Emission module, lidar, emission driving method therefor, and electronic device

Abstract

An emission module (1), a LIDAR, an emission driving method therefor, and an electronic device. The emission module (1) is configured to emit light beams for three-dimensional sensing towards a range of a field of view. The emission module (1) comprises: an emission light source (11) and a control module (12); the emission light source (11) comprises multiple light-emitting blocks (111); the control module (12) is configured to control the multiple light-emitting blocks (111) to emit light according to the following manner: the multiple light-emitting blocks (111) being divided into multiple light-emitting sets, different light-emitting sets emitting light in corresponding different light-emitting periods, respectively, in a preset order, and, in a light-emitting period corresponding to a same light-emitting set, light-emitting moments of at least two light-emitting blocks (111) being different from each other. Optical crosstalk caused by an object having a strong reflectance or by an object at a close range can be reduced to a certain extent, and the hardware cost of the emission module (1) can also be greatly reduced.

Description

A transmitting module, a lidar, a transmitting driving method thereof, and electronic equipment.

[0001] This application claims priority to Chinese Patent Application Nos. 202410783315.1 and 202410783305.8, filed on June 17, 2024, entitled "A Driving Method for a LiDAR Emitting Light Source, an Emitting Module, a LiDAR and Related Electronic Equipment", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This invention relates to the field of lidar technology, and in particular to a transmitting module, lidar, its transmitting driving method, and related electronic equipment. Background Technology

[0003] The working principle of lidar is to emit a laser beam through the transmitting module and receive the laser beam reflected back by the target object through the receiving module. After the receiving module converts the optical signal of the echo beam into an electrical signal, the signal can be processed to obtain three-dimensional point cloud data.

[0004] Typically, a beam of light reflected from a location in a measurement scene is designed to be received by the corresponding photosensitive pixel on the receiving module. However, if the object has a high reflectivity, the reflected light energy is particularly large, which can interfere with other photosensitive pixels next to the corresponding photosensitive pixel, thus affecting the normal sensing of other photosensitive pixels and reducing the accuracy of LiDAR detection.

[0005] Furthermore, LiDAR's transmitting module uses multiple light sources to scan different areas of the measurement scene. To measure farther distances, the luminous power of the light sources emitted towards the corresponding scanning areas needs to be increased. However, excessively high luminous power can easily lead to heat dissipation problems. Reducing the number of light sources emitted simultaneously each time helps to reduce the instantaneous total load of the transmitting module, which can relatively increase the luminous power of a single light source and the ranging range of the corresponding scanning area. However, this requires a corresponding increase in the number of rounds of time-division emission of light sources in each frame of sensing, which will affect the LiDAR's sensing frame rate. Therefore, how to balance the different requirements of range measurement performance, heat dissipation, and sensing frame rate has become an urgent problem to be solved in the industry. Summary of the Invention

[0006] In view of the above problems, the present invention is proposed to provide a transmitting module, lidar and related electronic equipment that overcomes or at least partially solves the above problems.

[0007] In a first aspect, embodiments of the present invention provide a transmitting module configured to emit a light beam for three-dimensional sensing within a field of view, the transmitting module comprising: a transmitting light source and a control module;

[0008] The emitting light source includes multiple light-emitting blocks;

[0009] The control module is configured to control the plurality of light-emitting blocks to emit light according to a number of pre-divided light-emitting groups. The number of light-emitting groups emit light sequentially in different corresponding light-emitting time periods according to a preset order. Moreover, within the light-emitting time period corresponding to the same light-emitting group, the light-emitting times of the plurality of light-emitting blocks in that light-emitting group are not exactly the same.

[0010] In one embodiment, the control module is configured to control the light-emitting block to emit multiple rounds of light pulses according to a preset time sequence within a corresponding light-emitting period. One light-emitting period includes multiple ranging periods corresponding to the multiple rounds of light pulse emission. The control module is configured to control the light-emitting block to emit one light pulse corresponding to one ranging period. The times at which multiple light-emitting blocks belonging to the same light-emitting group emit light pulses within a corresponding ranging period are not exactly the same.

[0011] In one embodiment, within a ranging time period corresponding to the same light-emitting group, at least two light-emitting blocks in the light-emitting group emit light at different times.

[0012] In one embodiment, the control module is further configured to control that the timing at which each light-emitting block of the light-emitting group emits a light pulse is different during at least one ranging period.

[0013] In one embodiment, within the same light-emitting group corresponding to the light-emitting period, there are two or more light-emitting blocks that emit light pulses at the same time during at least one ranging period.

[0014] In one embodiment, within the same light-emitting group corresponding to the light-emitting period, the time when the same light-emitting block emits light pulses in at least two ranging periods has the same time interval relative to the start time of each ranging period.

[0015] In one embodiment, the control module is further configured to control the time at which the same light-emitting block emits light pulses during multiple ranging periods within a single light-emitting period, with each pulse having a corresponding time interval relative to the start time of its respective ranging period, and the length of the time interval corresponding to each of the different ranging periods varying randomly.

[0016] In one embodiment, the control module is further configured to control the time at which the same light-emitting block emits light pulses during multiple ranging periods within a single light-emitting period, each having a different time interval relative to the start time of its respective ranging period.

[0017] In one embodiment, the control module is further configured to control that at least two light-emitting blocks emit light pulses at different times within a ranging time period in the same light-emitting group, and the time difference formed by the at least two light-emitting blocks in different ranging time periods varies randomly.

