertical field of view of the array receiver. The more energy the light-emitting area of ​​the array transmitter emits, the larger the corresponding emission angle. Although the mismatch problem still exists, it can increase the power of the system and improve the detection performance of the lidar. Based on the above compensation scheme 4, it can be ensured that the transient vertical field of view of the array receiver is greater than the transient vertical field of view of the array transmitter. The vertical field of view of the receiving area of ​​the array receiver becomes larger, which can increase the power of the system and improve the detection performance of the lidar.

[0113] The application of the above compensation scheme is described in detail below.

[0114] See Figure 9, which is a flow chart of a detection method provided in an embodiment of the present application. This method is applied to a detection device including an array transmitter and an array receiver (e.g., the detection device 10 shown in Figure 1), wherein the array transmitter includes multiple rows of illumination channels and the array receiver includes multiple rows of receiving channels. This method includes, but is not limited to, the following steps:

[0115] S901: transmitting signals in sequence through N rows of lighting channels arranged along the column direction in the array transmitter.

[0116] Exemplarily, the aforementioned N rows of lighting channels may be part of the multiple rows of lighting channels of the array emitter.

[0117] Exemplarily, if the total number of rows of lighting channels included in the array emitter is A, then N is less than or equal to A, and N is a positive integer greater than 2.

[0118] In one implementation, sequentially emitting a transmit signal through N rows of lighting channels arranged along a column direction in an array emitter includes sequentially illuminating a row of lighting channels, or multiple adjacent rows of lighting channels, along the column direction of the array emitter to emit the transmit signal. Exemplarily, "sequentially" means illuminating the lighting channels in a predetermined order.

[0119] For example, to sequentially light up one row of lighting channels among N rows of lighting channels, reference may be made to the following lighting methods 1 to 3:

[0120] Lighting method 1:

[0121] The first lighting channel of the first row is lit, the second lighting channel of the second row is lit, ..., the Nth lighting channel of the Nth row is lit for the Nth time.

[0122] Lighting method 2:

[0123] The first lighting channel of the first row is lit, the second lighting channel of the second row is lit, ..., the j-th lighting channel of the j-th row is lit, the j+1-th lighting channel of the j-th row is lit, the j+2-th lighting channel of the j+1-th row is lit, ..., the N-th lighting channel of the N-th row is lit for the N+1-th time.

[0124] It can be seen that in lighting mode 2, when the lighting channels are lit in sequence, a certain row (for example, the jth row) of lighting channels may be lit multiple times in succession.

[0125] Lighting method 3:

[0126] The first lighting channel of the first row is lit, the second lighting channel of the second row is lit, ..., the j-1th lighting channel of the j-1th row is lit, the j+1th lighting channel of the jth time, the j+1th lighting channel of the j+2th row is lit, ..., the N-1th lighting channel of the Nth row is lit.

[0127] It can be seen that in lighting mode 3, when the N rows of lighting channels are lit in sequence, a certain row (for example, the jth row) can be skipped and the lighting channels left unlit.

[0128] For example, to sequentially light up adjacent rows of lighting channels in N rows of lighting channels, reference may be made to the following lighting methods 1 to 4:

[0129] Lighting method 1:

[0130] The first time, the 1st and 2nd row lighting channels are simultaneously lit. The second time, the 3rd and 4th row lighting channels are simultaneously lit. The third time, the 5th and 6th row lighting channels are simultaneously lit. ... The jth time, the (2j-1)th and 2jth row lighting channels are lit. ..., and so on, until the Nth row lighting channels are lit. Here, the number of lighting channels lit each time is not limited to only 2, and can also be 3, 4, or other values.

[0131] That is to say, in the lighting mode 1, it is satisfied that multiple adjacent rows of lighting channels are lit simultaneously each time, and there is no duplication between two adjacent lighting channels.

[0132] Lighting method 2:

[0133] The first time, the 1st, 2nd and 3rd rows of lighting channels are lit simultaneously. The second time, the 2nd, 3rd and 4th rows of lighting channels are lit simultaneously. The third time, the 3rd, 4th and 5th rows of lighting channels are lit simultaneously. ... The jth time, the jth, (j+1) and (j+2)th rows of lighting channels are lit, ... and so on, until the Nth row of lighting channels is lit.

[0134] That is to say, in the second lighting mode, it is satisfied that multiple adjacent rows of lighting channels are lit simultaneously each time, and the lighting channels lit twice adjacently are repeated.

[0135] Lighting method three:

[0136] The first time, the 1st and 2nd row lighting channels are lit simultaneously, the second time, the 3rd and 4th row lighting channels are lit simultaneously, the third time, the 5th and 6th row lighting channels are lit simultaneously, ..., the jth time, the (2j-1)th and 2jth row lighting channels are lit, the j+1th time, the 2jth and (2j+1)th row lighting channels are lit, the j+2th time, the (2j+2)th and (2j+3)th row lighting channels are lit, ..., and so on, until the Nth row lighting channels are lit.

[0137] It can be seen that in the lighting mode three, when the lighting channels are lit in sequence, a certain row (for example, the 2jth row) of lighting channels may be lit multiple times in succession.

[0138] Lighting method four:

[0139] The first time, the 1st and 2nd row lighting channels are lit simultaneously, the second time, the 3rd and 4th row lighting channels are lit simultaneously, the third time, the 5th and 6th row lighting channels are lit simultaneously, ..., the jth time, the (2j-1)th and 2jth row lighting channels are lit, the j+1th time, the (2j+2)th and (2j+3)th row lighting channels are lit, the j+2th time, the (2j+4)th and (2j+5)th row lighting channels are lit, ..., and so on, until the Nth row lighting channels are lit.

[0140] It can be seen that in lighting mode 4, when lighting channels are sequentially lit, a row (e.g., row 2j+1) may be skipped and the lighting channels may not be lit. Here, it is not limited to skipping only one row of lighting channels. In some possible embodiments, multiple consecutive rows of lighting channels may also be skipped and not lit.

[0141] In one implementation, among the N rows of lighting channels, adjacent rows of lighting channels emit light simultaneously (ie, are lit at the same time) to form a light-emitting area, that is, the light-emitting area includes the adjacent rows of lighting channels.

[0142] S902: Receive echo signals of the transmitted signals through N rows of receiving channels arranged along the column direction in the array receiver.

[0143] In the embodiment of the present application, since there is a corresponding relationship between the lighting channel of the array transmitter and the receiving channel of the array receiver, when a lighting channel in the array transmitter sends a transmission signal, the echo signal of the transmission signal is received by the receiving channel corresponding to the lighting channel in the array receiver.

[0144] In one implementation, in the column direction of the array transmitter, the correspondence between the 1st to M-1th row lighting channels and the receiving channels in the column direction of the array receiver is different from the correspondence between the Mth to Nth row lighting channels and the receiving channels in the column direction of the array receiver, and M and N are both positive integers greater than 2, and M is less than N.

[0145] As an example, the correspondence between the 1st to M-1th row lighting channels and the receiving channels in the column direction of the array receiver is different from the correspondence between the Mth to Nth row lighting channels and the receiving channels in the column direction of the array receiver, including: the 1st to M-1th row lighting channels respectively correspond to the 1st to M-1th row receiving channels in the above-mentioned N rows of receiving channels, and the Mth to Nth row lighting channels respectively correspond to the M+1th to Nth row receiving channels in the above-mentioned N rows of receiving channels.

[0146] For example, the lighting channels in rows 1 to M-1 correspond to the receiving channels in rows 1 to M-1 of the N receiving channels, respectively, including: the lighting channels in rows 1 to M-1 correspond one-to-one with the receiving channels in rows 1 to M-1, that is, the lighting channel in row 1 corresponds to the receiving channel in row 1, the lighting channel in row 2 corresponds to the receiving channel in row 2, ..., the lighting channel in row j corresponds to the receiving channel in row j, ..., the lighting channel in row M-1 corresponds to the receiving channel in row M-1. The lighting channels in rows M to N correspond to the receiving channels in rows M+1 to N of the N receiving channels, respectively, including: the lighting channel in row M corresponds to the receiving channel in row M+1, the lighting channel in row M+1 corresponds to the receiving channel in row M+2, ..., the lighting channel in row N-1 corresponds to the receiving channel in row N, and the lighting channel in row N corresponds to the receiving channel in row N.

[0147] See FIG10 , which is a schematic diagram illustrating the correspondence between the lighting channels of a transmitter and the receiving channels of a receiver in a detection device provided by an embodiment of the present application. Based on the configuration shown in the mapping table in FIG6 , when it is detected that the vertical field of view of the transmitter is greater than the vertical field of view of the receiver, the correspondence between some of the lighting channels in the array transmitter and some of the receiving channels in the array receiver is changed by applying the above-mentioned compensation scheme 1 (i.e., adjusting the gating timing of the receiving channels). For example, the correspondence between the lighting channels and the receiving channels can be seen in the mapping table (1) of FIG10 .

[0148] In (1) of FIG10 , the number of lighting channels included in the transmitter is equal to the number of receiving channels included in the receiver, both being 40. Before adjustment, the 40 rows of lighting channels correspond one-to-one to the 40 rows of receiving channels, i.e., the j-th row of lighting channels corresponds to the j-th row of receiving channels. For example, if the lighting channels are illuminated using the "lighting method 1" described in S901, the transmitter has 20 light-emitting areas and the receiver has 20 corresponding receiving areas. If the energy of the echo signal received by the receiving area starting from the 12th (i.e., P=12 above) receiving area is lower than the energy lower limit, the correspondence between some lighting channels and receiving channels is changed by adjusting the selection timing of the receiving channel. Based on (1) of Figure 10, it can be seen that after this adjustment, in the column direction of the transmitter, the correspondence between the 1st to 22nd rows of lighting channels and the receiving channels in the column direction of the receiver is different from the correspondence between the 23rd to 38th rows of lighting channels and the receiving channels in the column direction of the array receiver, that is, the 1st to 22nd rows of lighting channels correspond to the 1st to 22nd rows of receiving channels respectively (satisfying that the ath row lighting channel corresponds to the ath row receiving channel, a is an integer from 1 to 22) and the 23rd to 38th rows of lighting channels correspond to the 24th to 39th rows of receiving channels (satisfying that the bth row lighting channel corresponds to the b+1th row receiving channel, b is an integer from 23 to 38).

[0149] Here, (1) of 10 is only an example of changing the correspondence between the partial lighting channel and the receiving channel by adjusting the selection timing of the receiving channel. It does not limit the difference in the row numbers corresponding to the receiving channel and the lighting channel after the correspondence is changed to only "1". It can also be "2" or other values, and no specific limitation is made here.

[0150] It is understandable that since the lighting mode of the lighting channel remains "Lighting Mode 1" as described in S901, the correspondence between some of the lighting channels of the transmitter and some of the receiving channels of the receiver has changed after this adjustment, which will also cause the row numbers of the receiving channels included in the receiving areas corresponding to some of the luminous areas to change. For example, in (1) of Figure 10, the row numbers of the receiving channels included in the 12th to 19th receiving areas have changed compared to before the adjustment.

[0151] It can be seen from (1) of Figure 10 that the ratio of the number of lighting channels included in each light-emitting area to the number of receiving channels included in the receiving area corresponding to the light-emitting area is a first value. The first value is the ratio of the total number of rows of lighting channels included in the transmitter (for example, "40") to the total number of rows of receiving channels included in the receiver (for example, "40"), and the first value is, for example, 1.

[0152] Exemplarily, the interval between two adjacent receiving areas is defined as the difference between the maximum row number of the receiving channel in the Pth receiving area and the minimum row number of the receiving channel in the first P-1th receiving area. In some possible embodiments, the interval between two adjacent receiving areas is defined as the difference between the row number of the receiving channel in the Pth receiving area and the row number of the receiving channel in the P-1th receiving area, or the distance between the centers of the Pth receiving area and the P-1th receiving area in the column direction, which is not specifically limited here. From the perspective of the interval between two adjacent receiving areas, in (1) of Figure 10, the interval between any two adjacent receiving areas in the first 11 receiving areas is the same, the interval between the 12th receiving area and the 11th receiving area is greater than the interval between the 11th receiving area and the 10th receiving area, and the interval between any two adjacent receiving areas in the 12th receiving area to the 19th receiving area is the same.

[0153] The mapping table shown in (1) of Figure 10 is applied to the scenario where the vertical field of view of the transmitter is greater than the vertical field of view of the receiver. (2) of Figure 10 shows a schematic diagram of the vertical field of view of the luminous area and the vertical field of view of the receiving area when the vertical field of view of the transmitter is greater than the vertical field of view of the receiver. In (1) of Figure 10, the 12th luminous area includes the 23rd row of lighting channels and the 24th row of lighting channels. Before adjustment, the 12th receiving area includes the 23rd row of receiving channels and the 24th row of receiving channels. After adjustment, the correspondence between the lighting channels and the receiving channels changes, so that the 12th receiving area includes the 24th row of receiving channels and the 25th row of receiving channels. It can be seen that the degree of matching between the vertical field of view of the 12th luminous area and the vertical field of view of the 12th receiving area is much higher than before adjustment, so that the received energy of the 12th receiving area can exceed the energy lower limit. This can solve the problem of mismatch between the transmitting and receiving fields of view of the Flash LiDAR to a certain extent.

[0154] Here, the embodiment of the present application does not limit the number of adjustments. The mapping table (1) of Figure 10 is the result after performing one adjustment. After this adjustment, if the receiving energy of each receiving area in the 20 receiving areas is not lower than the energy lower limit, the process ends. In some possible embodiments, it is also possible that after this adjustment, only the first 16 receiving areas in the 20 receiving areas meet the requirement that the receiving energy of each receiving area is not lower than the energy lower limit, then a second adjustment can be performed from the 17th receiving area, which means that in the column direction of the transmitter, the correspondence between the lighting channels of rows 1 to 22 and the receiving channels and the correspondence between the lighting channels of rows 23 to 32 and the receiving channels may be different, and the correspondence between the lighting channels of rows 23 to 32 and the receiving channels and the correspondence between the lighting channels of rows 33 to 40 and the receiving channels may be different. For example, when performing multiple adjustments, it is not limited to the same compensation scheme applied in each adjustment.

[0155] For another example, the lighting channels in rows 1 to M-1 correspond to the receiving channels in rows 1 to M-1 of the N receiving channels, including: the lighting channels in rows 1 to M-1 correspond one-to-one to the receiving channels in rows 1 to M-1, that is, the lighting channel in row j corresponds to the receiving channel in row j, where j is an integer from 1 to M-1. The lighting channels in rows M to N correspond to the receiving channels in rows M+1 to N of the N receiving channels, including: the lighting channel in row M corresponds to the receiving channels in rows (M+1) and (M+2), the lighting channel in row M+1 corresponds to the receiving channels in rows (M+2) and (M+3), ..., the lighting channel in row N-2 corresponds to the receiving channels in rows (N-1) and N, the lighting channel in row N-1 corresponds to the receiving channels in rows (N-2) and (N-1), and the lighting channel in row N corresponds to the receiving channels in rows (N-1) and N.

[0156] Referring to FIG. 11 , FIG. 11 is a schematic diagram illustrating the correspondence between the lighting channels of a transmitter and the receiving channels of a receiver within another detection device provided in an embodiment of the present application. Based on the configuration shown in the mapping table in FIG. 6 , when the vertical field of view of the transmitter is greater than the vertical field of view of the receiver, the correspondence between some of the lighting channels in the array transmitter and some of the receiving channels in the array receiver is changed by applying the above-described compensation schemes 1 and 4. The correspondence between the lighting channels and the receiving channels can be seen, for example, in the mapping table shown in (1) of FIG. 11 .