[0018] In one embodiment, the control module is further configured to control the time when multiple light-emitting blocks of the same light-emitting group emit light pulses during a ranging time period, and the time difference formed by the multiple light-emitting blocks of the light-emitting group in different ranging time periods varies randomly.

[0019] In one embodiment, the initial portion of the ranging time period has a light emission adjustment interval of preset duration, and the random variation range of the time difference is greater than or equal to zero and less than or equal to the preset duration of the light emission adjustment interval.

[0020] In one embodiment, the beginning of the ranging period has a preset duration of light emission adjustment interval, and the control module is configured to randomly set the times when multiple light emission blocks of the same light emission group emit light pulses during the ranging period within the light emission adjustment interval of a ranging period.

[0021] In one embodiment, the control module is configured to determine the timing of the emitted light pulses of multiple light-emitting blocks in the same light-emitting group during a corresponding light-emitting period in the following manner:

[0022] A set of random number sequences is generated for a ranging time period. The random number sequence includes multiple random numbers that correspond one-to-one with multiple light-emitting blocks. Each random number is used as a random duration of the time when the multiple light-emitting blocks emit light pulses during the ranging time period, which is delayed relative to the start time of the ranging time period. The value of the random duration is greater than or equal to zero and less than or equal to the preset duration of the light emission adjustment interval.

[0023] The timing at which multiple light-emitting blocks emit light pulses during the ranging period is determined based on the random duration, so as to control the multiple light-emitting blocks to emit light pulses correspondingly during the ranging period.

[0024] In one embodiment, the control module is configured to sequentially generate a set of random sequences corresponding to each ranging period before each ranging period in the emission period, so as to determine the time when the plurality of light-emitting blocks emit light pulses respectively in the ranging period.

[0025] In one embodiment, the control module is configured to generate multiple sets of random number sequences at once for multiple ranging periods corresponding to the emission period, and determine the time when the multiple light-emitting blocks emit light pulses respectively in the ranging period based on one of the random number sequences before each ranging period.

[0026] In one embodiment, the control module is configured to determine the timing of the emitted light pulses of multiple light-emitting blocks in the same light-emitting group during a corresponding light-emitting period in the following manner:

[0027] A set of random number sequences is generated for each light-emitting block. The random number sequence includes multiple random numbers that correspond one-to-one with multiple ranging time periods of the light-emitting block. These random numbers are used as random durations of the time when the light-emitting block emits a light pulse within the corresponding ranging time period, relative to the start time of the ranging time period. The value of the random duration is greater than or equal to zero and less than or equal to the preset duration of the light emission adjustment interval.

[0028] The timing of the light-emitting block emitting light pulses within the corresponding multiple ranging time periods is determined based on the random duration, so as to control the light-emitting block to emit light pulses sequentially within the multiple ranging time periods.

[0029] In one embodiment, the light emission period of each light-emitting group is equal to the sum of the charging time of the light-emitting group and the duration of multiple ranging periods.

[0030] In one embodiment, the duration of the ranging period is greater than or equal to the sum of the light emission adjustment interval and the flight time; the flight time is the time required for the sensing beam to travel back and forth across the ranging range.

[0031] In one embodiment, when the duration of the ranging period is equal to the sum of the light emission adjustment interval and the flight time, the number of times each light-emitting block emits light within the same set of corresponding light emission periods is determined by the following formula:

[0032] In the above formula, TX is the number of times each light-emitting block emits light; f is the working frame rate of the radar applicable to the transmitting module; n is the number of light-emitting groups; S is the ranging range of three-dimensional sensing; c is the speed of light; Tchg is the charging time of each light-emitting group; and k is the data processing time.

[0033] In one embodiment, the plurality of light-emitting blocks are arranged in a two-dimensional array, and the control module is further configured to treat each N columns or each N rows in the two-dimensional array as a light-emitting group; where N is an integer greater than or equal to 1.

[0034] In one embodiment, the light-emitting group includes light-emitting blocks located in different rows or columns, and the array positions of different light-emitting blocks in the same row or column within the same light-emitting group are not continuous, with at least one light-emitting block from another light-emitting group spaced apart from each other.

[0035] In one embodiment, the plurality of light-emitting blocks are arranged in a two-dimensional array. The control module is further configured to divide the two-dimensional array into a plurality of regular regions according to the positional relationship of each light-emitting block in the two-dimensional array. The regular region includes a plurality of adjacent light-emitting blocks that are not in a whole row or column. The plurality of light-emitting blocks in each regular region constitute a light-emitting group.

[0036] In one embodiment, the plurality of regular regions are all the same shape and size, or at least two of the plurality of regular regions are different in shape or size from each other.

[0037] In one embodiment, the control module is further configured to control different light-emitting groups to emit light sequentially in a preset order, such that two light-emitting groups that are adjacent in the emission order are adjacent to each other in the two-dimensional array; or, two light-emitting groups that are adjacent in the emission order are not adjacent to each other in the two-dimensional array.

[0038] In one embodiment, the control module is further configured to, in each frame period, randomly divide the multiple light-emitting blocks in the two-dimensional array into multiple light-emitting groups, wherein the number of light-emitting blocks in each light-emitting group is random, and / or the position of the light-emitting blocks in each light-emitting group in the two-dimensional array is random; the frame period is the time required for the multiple light-emitting groups of the emission module to emit light sequentially to complete one frame of three-dimensional sensing of the field of view.