[0157] In (1) of FIG11 , by adjusting the selection timing of the receiving channel, the correspondence between some of the lighting channels and the receiving channels is changed. It can be seen that, in the column direction of the transmitter, the correspondence between the lighting channels in rows 1 to 22 and the receiving channels in the column direction of the receiver is different from the correspondence between the lighting channels in rows 23 to 40 and the receiving channels in the column direction of the receiver. For example, the lighting channels in rows 1 to 22 correspond to the receiving channels in rows 1 to 22, respectively. Specifically, the lighting channels in row a correspond to the receiving channels in row a, where a is an integer from 1 to 22; the lighting channels in rows 23 to 40 correspond to the receiving channels in rows 24 to 40, where the lighting channels in row b correspond to the receiving channels in rows b+1 and b+2, where b is an integer from 23 to 38, the lighting channels in row 39 correspond to the receiving channels in rows 38 and 39, and the lighting channels in row 40 correspond to the receiving channels in rows 39 and 40.

[0158] For example, if the 23rd and 24th rows of lighting channels are simultaneously illuminated to form the 12th luminous area, the 23rd row of lighting channels corresponds to the 24th and 25th rows of receiving channels, and the 24th row of lighting channels corresponds to the 25th and 26th rows of receiving channels, then the 12th receiving area corresponding to the 12th luminous area includes the 24th, 25th, and 26th rows of receiving channels. The ratio of the number of lighting channels included in the 12th luminous area to the number of receiving channels included in the 12th receiving area is less than the first value.

[0159] Furthermore, when the detection device is in operation, the "lighting method 1" described in S901 is used to light the 1st to 22nd rows of lighting channels of the transmitter to form 11 light-emitting areas, please refer to the first 11 light-emitting areas in (1) of Figure 11, and based on the correspondence between the above-mentioned 1st to 22nd rows of lighting channels and the 1st to 22nd rows of receiving channels, 11 receiving areas are formed, please refer to the first 11 receiving areas in (1) of Figure 11 (the number of receiving channels included in each receiving area is 2); the "lighting method 2" described in S901 is used to light the 23rd to 40th rows of lighting channels of the transmitter to form 9 light-emitting areas, please refer to the 12th to 20th light-emitting areas in (1) of Figure 11, and based on the correspondence between the above-mentioned 23rd to 40th rows of lighting channels and the 24th to 40th rows of receiving channels, 9 receiving areas are formed, please refer to the 12th to 20th receiving areas in (1) of Figure 11 (the number of receiving channels included in each receiving area is 3).

[0160] In addition, the mapping table shown in (1) of FIG11 is applied to a scenario where the vertical field of view of the transmitter is greater than the vertical field of view of the receiver. (2) of FIG11 shows a schematic diagram of the vertical field of view of the luminous area and the vertical field of view of the receiving area when the vertical field of view of the transmitter is greater than the vertical field of view of the receiver. In (2) of FIG11, the 12th luminous area includes the 23rd row of lighting channels and the 24th row of lighting channels. Before adjustment, the 12th receiving area includes the 23rd row of receiving channels and the 24th row of receiving channels. After adjustment, the correspondence between the lighting channels and the receiving channels changes, so that the 12th receiving area includes the 24th row of receiving channels, the 25th row of receiving channels, and the 26th row of receiving channels after adjustment, so that the vertical field of view of the 12th receiving area is greater than the vertical field of view of the 12th luminous area. In this way, the 12th receiving area can fully receive the energy emitted by the 12th luminous area, which is beneficial to improving the power of the system and improving the detection performance of the Flash laser radar.

[0161] As an example, the correspondence between the 1st to M-1st rows of lighting channels and the receiving channels in the column direction of the array receiver is different from the correspondence between the Mth to Nth rows of lighting channels and the receiving channels in the column direction of the array receiver, including: the 1st to M-1st rows of lighting channels respectively correspond to the 1st to M-1st rows of receiving channels in the above-mentioned N rows of receiving channels, and the Mth to Nth rows of lighting channels respectively correspond to the M-1th to N-1th rows of receiving channels in the above-mentioned N rows of receiving channels.

[0162] For example, the 1st to M-1st rows of lighting channels correspond to the 1st to M-1st rows of receiving channels in the N rows of receiving channels, including: the 1st to M-1st rows of lighting channels correspond to the 1st row of receiving channels, the 2nd row of lighting channels correspond to the 2nd row of receiving channels, ..., the jth row of lighting channels corresponds to the jth row of receiving channels, ..., the M-1th row of lighting channels corresponds to the M-1th row of receiving channels. The Mth to Nth rows of lighting channels correspond to the M-1th to N-1th rows of receiving channels in the N rows of receiving channels, including: the Mth row of lighting channels corresponds to the M-1th row of receiving channels, the M+1th row of lighting channels corresponds to the Mth row of receiving channels, ..., the N-1th row of lighting channels corresponds to the N-2th row of receiving channels, and the Nth row of lighting channels corresponds to the N-1th row of receiving channels.

[0163] See FIG12, which is a schematic diagram illustrating the correspondence between the lighting channels of a transmitter and the receiving channels of a receiver in another detection device provided by an embodiment of the present application. Based on the configuration shown in the mapping table in FIG6, when the vertical field of view of the transmitter is smaller than the vertical field of view of the receiver, the correspondence between some of the lighting channels in the array transmitter and some of the receiving channels in the array receiver is changed by applying the above-mentioned compensation scheme 1 (i.e., adjusting the gating timing of the receiving channels). For example, the correspondence between the lighting channels and the receiving channels can be seen in the mapping table (1) of FIG12.

[0164] In (1) of FIG12 , before adjustment, the 40 rows of lighting channels of the transmitter correspond one-to-one with the 40 rows of receiving channels of the receiver, i.e., the jth row of lighting channels corresponds to the jth row of receiving channels. The lighting channels are illuminated using "Lighting Method 1" described in S901. The 20 light-emitting areas of the transmitter and the 20 receiving areas of the receiver can be seen in (1) of FIG12 . If the energy of the echo signal received by the receiving area from the 12th receiving area (i.e., P=12 above) is lower than the energy lower limit, the correspondence between some of the lighting channels and the receiving channels is changed by adjusting the selection timing of the receiving channels. Based on (1) of Figure 12, it can be seen that after this adjustment, in the column direction of the transmitter, the correspondence between the 1st to 22nd rows of lighting channels and the receiving channels in the column direction of the receiver is different from the correspondence between the 23rd to 40th rows of lighting channels and the receiving channels in the column direction of the array receiver, that is, the 1st to 22nd rows of lighting channels correspond to the 1st to 22nd rows of receiving channels respectively (satisfying that the ath row lighting channel corresponds to the ath row receiving channel, a is an integer from 1 to 22) and the 23rd to 40th rows of lighting channels correspond to the 22nd to 39th rows of receiving channels (satisfying that the bth row lighting channel corresponds to the b-1th row receiving channel, b is an integer from 23 to 40).

[0165] Here, (1) in Figure 11 is only an example of changing the correspondence between the partial lighting channel and the receiving channel by adjusting the selection timing of the receiving channel. It does not limit the difference in the row numbers corresponding to the receiving channel and the lighting channel after the correspondence is changed to only "-1". It can also be "-2" or other values, which is not specifically limited here.

[0166] It is understandable that since the lighting mode of the lighting channel remains "Lighting Mode 1" as described in S901, the correspondence between some of the lighting channels of the transmitter and some of the receiving channels of the receiver has changed after this adjustment, which will also cause the row numbers of the receiving channels included in the receiving areas corresponding to some of the luminous areas to change. For example, in (1) of Figure 12, the row numbers of the receiving channels included in the 12th to 20th receiving areas have changed compared to before the adjustment.

[0167] From the perspective of the interval between two adjacent receiving areas, in (1) of Figure 12, after adjustment, the interval between any two adjacent receiving areas in the first 11 receiving areas is the same, the interval between the 12th receiving area and the 11th receiving area is smaller than the interval between the 11th receiving area and the 10th receiving area, and the interval between any two adjacent receiving areas from the 12th receiving area to the 20th receiving area is the same.

[0168] The mapping table shown in (1) of Figure 12 can be applied to the scenario where the vertical field of view of the transmitter is smaller than the vertical field of view of the receiver. (2) of Figure 12 shows a schematic diagram of the vertical field of view of the luminous area and the vertical field of view of the receiving area when the vertical field of view of the transmitter is smaller than the vertical field of view of the receiver. In (2) of Figure 12, the 12th luminous area includes the 23rd row of lighting channels and the 24th row of lighting channels. Before adjustment, the 12th receiving area includes the 23rd row of receiving channels and the 24th row of receiving channels. After adjusting the selection timing of the receiving channels, the correspondence between the lighting channels and the receiving channels changes, so that the 12th receiving area includes the 22nd row of receiving channels and the 23rd row of receiving channels. It can be seen that the degree of matching between the vertical field of view of the 12th luminous area and the vertical field of view of the 12th receiving area is much higher than before adjustment, so that the received energy of the 12th receiving area can be higher than the energy lower limit. This can solve the problem of mismatch between the transmitting and receiving fields of view of the Flash laser radar to a certain extent.

[0169] The mapping table (1) in FIG12 is the result of performing one adjustment. The embodiment of the present application does not limit the number of adjustments, nor does it limit the compensation scheme applied in each adjustment to be the same.

[0170] In some possible embodiments, when the vertical field of view of the transmitter is smaller than the vertical field of view of the receiver, in addition to using compensation scheme 1 (i.e., adjusting the gating timing of the receiving channel) to perform the adjustment shown in (1) of Figure 12, compensation scheme 1 and compensation scheme 4 can also be combined (i.e., increasing the number of receiving channels that are simultaneously turned on) to change the correspondence between some lighting channels and some receiving channels. For example, in (1) of Figure 12, taking the 23rd row of lighting channels and the 24th row of lighting channels as an example, compensation scheme 1 is applied so that the 23rd row of lighting channels corresponds to the 22nd row of receiving channels, and the 24th row of lighting channels corresponds to the 23rd row of receiving channels. Assuming that compensation schemes 1 and 4 are applied so that the 23rd row of lighting channels corresponds to the 22nd and 23rd rows of receiving channels, and the 24th row of lighting channels corresponds to the 23rd and 24th rows of receiving channels, accordingly, the 23rd and 24th rows of lighting channels are simultaneously illuminated to form the 12th luminous area. Then, the 12th receiving area corresponding to the 12th luminous area includes the 22nd, 23rd, and 24th rows of receiving channels, achieving a vertical field of view angle of the 12th receiving area greater than the vertical field of view angle of the 12th luminous area. In this way, the 12th receiving area can fully receive the energy emitted by the 12th luminous area, which is beneficial to improving the system power and the detection performance of the Flash LiDAR. It can be seen that the above compensation scheme 4 is not only applicable to scenarios where the vertical field of view angle of the array transmitter is smaller than the vertical field of view angle of the array receiver, but also applicable to scenarios where the vertical field of view angle of the array transmitter is larger than the vertical field of view angle of the array receiver.

[0171] In another implementation, in the column direction of the array receiver, the correspondence between the 1st to M-1th rows of receiving channels and the lighting channels in the column direction of the array transmitter is different from the correspondence between the Mth to Nth rows of receiving channels and the lighting channels in the column direction of the array transmitter, and M and N are both positive integers greater than 2, and M is less than N.

[0172] As an example, the correspondence between the 1st to M-1th rows of receiving channels and the lighting channels in the column direction of the array transmitter is different from the correspondence between the Mth to Nth rows of receiving channels and the lighting channels in the column direction of the array transmitter, including: the 1st to M-1th rows of receiving channels respectively correspond to the 1st to M-1th rows of lighting channels in the above-mentioned N rows of lighting channels, and the Mth to Nth rows of receiving channels respectively correspond to the M-1th to N-1th rows of lighting channels in the above-mentioned N rows of lighting channels.

[0173] For example, the 1st to M-1st rows of receiving channels correspond to the 1st to M-1st rows of lighting channels in the N rows of lighting channels, including: the 1st to M-1st rows of receiving channels correspond to the 1st to M-1st rows of lighting channels one-to-one, that is, the jth row of receiving channels corresponds to the jth row of lighting channels, where j is an integer from 1 to M-1. The Mth to Nth rows of receiving channels correspond to the M-1st to N-1th rows of lighting channels in the N rows of lighting channels, including: the Mth row of receiving channels corresponds to the M-1th row of lighting channels, the M+1th row of receiving channels corresponds to the Mth row of lighting channels, ..., the N-1th row of receiving channels corresponds to the N-2th row of lighting channels, and the Nth row of receiving channels corresponds to the N-1th row of lighting channels.

[0174] Referring to FIG. 13 , FIG. 13 is a schematic diagram illustrating the correspondence between the lighting channels in a transmitter and the receiving channels in a receiver in another detection device provided in an embodiment of the present application. Based on the configuration shown in the mapping table in FIG. 6 , when it is detected that the vertical field of view of the transmitter is greater than the vertical field of view of the receiver, the correspondence between some of the lighting channels in the array transmitter and some of the receiving channels in the array receiver is changed by applying the above-mentioned compensation scheme 2 (i.e., adjusting the lighting timing of the lighting channels). For example, the correspondence between the lighting channels and the receiving channels can be seen in the mapping table (1) of FIG. 13 .

[0175] In (1) of FIG13 , by adjusting the lighting timing of the lighting channels to change the correspondence between some lighting channels and receiving channels, it can be seen that, in the column direction of the receiver, the correspondence between the 1st to 22nd rows of receiving channels and the lighting channels in the column direction of the transmitter is different from the correspondence between the 23rd to 40th rows of receiving channels and the lighting channels in the column direction of the transmitter. For example, the 1st to 22nd rows of receiving channels correspond to the 1st to 22nd rows of lighting channels, respectively, specifically satisfying that the ath row of receiving channels corresponds to the ath row of lighting channels, where a is an integer from 1 to 22; the 23rd to 40th rows of receiving channels correspond to the 22nd to 39th rows of lighting channels, where the bth row of receiving channels corresponds to the b-1th row of lighting channels, where b is an integer from 23 to 40.

[0176] Here, (1) of 13 is only an example of changing the correspondence between some lighting channels and receiving channels by adjusting the selection timing of the lighting channels. It does not limit the difference in the row numbers corresponding to the receiving channels and the lighting channels after the correspondence is changed to only "1". It can also be "2" or other values, and no specific limitation is made here.

[0177] For example, when the detection device is in operation, the "lighting method 1" described in S901 is used to light up the 1st to 22nd rows of lighting channels of the transmitter to form 11 light-emitting areas, please refer to the first 11 light-emitting areas in (1) of Figure 13, and based on the correspondence between the above-mentioned 1st to 22nd rows of lighting channels and the 1st to 22nd rows of receiving channels, 11 receiving areas are formed, please refer to the first 11 receiving areas in (1) of Figure 13; the lighting timing of the lighting channels is adjusted, and the "lighting method 1" described in S901 is continued to be used to light up the 22nd to 39th rows of lighting channels of the transmitter to form 9 light-emitting areas, please refer to the 12th to 20th light-emitting areas in (1) of Figure 13, and based on the correspondence between the above-mentioned 22nd to 39th rows of lighting channels and the 23rd to 40th rows of receiving channels, 9 receiving areas are formed, please refer to the 12th to 20th receiving areas in (1) of Figure 13.