[0039] In one embodiment, one of the light-emitting groups comprises light-emitting blocks located in different rows or columns.

[0040] In one embodiment, the number of light-emitting blocks included in each of the different light-emitting groups may be the same or different.

[0041] In one embodiment, the transmitting module further includes: providing a corresponding power supply circuit on one side or opposite sides of each row in the two-dimensional array, and providing a corresponding trigger circuit on one side or opposite sides of each column in the two-dimensional array.

[0042] The power supply circuit is used to charge each light-emitting block in the corresponding row;

[0043] The triggering circuit is used to trigger the light-emitting blocks in the corresponding columns of the charged rows to emit light.

[0044] In one embodiment, the control module is configured to control the light-emitting blocks of the light-emitting group to emit multiple light pulses according to a preset time sequence within a corresponding light-emitting period. A light-emitting period includes multiple ranging periods corresponding to the multiple light pulses. The control module is configured to control different light-emitting blocks in the light-emitting group to perform charging and then emit a light pulse after charging in a preset order within a ranging period.

[0045] The control module is further configured to determine the moment when the light-emitting blocks of the same light-emitting group emit light pulses during a ranging period by means of the following:

[0046] The timing of the light-emitting pulse of each light-emitting block in the light-emitting group within a ranging time period is determined by generating a random number sequence, and the random duration of the delay relative to the end time of the charging time of the light-emitting block is determined.

[0047] For each light-emitting block in the light-emitting group, starting from the end time of the charging duration of the light-emitting block within the ranging period, the corresponding random duration is delayed to obtain the time when the light-emitting block emits a light pulse within the ranging period.

[0048] In one embodiment, the control module is configured to control the light-emitting blocks of the light-emitting group to emit multiple light pulses according to a preset time sequence within a corresponding light-emitting period. A light-emitting period includes multiple ranging periods corresponding to the multiple light pulses. The control module is configured to control different light-emitting blocks in the light-emitting group to perform charging and then emit a light pulse after charging in a preset order within a ranging period.

[0049] The control module is further configured to determine the moment when the light-emitting blocks of the same light-emitting group emit light pulses during a ranging period by means of the following:

[0050] The random duration of the charging time delay corresponding to each light-emitting block in the light-emitting group within a ranging time period is determined by generating a random number sequence.

[0051] For each light-emitting block in the light-emitting group, the end time after a random duration corresponding to the charging time delay of the light-emitting block is determined as the time when the light-emitting block emits a light pulse during the ranging period.

[0052] In one embodiment, the duration of the ranging period is greater than or equal to the sum of the charging duration of all light-emitting blocks in the light-emitting group, the random duration corresponding to each light-emitting block in the ranging period, and the flight time of each light-emitting block.

[0053] In one embodiment, when the duration of the ranging period is equal to the sum of the charging time of all light-emitting blocks in the light-emitting group, the random delay time of each light-emitting block corresponding to the ranging period, and the flight time of each light-emitting block, the number of times each light-emitting block emits light within the corresponding light-emitting period of the same group is determined by the following formula:

[0054] In the above formula, TX is the number of times each light-emitting block emits light; f is the working frame rate of the radar applicable to the transmitting module; n is the number of light-emitting groups; S is the ranging range; c is the speed of light; Tchg is the charging time of each light-emitting block; and k is the data processing time.

[0055] In one embodiment, the light-emitting block includes multiple light-emitting units, and the light-emitting unit is a vertical cavity surface-emitting laser.

[0056] In one embodiment, the transmitting module further includes: providing a corresponding power supply circuit on one side or opposite sides of each row in the two-dimensional array, and providing a corresponding trigger circuit on one side or opposite sides of each column in the two-dimensional array.

[0057] The power supply circuit is used to charge each light-emitting block in the corresponding row;

[0058] The triggering circuit is used to trigger the light-emitting blocks in the corresponding columns of the charged rows to emit light.

[0059] Secondly, embodiments of the present invention also provide a lidar, including the aforementioned transmitting module and receiving module. The receiving module includes a plurality of sensing partitions arranged in a two-dimensional array, each of which corresponds one-to-one with a plurality of light-emitting blocks of the transmitting light source. The sensing partitions are configured to receive light signals returned from the sub-field of view scanned by the corresponding light-emitting blocks.

[0060] The control module is configured to control the sensing partition to start working during the light emission period of the corresponding light-emitting block.

[0061] In one embodiment, the control module includes a transmission drive circuit, a sensing drive circuit, and a main controller. The transmission drive circuit is configured to drive the light-emitting block to emit a light beam, the sensing drive circuit is configured to drive the sensing partition to start working, and the main controller is configured to control the light emission sequence of the light-emitting block and the working sequence of the sensing partition.

[0062] The transmit drive circuit, the sense drive circuit, and the main controller are each mounted on different chips; or...

[0063] The transmit drive circuit and the main controller are integrated on the same chip; or...

[0064] The transmission drive circuit and the sensing drive circuit are integrated on the same chip; or...

[0065] The transmit drive circuit and the main controller are integrated on the same chip; or...

[0066] The sensing drive circuit and the main controller are integrated on the same chip.

[0067] Thirdly, embodiments of the present invention also provide an electronic device, including the aforementioned lidar.