[0178] Exemplarily, the interval between two adjacent light-emitting areas is defined as the difference between the maximum row number of the lighting channel in the P-th light-emitting area and the minimum row number of the lighting channel in the first P-1 light-emitting area. In some possible embodiments, the interval between two adjacent light-emitting areas is defined as the difference between the row number of the lighting channel in the P-th light-emitting area and the row number of the lighting channel in the P-1-th light-emitting area, or the distance between the centers of the P-th light-emitting area and the P-1-th light-emitting area in the column direction, which is not specifically limited here. From the perspective of the interval between two adjacent light-emitting areas, in (1) of Figure 13, after adjustment, the interval between any two adjacent light-emitting areas in the first 11 light-emitting areas is the same, the interval between the 12th light-emitting area and the 11th light-emitting area is smaller than the interval between the 11th light-emitting area and the 10th light-emitting area, and the interval between any two adjacent light-emitting areas in the 12th light-emitting area to the 20th light-emitting area is the same.

[0179] The mapping table (1) in FIG13 is the result of performing one adjustment. The embodiment of the present application does not limit the number of adjustments, nor does it limit the compensation scheme applied in each adjustment to be the same.

[0180] The mapping table shown in (1) of Figure 13 can be applied to the scenario where the vertical field of view of the transmitter is greater than the vertical field of view of the receiver. (2) of Figure 13 shows a schematic diagram of the vertical field of view of the luminous area and the vertical field of view of the receiving area when the vertical field of view of the transmitter is greater than the vertical field of view of the receiver. In (2) of Figure 13, the 12th receiving area includes the 23rd row of receiving channels and the 24th row of receiving channels. Before adjustment, the 12th luminous area includes the 23rd row of lighting channels and the 24th row of lighting channels. After adjusting the lighting sequence of the lighting channels, the correspondence between the lighting channels and the receiving channels changes, so that the 12th luminous area includes the 22nd row of lighting channels and the 23rd row of lighting channels. It can be seen that the degree of matching between the vertical field of view of the 12th luminous area and the vertical field of view of the 12th receiving area is much higher than before adjustment, so that the received energy of the 12th receiving area can be higher than the energy lower limit. This can solve the problem of mismatch between the transmitting and receiving fields of view of the Flash laser radar.

[0181] For another example, the correspondence between the 1st to M-1th rows of receiving channels and the lighting channels in the column direction of the array transmitter is different from the correspondence between the Mth to Nth rows of receiving channels and the lighting channels in the column direction of the array transmitter, including: the 1st to M-1th rows of receiving channels respectively correspond to the 1st to M-1th rows of lighting channels among the above-mentioned N rows of lighting channels, and the Mth to Nth rows of receiving channels respectively correspond to the M-1th to Nth rows of lighting channels among the above-mentioned N rows of lighting channels. Among them, the 1st to M-1th rows of receiving channels correspond to the 1st to M-1th rows of lighting channels in the above-mentioned N rows of lighting channels, including: the 1st to M-1th rows of receiving channels correspond one-to-one to the 1st to M-1th rows of lighting channels, that is, the jth row of receiving channels corresponds to the jth row of lighting channels, j is an integer from 1 to M-1; the Mth to Nth rows of receiving channels correspond to the M-1th to Nth rows of lighting channels in the above-mentioned N rows of lighting channels, including: the Mth row of receiving channels corresponds to the (M-1)th and Mth row of lighting channels, the M+1th row of receiving channels corresponds to the Mth and (M+1)th row of lighting channels,…, the N-2th row of receiving channels corresponds to the (N-3)th and (N-2)th row of lighting channels, the N-1th row of receiving channels corresponds to the (N-2)th and (N-1)th row of lighting channels, and the Nth row of receiving channels corresponds to the (N-1)th and Nth row of lighting channels.

[0182] Referring to FIG. 14 , FIG. 14 is a schematic diagram illustrating the correspondence between the lighting channels of a transmitter and the receiving channels of a receiver within another detection device provided in an embodiment of the present application. Based on the configuration shown in the mapping table in FIG. 6 , when the vertical field of view of the transmitter is greater than the vertical field of view of the receiver, the correspondence between some of the lighting channels in the array transmitter and some of the receiving channels in the array receiver is changed by applying the above-described compensation schemes 2 and 3. The correspondence between the lighting channels and the receiving channels can be seen, for example, in the mapping table shown in (1) of FIG. 14 .

[0183] In (1) of FIG14 , by adjusting the lighting sequence of the lighting channels to change the correspondence between some lighting channels and receiving channels, it can be seen that, in the column direction of the receiver, the correspondence between the 1st to 22nd rows of receiving channels and the lighting channels in the column direction of the transmitter is different from the correspondence between the 23rd to 40th rows of receiving channels and the lighting channels in the column direction of the transmitter. For example, the 1st to 22nd rows of receiving channels correspond to the 1st to 22nd rows of lighting channels, respectively, specifically satisfying that the ath row of receiving channels corresponds to the ath row of lighting channels, where a is an integer from 1 to 22; the 23rd to 40th rows of receiving channels correspond to the 22nd to 40th rows of lighting channels, where the bth row of receiving channels corresponds to the b-1st and bth rows of lighting channels, where b is an integer from 23 to 40. For example, the 23rd row of receiving channels corresponds to the 22nd and 23rd rows of lighting channels, and the 24th row of receiving channels corresponds to the 23rd and 24th rows of lighting channels. Accordingly, the 22nd, 23rd and 24th rows of lighting channels are lit at the same time to form the 12th light-emitting area. The 12th receiving area corresponding to the 12th light-emitting area includes the 23rd and 24th rows of receiving channels.

[0184] For example, if two adjacent rows of receiving channels are selected each time to form a receiving area, the 40 rows of receiving channels of the receiver can form 20 receiving areas. Based on the correspondence between the above-mentioned receiving channels and the lighting channels, the transmitter also has 20 light-emitting areas, as shown in (1) of Figure 14. In (1) of Figure 14, after adjustment, since the correspondence between the 1st to 22nd rows of receiving channels and the lighting channels in the column direction of the transmitter is different from the correspondence between the 23rd to 40th rows of receiving channels and the lighting channels in the column direction of the transmitter, the number of lighting channels included in each of the first 11 light-emitting areas is 2, and the number of lighting channels included in each of the last 9 light-emitting areas is 3. In addition, starting from i=12, the ratio of the number of lighting channels included in the i-th light-emitting area to the number of receiving channels included in the i-th receiving area is greater than the above-mentioned first value.

[0185] The mapping table shown in (1) of FIG14 is applied to a scenario where the vertical field of view of the transmitter is greater than the vertical field of view of the receiver. (2) of FIG14 shows a schematic diagram of the vertical field of view of the luminous area and the vertical field of view of the receiving area when the vertical field of view of the transmitter is greater than the vertical field of view of the receiver. In (2) of FIG14, the 12th receiving area includes the 23rd row of receiving channels and the 24th row of receiving channels. Before adjustment, the 12th luminous area includes the 23rd row of lighting channels and the 24th row of lighting channels. After adjustment, the correspondence between the lighting channels and the receiving channels changes, so that the 12th luminous area includes the 22nd row of lighting channels, the 23rd row of lighting channels, and the 24th row of lighting channels, so that the vertical field of view of the 12th luminous area is greater than the vertical field of view of the 12th receiving area. The more energy the luminous area emits, the more energy the receiving area receives, thereby improving the detection performance of the Flash laser radar.

[0186] As an example, the correspondence between the 1st to M-1th rows of receiving channels and the lighting channels in the column direction of the array transmitter is different from the correspondence between the Mth to Nth rows of receiving channels and the lighting channels in the column direction of the array transmitter, including: the 1st to M-1th rows of receiving channels respectively correspond to the 1st to M-1th rows of lighting channels in the above-mentioned N rows of lighting channels, and the Mth to Nth rows of receiving channels respectively correspond to the M+1th to Nth rows of lighting channels in the above-mentioned N rows of lighting channels.

[0187] For example, the 1st to M-1st rows of receiving channels correspond to the 1st to M-1st rows of lighting channels in the N rows of lighting channels, including: the 1st to M-1st rows of receiving channels correspond to the 1st to M-1st rows of lighting channels one-to-one, that is, the jth row of receiving channels corresponds to the jth row of lighting channels, where j is an integer from 1 to M-1. The Mth to Nth rows of receiving channels correspond to the M+1th to Nth rows of lighting channels in the N rows of lighting channels, including: the Mth row of receiving channels corresponds to the M+1th row of lighting channels, the M+1th row of receiving channels corresponds to the M+2th row of lighting channels, ..., the N-1th row of receiving channels corresponds to the Nth row of lighting channels, and the Nth row of receiving channels corresponds to the Nth row of lighting channels.

[0188] See FIG15 , which is a schematic diagram illustrating the correspondence between the lighting channels of a transmitter and the receiving channels of a receiver in another detection device provided by an embodiment of the present application. Based on the configuration shown in the mapping table in FIG6 , when it is detected that the vertical field of view of the transmitter is smaller than the vertical field of view of the receiver, the correspondence between some of the lighting channels in the array transmitter and some of the receiving channels in the array receiver is changed by applying the above-mentioned compensation scheme 2 (i.e., adjusting the lighting timing of the lighting channels). For example, the correspondence between the lighting channels and the receiving channels can be seen in the mapping table (1) of FIG15 .

[0189] In (1) of FIG15 , the correspondence between some of the lighting channels and the receiving channels is changed by adjusting the lighting timing of the lighting channels. It can be seen that in the column direction of the receiver, the receiving channels in rows 1 to 22 correspond to the lighting channels in rows 1 to 22 respectively, specifically satisfying that the receiving channels in row a correspond to the lighting channels in row a, where a is an integer from 1 to 22; the receiving channels in rows 23 to 39 correspond to the lighting channels in rows 24 to 40, where the receiving channels in row b correspond to the lighting channels in row b+1, where b is an integer from 23 to 39; and the receiving channels in row 40 correspond to the lighting channels in row 40. Here, (1) of FIG15 is only an example of changing the correspondence between some of the lighting channels and the receiving channels by adjusting the strobe timing of the receiving channels, and does not limit the difference in the row numbers corresponding to the receiving channels and the lighting channels after the correspondence is changed to only "-1", but can also be "-2" or other values, which are not specifically limited here.

[0190] Exemplarily, when the detection device is in operation, the "lighting method 1" described in S901 is used to light up the 1st to 22nd rows of lighting channels of the transmitter to form 11 light-emitting areas, see the first 11 light-emitting areas in (1) of Figure 15, and based on the correspondence between the above-mentioned 1st to 22nd rows of lighting channels and the 1st to 22nd rows of receiving channels, 11 receiving areas are formed, see the first 11 receiving areas in (1) of Figure 15; adjust the lighting timing of the lighting channel, skip the 23rd row of lighting channels, and continue to use the above-mentioned "lighting method 1" to light up the 24th to 40th rows of lighting channels of the transmitter to form 9 light-emitting areas, see the 12th to 20th light-emitting areas in (1) of Figure 15, and based on the correspondence between the above-mentioned 22nd to 39th rows of lighting channels and the 23rd to 40th rows of receiving channels, 9 receiving areas are formed, see the 12th to 20th receiving areas in (1) of Figure 15.

[0191] From the perspective of the spacing between two adjacent light-emitting areas, in FIG15 (1), after adjustment, the spacing between any two adjacent light-emitting areas in the first 11 light-emitting areas is the same, and the spacing between the 12th light-emitting area and the 11th light-emitting area is larger than the spacing between the 11th light-emitting area and the 10th light-emitting area. The mapping table in FIG15 (1) is the result of performing a single adjustment. The embodiment of the present application does not limit the number of adjustments that can be performed, nor does it limit the compensation scheme applied to each adjustment to the same one.

[0192] The mapping table shown in (1) of Figure 15 can be applied to the scenario where the vertical field of view of the transmitter is smaller than the vertical field of view of the receiver. (2) of Figure 15 shows a schematic diagram of the vertical field of view of the luminous area and the vertical field of view of the receiving area when the vertical field of view of the transmitter is smaller than the vertical field of view of the receiver. In (2) of Figure 15, the 12th receiving area includes the 23rd row of receiving channels and the 24th row of receiving channels. Before adjustment, the 12th luminous area includes the 23rd row of lighting channels and the 24th row of lighting channels. After adjusting the lighting sequence of the lighting channels, the correspondence between the lighting channels and the receiving channels changes, and the 12th luminous area includes the 24th row of lighting channels and the 25th row of lighting channels. It can be seen that the degree of matching between the vertical field of view of the 12th luminous area and the vertical field of view of the 12th receiving area is much higher than before adjustment, so that the received energy of the 12th receiving area can be higher than the energy lower limit. This can solve the problem of mismatch between the transmitting and receiving fields of view of the Flash laser radar.

[0193] In some possible embodiments, when the vertical field of view of the transmitter is smaller than the vertical field of view of the receiver, in addition to using compensation scheme 2 (i.e., adjusting the lighting timing of the lighting channels) to perform the adjustment shown in (1) of Figure 15, compensation scheme 2 and compensation scheme 3 can also be combined (i.e., increasing the number of lighting channels that are lit simultaneously) to change the correspondence between some lighting channels and some receiving channels. For example, in (1) of Figure 15, taking the 23rd row of receiving channels and the 24th row of receiving channels as an example, compensation scheme 2 is applied so that the 23rd row of receiving channels corresponds to the 24th row of lighting channels, and the 24th row of receiving channels corresponds to the 25th row of lighting channels. Assuming that compensation schemes 2 and 3 are applied so that the 23rd row of receiving channels corresponds to the 23rd and 24th rows of lighting channels, and the 24th row of receiving channels corresponds to the 24th and 25th rows of lighting channels, the 23rd, 24th, and 25th rows of lighting channels are simultaneously illuminated to form the 12th luminous area. Then, the 12th receiving area corresponding to the 12th luminous area includes the 23rd and 24th rows of receiving channels, achieving a vertical field of view of the 12th luminous area greater than that of the 12th receiving area. This helps increase system power and improves the detection performance of the Flash LiDAR. It can be seen that the above compensation scheme 3 is applicable not only to scenarios where the vertical field of view of the array transmitter is smaller than that of the array receiver, but also to scenarios where the vertical field of view of the array transmitter is larger than that of the array receiver.

[0194] In the embodiment shown in FIG9 , based on a multi-channel transmitter and a multi-channel receiver, the problem of mismatch between the transmit and receive fields of view of the Flash LiDAR can be solved to a certain extent without adding additional costs, which is beneficial to improving the detection performance of the LiDAR. For example, by adjusting the lighting timing of the lighting channels or adjusting the selection timing of the receiving channels to change the correspondence between some lighting channels in the transmitter and some receiving channels in the receiver, the matching degree between the transient vertical field of view of the transmitter and the transient vertical field of view of the receiver can be improved, thereby improving the detection efficiency of the receiver. For another example, by increasing the number of lighting channels that are lit at the same time or increasing the number of receiving channels that are turned on at the same time to change the correspondence between some lighting channels in the transmitter and some receiving channels in the receiver, it is beneficial to increase the power of the system and improve the detection performance of the LiDAR.