[0068] Fourthly, embodiments of the present invention provide a driving method for a lidar emitting light source, applied to drive the lidar emitting light source to emit a beam of light for three-dimensional sensing within a field of view, the method comprising:

[0069] The emitting light source comprises multiple light-emitting blocks arranged in a two-dimensional array, which are divided into several light-emitting groups. Different light-emitting groups are controlled to emit light sequentially in different light-emitting time periods according to a preset order, and within the light-emitting time period corresponding to the same light-emitting group, the light-emitting times of at least two light-emitting blocks are different.

[0070] In one embodiment, dividing the plurality of light-emitting blocks comprising the emitting light source into several light-emitting groups includes:

[0071] Each N columns or each N rows in the two-dimensional array is used as a light-emitting group; where N is an integer greater than or equal to 1.

[0072] Alternatively, according to the positional relationship of each light-emitting block in the two-dimensional array, the two-dimensional array is divided into multiple regular regions. Each regular region includes multiple adjacent light-emitting blocks that are not in a whole row or column. The multiple light-emitting blocks in each regular region are considered as a light-emitting group.

[0073] Alternatively, the multiple light-emitting blocks in the two-dimensional array can be randomly divided into multiple light-emitting groups, with the number of light-emitting blocks in each light-emitting group being random, and / or the position of the light-emitting blocks in each light-emitting group being random in the two-dimensional array; the frame period is the time required for the multiple light-emitting groups of the transmitting module to emit light sequentially to complete one frame of three-dimensional sensing of the field of view.

[0074] Alternatively, different light-emitting groups can be formed according to the light-emitting blocks, and one light-emitting group includes light-emitting blocks located in different rows or columns.

[0075] In one embodiment, controlling the emission duration of at least two light-emitting blocks within the same group to have different emission times includes:

[0076] The light-emitting blocks of the control light-emitting group emit multiple light pulses according to a preset time sequence within the corresponding light-emitting period. One light-emitting period includes multiple ranging periods corresponding to the multiple light pulses.

[0077] The light-emitting blocks are controlled to emit one light pulse in a ranging time period, and at least two light-emitting blocks in the same light-emitting group emit light pulses at different times in a ranging time period.

[0078] In one embodiment, at least two light-emitting blocks controlling the same light-emitting group emit light pulses at different times during a ranging period, including:

[0079] During at least one ranging period, the timing at which each light-emitting block of the light-emitting group emits a light pulse is different.

[0080] In one embodiment, where at least two light-emitting blocks controlling the same light-emitting group emit light pulses at different times within a ranging period, the method further includes:

[0081] Within the same light-emitting group, in addition to the fact that at least two light-emitting blocks in the same light-emitting group emit light pulses at different times within a ranging time period, there are also two or more light-emitting blocks that emit light pulses at the same time in at least one ranging time period.

[0082] In one embodiment, where at least two light-emitting blocks controlling the same light-emitting group emit light pulses at different times within a ranging period, the method further includes:

[0083] Within the same light-emitting group, the time when the same light-emitting block emits light pulses during at least two ranging periods is the same time interval relative to the start time of each ranging period.

[0084] In one embodiment, the time when the same light-emitting block emits light pulses during multiple ranging periods within a single light-emitting period has a corresponding time interval relative to the start time of each ranging period, and the length of the time interval corresponding to each of the different ranging periods varies randomly.

[0085] In one embodiment, the time interval at which the same light-emitting block emits light pulses during multiple ranging periods within a single emission period is different from the start time of each of the respective ranging periods.

[0086] In one embodiment, at least two light-emitting blocks controlling the same light-emitting group emit light pulses at different times during a ranging period, including:

[0087] Within the same light-emitting group corresponding to the light-emitting period, at least two light-emitting blocks emit light pulses at times with a time difference within a ranging period, and the time difference formed by the at least two light-emitting blocks in different ranging periods varies randomly.

[0088] In one embodiment, where at least two light-emitting blocks controlling the same light-emitting group emit light pulses at different times within a ranging period, the method further includes:

[0089] Within the same light-emitting group, the time when multiple light-emitting blocks in the same light-emitting group emit light pulses during a ranging period forms a corresponding time difference with each other. The time difference formed by the multiple light-emitting blocks in the same light-emitting group in different ranging periods varies randomly.

[0090] In one embodiment, the initial portion of the ranging time period has a light emission adjustment interval of preset duration, and the random variation range of the time difference is greater than or equal to zero and less than or equal to the preset duration of the light emission adjustment interval.

[0091] In one embodiment, where at least two light-emitting blocks controlling the same light-emitting group emit light pulses at different times within a ranging period, the method further includes:

[0092] The starting part of the ranging time period has a preset duration of light emission adjustment interval. Within the light emission adjustment interval of a ranging time period, the times when multiple light emission blocks of the same light emission group emit light pulses are randomly set during the ranging time period.

[0093] In one embodiment, the timing of the emitted light pulses from multiple light-emitting blocks within the same light-emitting group during a corresponding light-emitting period is determined in the following manner:

[0094] A set of random number sequences is generated for a ranging time period. The random number sequence includes multiple random numbers that correspond one-to-one with multiple light-emitting blocks. Each random number is used as a random duration of the time when the multiple light-emitting blocks emit light pulses during the ranging time period, which is delayed relative to the start time of the ranging time period. The value of the random duration is greater than or equal to zero and less than or equal to the preset duration of the light emission adjustment interval.