[0195] In some possible embodiments, the above-mentioned compensation scheme 3 (i.e., increasing the number of lighting channels that are lit at the same time) or compensation scheme 4 (increasing the number of receiving channels that are turned on at the same time) can also be applied when the lidar is initialized and enabled. See Figure 16, which is a flow chart of another detection method provided by an embodiment of the present application. The method can be applied to a detection device including an array transmitter and an array receiver (such as the detection device 10 shown in Figure 1), the array transmitter includes A rows of lighting channels, the array receiver includes B rows of receiving channels, and A and B are both positive integers. Exemplarily, A is equal to B, or A is a multiple of B. The method includes but is not limited to the following steps:

[0196] S1601: transmitting signals in sequence through S light-emitting areas arranged along the column direction in the array transmitter.

[0197] Each of the S light-emitting areas includes multiple adjacent rows of lighting channels, and the lighting channels in the light-emitting area belong to the above-mentioned A row of lighting channels.

[0198] In one implementation, a transmission signal is sequentially emitted through S light-emitting areas arranged along a column direction in an array transmitter, including: in the column direction of the array transmitter, a transmission signal is sequentially emitted through the first light-emitting area, a transmission signal is emitted through the second light-emitting area, ..., a transmission signal is emitted through the Sth light-emitting area.

[0199] S1602: Receive echo signals of the transmitted signal through S receiving areas arranged along the column direction in the array receiver.

[0200] The i-th light-emitting area among the S light-emitting areas corresponds to the i-th receiving area among the S receiving areas. Here, i and S are both positive integers, i is less than or equal to S, and S is less than A.

[0201] In one implementation, the ratio of the number of lighting channels included in the i-th light-emitting area to the number of receiving channels included in the i-th receiving area is greater than the ratio of A to B.

[0202] As an example, the lighting channels included in any two adjacent light-emitting areas among the S light-emitting areas are repeated.

[0203] See Figure 17, which is a schematic diagram illustrating the correspondence between the lighting channels of a light-emitting area in a transmitter and the receiving channels of a receiving area in a receiver, according to an embodiment of the present application. The mapping table shown in Figure 17 is an example of an implementation of compensation scheme 3 (i.e., increasing the number of simultaneously illuminated lighting channels) based on the mapping table shown in Figure 6.

[0204] From the description of FIG6 above, it can be seen that the array transmitter includes 40 rows of lighting channels and the array receiver includes 40 rows of receiving channels, then the ratio of A to B is "1". Exemplarily, along the column direction of the array transmitter, multiple rows of lighting channels are simultaneously lit each time to form a light-emitting area. As shown in the mapping table in FIG17 , the array transmitter includes 20 light-emitting areas and 20 receiving areas, wherein the i-th light-emitting area corresponds to the i-th receiving area, and i is an integer from 1 to 20. In FIG17 , the number of lighting channels included in each light-emitting area is 4, and in the column direction of the array transmitter, the lighting channels included in two adjacent light-emitting areas are repeated. For example, the first light-emitting area and the second light-emitting area both include the second, third and fourth rows of lighting channels, and the second light-emitting area and the third light-emitting area both include the fourth and fifth rows of lighting channels. The number of receiving channels included in each receiving area is 2. As shown in Figure 17, the ratio of the number of illumination channels in the i-th luminous area to the number of receiving channels in the i-th receiving area is 2, which is greater than the ratio of A to B (1). Furthermore, the vertical field of view of the i-th luminous area is greater than that of the i-th receiving area. This helps increase system power and improves the detection performance (e.g., range finding) of the Flash LiDAR.

[0205] The mapping table shown in the above Figure 17 is only an example of the correspondence between the lighting channels of the light-emitting area and the receiving channels of the receiving area after applying compensation scheme 3 (i.e., increasing the number of lighting channels that are lit at the same time). It does not limit the number of lighting channels included in the light-emitting area to only "4", does not limit the number of lighting channels included in each light-emitting area to be the same, and does not limit the number of receiving channels included in each receiving area to be the same.

[0206] In one implementation, the ratio of the number of lighting channels included in the i-th light-emitting area to the number of receiving channels included in the i-th receiving area is less than the ratio of A to B.

[0207] As an example, any two adjacent receiving areas among the S receiving areas may include overlapping receiving channels.

[0208] Referring to Figure 18 , which is a schematic diagram illustrating the correspondence between the lighting channels of a light-emitting area in a transmitter and the receiving channels of a receiving area in a receiver, according to another embodiment of the present application. The mapping information shown in Figure 18 is, for example, an example of implementing compensation scheme 4 (i.e., increasing the number of simultaneously enabled receiving channels) based on the mapping table shown in Figure 6 .

[0209] From the description of FIG6 above, it can be seen that the array transmitter includes 40 rows of lighting channels and the array receiver includes 40 rows of receiving channels, so the ratio of A to B is "1". For example, along the column direction of the array transmitter, multiple rows of lighting channels are simultaneously lit each time to form a light-emitting area. As shown in the mapping table in FIG18, the array transmitter includes 20 light-emitting areas and 20 receiving areas, wherein the i-th light-emitting area corresponds to the i-th receiving area, and i is an integer from 1 to 20. In FIG18, the number of lighting channels included in each light-emitting area is 2, and the number of receiving channels included in each receiver is 4, and in the column direction of the array receiver, the receiving channels included in two adjacent receiving areas are repeated. For example, the first receiving area and the second receiving area both include the second, third, and fourth rows of receiving channels, and the second receiving area and the third receiving area both include the fourth and fifth rows of receiving channels. As shown in Figure 18, the ratio of the number of illumination channels in the i-th luminous area to the number of receiving channels in the i-th receiving area is 0.5, which is less than the ratio of A to B (1). Furthermore, the vertical field of view of the i-th luminous area is smaller than that of the i-th receiving area. This helps increase system power and improves the detection performance (e.g., range finding) of the Flash LiDAR.

[0210] The mapping table shown in the above Figure 18 is only an example of the correspondence between the lighting channels of the light-emitting area and the receiving channels of the receiving area after applying compensation scheme 4 (i.e., increasing the number of receiving channels enabled at the same time). It does not limit the number of receiving channels included in the receiving area to only "4", does not limit the number of lighting channels included in each light-emitting area to be the same, and does not limit the number of receiving channels included in each receiving area to be the same.

[0211] In the embodiment shown in FIG16 , based on a multi-channel transmitter and a multi-channel receiver, even when a Flash LiDAR has a mismatch in the field of view between transmission and reception (e.g., a mismatch between the vertical field of view of the transmitter and the vertical field of view of the receiver), the detection performance of the LiDAR can be improved to a certain extent without incurring additional costs. For example, by increasing the number of simultaneously illuminated lighting channels, the transient vertical field of view of the transmitter can be made larger than that of the receiver; or by increasing the number of simultaneously activated receiving channels, the transient vertical field of view of the transmitter can be made smaller than that of the receiver. Either method is beneficial for increasing the system power and improving the detection performance of the LiDAR.

[0212] The device provided in the embodiments of the present application is described below.

[0213] An embodiment of the present application provides a detection device comprising an array transmitter and an array receiver. The array transmitter is configured to emit a transmission signal, and the array receiver is configured to receive an echo signal corresponding to the transmission signal. The detection device is configured to implement the aforementioned detection methods, such as the detection methods described in the embodiments shown in Figures 9 and 16.

[0214] An embodiment of the present application provides a laser radar, which includes the aforementioned detection device (such as the detection device 10 shown in Figure 1).

[0215] An embodiment of the present application also provides a terminal, which includes the aforementioned detection device (such as the detection device 10 shown in Figure 1), or includes the aforementioned laser radar.

[0216] Optionally, the terminal can be an intelligent terminal or transportation tool such as a vehicle, a drone, or a robot.