[0095] The timing at which multiple light-emitting blocks emit light pulses during the ranging period is determined based on the random duration, so as to control the multiple light-emitting blocks to emit light pulses correspondingly during the ranging period.

[0096] In one embodiment, a set of random number sequences is generated corresponding to a ranging time period, including:

[0097] A set of random sequences is generated sequentially before each ranging period in the emission period to determine the time when the plurality of light-emitting blocks emit light pulses respectively in the ranging period.

[0098] In one embodiment, a set of random number sequences is generated corresponding to a ranging time period, including:

[0099] To generate multiple sets of random number sequences for multiple ranging periods corresponding to the emission period, before each ranging period, the time when the multiple light-emitting blocks emit light pulses in that ranging period is determined according to one of the random number sequences.

[0100] In one embodiment, the timing of the emitted light pulses from multiple light-emitting blocks within the same light-emitting group during a corresponding light-emitting period is determined in the following manner:

[0101] A set of random number sequences is generated for each light-emitting block. The random number sequence includes multiple random numbers that correspond one-to-one with multiple ranging time periods of the light-emitting block. These random numbers are used as random durations of the time when the light-emitting block emits a light pulse within the corresponding ranging time period, relative to the start time of the ranging time period. The value of the random duration is greater than or equal to zero and less than or equal to the preset duration of the light emission adjustment interval.

[0102] The timing of the light-emitting block emitting light pulses within the corresponding multiple ranging time periods is determined based on the random duration, so as to control the light-emitting block to emit light pulses sequentially within the multiple ranging time periods.

[0103] The beneficial effects of the above-described technical solutions provided in the embodiments of the present invention include at least the following:

[0104] In this embodiment of the invention, the transmitting module divides the multiple light-emitting blocks of the transmitting light source into several light-emitting groups, and controls each light-emitting group to emit light sequentially in different light-emitting time periods according to a preset order. In this case, multiple light-emitting blocks in a light-emitting group can share the same flight time of the sensing beam, thereby reducing the time required to complete a frame of sensing and improving the sensing frame rate. At the same sensing frame rate, the time-division emission method of multiple light-emitting blocks in a group, compared with the time-division emission method of each light-emitting block in the entire two-dimensional array, allows each light-emitting block to be allocated a longer emission time. The signal-to-noise ratio of the sensing can be improved by increasing the number of emitted pulses, without needing to improve the peak power of a single emitted pulse. Therefore, the light emission power requirement of a single light-emitting block is relatively low, which can reduce the hardware cost of the light source.

[0105] On another front, within the same light-emitting group, at least two light-emitting blocks emit light at different times during the same emission period. This helps reduce the instantaneous total load on the emission module and decreases heat generation. Under the same instantaneous total load on the emission module, having at least two light-emitting blocks emit light at different times relatively increases the emission power of a single light-emitting block, thereby increasing the ranging range of the corresponding scanning area. Since the at least two light-emitting blocks emit light at different times but within the same emission period, they can still share the same flight time of the sensing beam. This eliminates the need to increase the number of light source emission cycles in each frame of sensing, avoiding adverse effects on the sensing frame rate. It effectively balances different requirements such as distance measurement performance, hardware cost, heat dissipation, and sensing frame rate. Furthermore, the different emission times of the at least two light-emitting blocks can also, to some extent, disperse crosstalk caused by highly reflective objects or nearby objects on adjacent photosensitive pixels, thus improving sensing accuracy.

[0106] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings.

[0107] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0108] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0109] Figure 1 is a schematic diagram of the structure of the transmitting module in an embodiment of the present invention;

[0110] Figure 2 is a schematic diagram of multiple light-emitting blocks arranged in a two-dimensional array in an embodiment of the present invention;

[0111] Figures 3A and 3B are schematic diagrams of dividing the light-emitting groups according to the method of arranging them into groups in an embodiment of the present invention;

[0112] Figures 4A and 4B are schematic diagrams of the grouping method according to the rule area of ​​non-integer rows or non-integer columns in the embodiments of the present invention;

[0113] Figures 5A and 5B are schematic diagrams of two examples of random grouping in embodiments of the present invention;

[0114] Figure 6 is a schematic diagram of a light-emitting group obtained according to the grouping principle of a light-emitting group including light-emitting blocks located in different rows or columns in an embodiment of the present invention;

[0115] Figure 7 is a schematic diagram of the first timing implementation method in an embodiment of the present invention;

[0116] Figure 8 is a schematic diagram of the second timing implementation method in an embodiment of the present invention;

[0117] Figure 9 is a schematic diagram of the third timing implementation method in an embodiment of the present invention;

[0118] Figures 10A and 10B are schematic diagrams of the power supply circuit and trigger circuit included in the transmitting module in the embodiment of the present invention;

[0119] Figure 11 is a schematic diagram showing the positions of each light-emitting block in the two-dimensional array in Embodiment 2 of the present invention;

[0120] Figure 12 is a comparative schematic diagram of the superposition of the echo beams of light-emitting group A and light-emitting group B provided in an embodiment of the present invention;

[0121] Figure 13 is a schematic diagram of the structure of the lidar provided in an embodiment of the present invention;

[0122] Figure 14 is a schematic diagram of the control module provided in an embodiment of the present invention;

[0123] Figure 15 is a timing diagram of Embodiment 1 of the present invention.

[0124] Explanation of reference numerals in the attached diagram: 1-Transmitting module; 2-Receiving module; 11-Transmitting light source; 12-Control module; 13-Power supply circuit; 14-Trigger circuit; 111-Light-emitting block; 112-Light-emitting unit; 113-Connection pin; 121-Transmitting drive circuit; 122-Sensing drive circuit; 123-Main controller. Detailed Implementation

[0125] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0126] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0127] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," "far," "near," "front," and "rear," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0128] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0129] The transmitting module provided in this embodiment of the invention is configured to emit a light beam for three-dimensional sensing within a field of view. Referring to FIG1, the transmitting module 1 includes: a transmitting light source 11 and a control module 12; wherein:

[0130] The light source 11 includes multiple light-emitting blocks 111;

[0131] The control module 12 is used to control multiple light-emitting blocks 111 to emit light in the following manner: the multiple light-emitting blocks 111 are divided into several light-emitting groups, and different light-emitting groups emit light in sequence in different light-emitting time periods according to a preset order, and in the light-emitting time period corresponding to the same light-emitting group, at least two light-emitting blocks 111 emit light at different times.

[0132] In some embodiments, the plurality of light-emitting blocks 111 of the emitting light source 11 can be arranged in a two-dimensional array, as shown in FIG2. In FIG2, each dashed box represents a light-emitting block 111. Within the range shown in FIG2, the emitting light source 11 includes M (number of columns) × N (number of rows) light-emitting blocks, and each light-emitting block 111 contains a plurality of light-emitting units 112 (represented by circles in the dashed boxes in FIG2). Different light-emitting blocks 111 may include the same or different numbers of light-emitting units 112. It should be understood that in some other embodiments, the plurality of light-emitting blocks 111 may also be arranged in other regular or irregular manner, and this application does not limit this arrangement.

[0133] Optionally, the light-emitting unit 112 can be, for example, a vertical-cavity surface-emitting laser (VCSEL). Alternatively, the emitting light source 11 can also be a light-emitting device in the form of an edge-emitting laser (EEL), a light-emitting diode (LED), a laser diode (LD), or a fiber laser. The edge-emitting laser can be a Fabry-Perot (FP) laser, a distributed feedback (DFB) laser, an electro-absorption modulated (EML) laser, etc., and this embodiment does not limit the specific type of laser used.

[0134] The aforementioned control module 12, in terms of hardware, can be selected, but is not limited to, an application processor (AP), a central processing unit (CPU), a micro controller unit (MCU), or a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0135] The various functions of the control module 12 can be implemented using computer software, such as the Hardware Description Language (HDL) code accompanying the FPGA hardware. This embodiment of the invention does not limit the specific implementation method of the computer program.

[0136] The control module 12 can be integrated with the emitting light source 11 on the same carrier, such as the circuit board of the emitting module 1.

[0137] In this embodiment of the invention, the transmitting module 1 divides the multiple light-emitting blocks of the transmitting light source 11 into several light-emitting groups, and controls each light-emitting group to emit light sequentially in different light-emitting time periods according to a preset order. In this case, multiple light-emitting blocks in a light-emitting group can share the same flight time of the sensing beam, thereby reducing the time required to complete a frame of sensing and improving the sensing frame rate. Under the same sensing frame rate, the time-division emission method of multiple light-emitting blocks in a group is more efficient than the time-division emission method of each light-emitting block in the entire two-dimensional array. Each light-emitting block is allocated a longer emission time, and the signal-to-noise ratio of the sensing can be improved by increasing the number of emitted pulses, without needing to improve the peak power of a single emitted pulse. Therefore, the power requirement for a single light-emitting block is relatively low, which can reduce the hardware cost of the light source.

[0138] On another front, within the same light-emitting group, at least two light-emitting blocks emit light at different times during the same emission period. This helps reduce the instantaneous total load on the transmitting module and decreases heat generation. Under the same instantaneous total load on the transmitting module, having at least two light-emitting blocks emit light at different times relatively increases the emission power of a single light-emitting block, thereby increasing the ranging range of the corresponding scanning area. Since the at least two light-emitting blocks emit light within the same emission period despite their different times, they can still share the same flight time of the sensing beam, eliminating the need to increase the number of light source emission cycles per frame and avoiding any adverse impact on the sensing frame rate. Furthermore, the different emission times of the at least two light-emitting blocks can, to some extent, disperse the crosstalk count caused by highly reflective objects or nearby objects on adjacent photosensitive pixels, effectively balancing different requirements such as ranging performance, hardware cost, heat dissipation, and sensing frame rate.

[0139] In one embodiment, to control different light-emitting groups to emit light sequentially at different time periods, and within the same light-emitting group, at least two light-emitting blocks 111 emit light at different times. Specifically, the control module 12 is configured to control the light-emitting blocks 111 of the light-emitting group to emit multiple light pulses according to a preset time sequence within the corresponding light-emitting time period. One light-emitting time period includes multiple ranging time periods corresponding to the multiple light pulses. The control module 12 is configured to control the light-emitting blocks 111 to emit one light pulse corresponding to one ranging time period, and at least two light-emitting blocks 111 of the same light-emitting group emit light pulses at different times within one ranging time period.