[0217] In the embodiments described above, the descriptions of each embodiment have their own emphasis. For parts not described in detail in a particular embodiment, please refer to the relevant descriptions of other embodiments. In addition, in the various embodiments of this application, unless otherwise specified or there is a logical conflict, the terms and / or descriptions between the various embodiments are consistent and can be referenced to each other. The technical features in different embodiments can be combined to form new embodiments based on their inherent logical relationships.

[0218] It should be noted that, those skilled in the art can see that all or part of the steps in the various methods of the above embodiments can be completed by a program to instruct relevant hardware. The program can be stored in a computer-readable storage medium, and the storage medium includes a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, magnetic disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0219] The technical solution of the present application may essentially or contribute to the part or all or part of the technical solution in the form of a software product. The computer program product is stored in a storage medium and includes a number of instructions for enabling a device (which may be a personal computer, a server, or a network device, a robot, a single-chip microcomputer, a chip, a robot, etc.) to execute all or part of the steps of the method described in each embodiment of the present application.

Claims

1. A detection method, characterized in that, Applied to a detection device including an array transmitter and an array receiver, the array transmitter includes multiple rows of light-emitting channels, and the array receiver includes multiple rows of receiving channels. The method includes: Sequentially transmitting transmission signals through N rows of light-emitting channels arranged in the column direction in the array transmitter, and receiving echo signals of the transmission signals through N rows of receiving channels arranged in the column direction in the array receiver; Wherein, in the column direction of the array transmitter, the correspondence between the first to M-1 rows of light-emitting channels and the receiving channels in the column direction of the array receiver is different from the correspondence between the M to N rows of light-emitting channels and the receiving channels in the column direction of the array receiver, or In the column direction of the array receiver, the correspondence between the first to M-1 rows of receiving channels and the light-emitting channels in the column direction of the array transmitter is different from the correspondence between the M to N rows of receiving channels and the light-emitting channels in the column direction of the array transmitter; Both M and N are positive integers greater than 2, and M is less than N.

2. The method according to claim 1, wherein The correspondence between the first to M-1 rows of light-emitting channels and the receiving channels in the column direction of the array receiver being different from the correspondence between the M to N rows of light-emitting channels and the receiving channels in the column direction of the array receiver includes: The first to M-1 rows of light-emitting channels respectively correspond to the first to M-1 rows of receiving channels among the N rows of receiving channels; The M to N rows of light-emitting channels respectively correspond to the M+1 to N rows of receiving channels among the N rows of receiving channels.

3. The method according to claim 1, wherein The correspondence between the first to M-1 rows of light-emitting channels and the receiving channels in the column direction of the array receiver being different from the correspondence between the M to N rows of light-emitting channels and the receiving channels in the column direction of the array receiver includes: The first to M-1 rows of light-emitting channels respectively correspond to the first to M-1 rows of receiving channels among the N rows of receiving channels; The M to N rows of light-emitting channels respectively correspond to the M-1 to N-1 rows of receiving channels among the N rows of receiving channels.

4. The method according to claim 1, wherein The correspondence between the first to M-1 rows of receiving channels and the light-emitting channels in the column direction of the array transmitter being different from the correspondence between the M to N rows of receiving channels and the light-emitting channels in the column direction of the array transmitter includes: The first to M-1 rows of receiving channels respectively correspond to the first to M-1 rows of light-emitting channels among the N rows of light-emitting channels; The M to N rows of receiving channels respectively correspond to the M-1 to N-1 rows of light-emitting channels among the N rows of light-emitting channels.

5. The method according to claim 1, wherein The correspondence between the first to M-1 rows of receiving channels and the light-emitting channels in the column direction of the array transmitter being different from the correspondence between the M to N rows of receiving channels and the light-emitting channels in the column direction of the array transmitter includes: The first to M-1 rows of receiving channels respectively correspond to the first to M-1 rows of light-emitting channels among the N rows of light-emitting channels; The M to N rows of receiving channels respectively correspond to the M+1 to N rows of light-emitting channels among the N rows of light-emitting channels.

6. The method according to claim 2 or 4, wherein The vertical field of view of the array transmitter is greater than the vertical field of view of the array receiver.

7. The method according to claim 3 or 5, characterized in that the vertical field of view angle of the array emitter is less than the vertical field of view angle of the array receiver.

8. The method according to any one of claims 1-7, characterized in that in the N rows of light-emitting channels, adjacent multiple rows of light-emitting channels emit light simultaneously to form a light-emitting area, and the receiving channels corresponding to the adjacent multiple rows of light-emitting channels in the N rows of receiving channels form a receiving area, and the receiving area includes adjacent multiple rows of receiving channels.

9. The method according to claim 8, wherein The ratio of the number of the light-emitting channels included in the light-emitting area to the number of the receiving channels included in the receiving area is a first value, and the first value is the ratio of the total number of rows of the light-emitting channels included in the array emitter to the total number of rows of the receiving channels included in the array receiver.

10. The method according to claim 8, characterized in that The first light-emitting area in the array emitter corresponds to the first receiving area in the array receiver, and there are the first light-emitting area and the first receiving area satisfying the following conditions: the ratio of the number of the light-emitting channels included in the first light-emitting area to the number of the receiving channels included in the first receiving area is greater than the first value; or the ratio of the number of the light-emitting channels included in the first light-emitting area to the number of the receiving channels included in the first receiving area is less than the first value; wherein, the first value is the ratio of the total number of rows of the light-emitting channels included in the array emitter to the total number of rows of the receiving channels included in the array receiver.

11. A detection method, characterized in that, Applied to a detection device including an array emitter and an array receiver, the array emitter includes A rows of light-emitting channels, the array receiver includes B rows of receiving channels, and the method includes: emitting transmission signals sequentially through S light-emitting areas arranged in the column direction in the array emitter, and receiving echo signals of the transmission signals through S receiving areas arranged in the column direction in the array receiver, and the i-th light-emitting area in the S light-emitting areas corresponds to the i-th receiving area in the S receiving areas; wherein, the ratio of the number of the light-emitting channels included in the i-th light-emitting area to the number of the receiving channels included in the i-th receiving area is greater than the ratio of A to B, or the ratio of the number of the light-emitting channels included in the i-th light-emitting area to the number of the receiving channels included in the i-th receiving area is less than the ratio of A to B, and A, B, S, and i are all positive integers, i is less than or equal to S, and S is less than A.

12. The method according to claim 11, wherein In the case where the ratio of the number of the light-emitting channels included in the i-th light-emitting area to the number of the receiving channels included in the i-th receiving area is greater than the ratio of A to B, the light-emitting channels included in any two adjacent light-emitting areas in the S light-emitting areas have repetitions.

13. The method according to claim 11, characterized in that, In the case where the ratio of the number of the light-emitting channels included in the i-th light-emitting area to the number of the receiving channels included in the i-th receiving area is less than the ratio of A to B, the receiving channels included in any two adjacent receiving areas in the S receiving areas have repetitions.

14. The method according to any one of claims 11-13, characterized in that, The vertical field of view angle of the array emitter is greater than that of the array receiver, or the vertical field of view angle of the array emitter is less than that of the array receiver.

15. A detection device, characterized in that, The detection device includes an array emitter and an array receiver. The array emitter is used to emit an emission signal, and the array receiver is used to receive the echo signal corresponding to the emission signal. The detection device is used to execute the method described in any one of claims 1-10, or execute the method described in any one of claims 11-14.

16. A lidar, characterized in that, The lidar includes the detection device described in claim 15.

17. A terminal, characterized in that, The terminal includes the detection device described in claim 15, or includes the lidar described in claim 16.

18. A computer-readable storage medium, characterized in that, It includes computer instructions that, when run by a processor, implement the method described in any one of claims 1-10, or implement the method described in any one of claims 11-14.

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