[0140] In one embodiment, the control module 12 can further control that the emission time of each light-emitting block 111 in the light-emitting group is different during at least one ranging period. In this way, the crosstalk count caused by highly reflective objects or nearby objects can be further dispersed, improving the accuracy of the final obtained three-dimensional sensing data.

[0141] In one embodiment, the control module 12 can further control the random setting of the emission times of multiple light-emitting blocks 111 in the light-emitting group during at least one ranging time period. It should be understood that the random setting of the emission times of the multiple light-emitting blocks 111 includes not only the case where each light-emitting block 111 emits light pulses at different times within a ranging time period, but also the case where two or more light-emitting blocks 111 emit light pulses at the same time during at least one ranging time period. In this embodiment, randomly setting the emission times of multiple light-emitting blocks 111 can achieve the effect of dispersed crosstalk counting. The lower the repetition rate after randomizing the emission times of different light-emitting blocks 111, the better the effect of dispersed crosstalk counting. Therefore, optionally, the proportion of light-emitting blocks 111 with different emission times in the entire light-emitting group can be greater than or much greater than the proportion of light-emitting blocks 111 with the same emission times in the entire light-emitting group.

[0142] Referring to the emission timing diagram shown in Figure 7, the two-dimensional array of emitting light sources is divided into N emission groups, referred to as Group 1 to Group N. The square wave waveforms in the timing diagrams labeled as emission groups 1 to N in Figure 7 represent the emission periods of Group 1 (called the first emission period), Group 2 (called the second emission period), ... Group N (called the Nth emission period), respectively. The pulse signals in the timing waveforms of the emission blocks numbered 1 to M represent the light pulses emitted by the emission blocks numbered 1 to M, respectively.

[0143] During these N light-emitting periods, the light-emitting blocks in each group are always powered on during the corresponding light-emitting period, but they only emit light when emitting light pulses.

[0144] Within the emission period corresponding to each emission group, each emission block emits multiple rounds of light pulses, with each round of emission occurring within a ranging period (denoted by T). Referring to Figure 7, within the emission period corresponding to the pulse waveform of the first group, M emission blocks emit light pulses in multiple different ranging periods (denoted by T1 to T2). num The ranger emits multiple light pulses (let's say num times) within a given range period. Different range periods are indicated by dashed lines. For example, in the first range period T1, each of the M light-emitting blocks emits one light pulse (i.e., lights up once). In the second range period T2, each of the M light-emitting blocks emits another light pulse, and so on. It should be understood that within any given range period, one or more of the M light-emitting blocks may not emit light. The number of times a light-emitting block emits light within a single light-emitting group can be determined based on factors such as the pixel count and range frame rate of the applicable lidar.

[0145] Within each ranging time period, the timing of light pulse emission by multiple light-emitting blocks in the light-emitting group can be randomly set. This random setting achieves the effect of counting and diverging the crosstalk light signals. To ensure that the light pulses have sufficient flight time within the ranging range, the beginning of each ranging time period has a preset duration of light emission adjustment interval. Within this preset light emission adjustment interval, the multiple light-emitting blocks in the light-emitting group randomly set the timing of their respective light pulse emission.

[0146] The light emission adjustment interval is located at the beginning of the ranging period and has a preset duration, for example, its duration is set to the upper limit of the time delay between the time of light pulse emission and the start time of the ranging period.

[0147] There are several ways to randomly set the timing of the emitted light pulse, for example,

[0148] 1) Within the light emission adjustment interval of a ranging period, randomly set the time when multiple light emission blocks of the same light emission group emit light pulses respectively during the ranging period.

[0149] Within a ranging period of emission duration, some light-emitting blocks in the same emission group may have the same emission time, while others may have different emission times. Alternatively, within a ranging period, the emission times of each light-emitting block in the same group may be different from each other.

[0150] Based on this, referring to Figure 7, within the same light-emitting group, the timing of the light pulses emitted by different light-emitting blocks can be different during each ranging time period. By staggering the emission times of each light-emitting block, the crosstalk signals between different light-emitting blocks are dispersed, which can effectively solve the problem of crosstalk between multiple light-emitting blocks in the prior art.

[0151] Alternatively, within the same light-emitting group, during a certain ranging time period, among the M light-emitting blocks, some light-emitting blocks emit light pulses at different times (the majority), while other light-emitting blocks emit light pulses at the same time. That is, during a certain ranging time period in Figure 7, the start time of the emitted light pulses corresponding to light-emitting blocks numbered 1 to M may be different for some light-emitting blocks, while the start time of the emitted pulses for others may be the same.

[0152] In one embodiment, within the same light-emitting group corresponding to the light-emitting period, there may also be a situation where the same light-emitting block 111 emits light pulses at least twice during the ranging periods, and the time interval between the pulses emitted is the same as the start time of each ranging period.

[0153] In this embodiment, for a certain light-emitting block, such as the light-emitting block numbered 1 in Figure 7, the time when the light-emitting block emits a light pulse in each ranging time period is relative to the start time of that ranging time period (T1~T in the figure). num The time intervals (shown by the dashed lines in the diagram) can all be different, or they can be from T1 to T2. num Within a certain range measurement period, the time intervals relative to the start time of that range measurement period are different from each other, while within another range measurement period, the time intervals relative to the start time of that range measurement period are the same from each other.

[0154] In one embodiment, the control module 12 is further configured to control a light-emitting block to emit multiple light pulses during the corresponding light-emitting period of the light-emitting group, wherein the multiple light pulses have a randomly set time interval.

[0155] Referring to Figure 7, when viewed laterally from a certain light-emitting block, its position from T1 to T... num The light pulses were emitted num times, and the time interval between these light pulses could be randomly generated.

[0156] 2) The specific method of randomly setting the time of emitting light pulses can also be that the emission time of each light-emitting block is different within one of the ranging periods, and the emission times of different light-emitting blocks form a time difference with each other; furthermore, corresponding to different ranging periods, the time difference formed between the emission times of at least two different light-emitting blocks in the same light-emitting group can be randomly changed, and the change range is within the light emission adjustment range.

[0157] In one embodiment, within the same light-emitting group corresponding to the light-emitting period, at least two light-emitting blocks emit light pulses at different times within a ranging period, and the time difference formed by at least two light-emitting blocks in different ranging periods varies randomly.

[0158] In one embodiment, within the same light-emitting group and its corresponding light-emitting period, the times at which multiple light-emitting blocks in the same group emit light pulses within a ranging period form corresponding time differences. These time differences between the multiple light-emitting blocks in different ranging periods vary randomly. Unlike the previous embodiment, where at least two light-emitting blocks have randomly varying time differences across different ranging periods (meaning some light-emitting blocks may have equal time differences across different ranging periods), in this embodiment, the time differences between multiple light-emitting blocks emitting light pulses within the same light-emitting group and within a ranging period are randomly varying. That is, the time difference between the times when multiple light-emitting blocks emit light pulses in the previous ranging period may be different from the time difference between the times when multiple light-emitting blocks emit light pulses in the next ranging period.

[0159] The time difference between the times when the light pulses are emitted by the multiple light-emitting blocks mentioned above refers to the time difference between the emission times of any two light-emitting blocks in the same light-emitting group within the same ranging period (the time difference is a value greater than or equal to zero, i.e., the value obtained by subtracting the earlier emission time from the later emission time).

[0160] For example, within a certain ranging time period of the same light-emitting group's emission time period, from a longitudinal perspective, there is a time difference between the light pulses emitted by different light-emitting blocks. Referring again to Figure 7, for example, light-emitting blocks numbered 1 to M can have a time difference with each other within time period T1, and moreover, in T1, T2...T... num The time difference between these light-emitting blocks varies randomly during different ranging periods. That is, the time difference between each light-emitting block in T1 may be different from the time difference between these light-emitting blocks in T2 and T3.

[0161] The aforementioned time difference may also result in some distance measurement periods being the same, while other distance measurement periods may be different; as long as it is subject to random variation.

[0162] In one embodiment, in order to facilitate the determination of the emission time of the light-emitting block in each ranging period, in this embodiment of the invention, the random variation range of the above-mentioned time difference is greater than or equal to zero and less than or equal to the preset duration of the emission adjustment interval.

[0163] 3) The specific method of randomly setting the time of emitting light pulses can also be that, for a certain light-emitting block, the light emission time of the light-emitting block is different in each ranging period of a light emission period, or the light emission time of the light-emitting block is the same in part of the ranging period of a light emission period, while the light emission time is different in other parts of the ranging period (satisfying the random condition).

[0164] The timing of light pulses emitted by multiple light-emitting blocks 111 in the same light-emitting group during the ranging period is randomly set. Correspondingly, the delay time of light pulses emitted by multiple light-emitting blocks 111 in a ranging period relative to the start time of the ranging period can be determined by generating random numbers.

[0165] Specifically, in one embodiment, the control module 12 is configured to determine the timing of the emission of light pulses by multiple light-emitting blocks 111 of the same light-emitting group within a corresponding light-emitting period in the following manner:

[0166] A set of random number sequences is generated for a ranging time period. The random number sequence includes multiple random numbers that correspond one-to-one with multiple light-emitting blocks 111. These random numbers serve as the random duration of the time when each of the multiple light-emitting blocks 111 emits a light pulse during the ranging time period, relative to the start time of the ranging time period. The value of the random duration is greater than or equal to zero and less than or equal to the preset duration of the light emission adjustment interval.

[0167] The timing of light pulse emission by multiple light-emitting blocks within the ranging period is determined according to the random duration, so as to control the multiple light-emitting blocks 111 to emit light pulses correspondingly within the ranging period.

[0168] In this embodiment, a random sequence is generated and assigned a value for each light-emitting block 111 of a light-emitting group before each ranging time period.

[0169] That is, before each ranging period, a corresponding random number sequence is generated for the corresponding ranging period, and then each random number in the random number sequence is assigned to the random duration of the light pulse delay emitted by each light-emitting block 111 during the ranging period.

[0170] The method of generating corresponding random sequences independently for different ranging time periods may result in overlap of random numbers generated in different ranging time periods. That is, the following may be possible: within different ranging time periods, the random durations corresponding to the same light-emitting block 111 or different light-emitting blocks 111 may be equal, but most light-emitting blocks 111 can satisfy the condition that the random durations are not equal within the same ranging time period or within different ranging time periods.

[0171] In other embodiments, a random sequence of random durations corresponding to all ranging periods within the luminous period of each luminous block 111 of the luminous group can be generated and assigned values ​​at once.

[0172] Specifically, the control module 12 is configured to generate multiple sets of random number sequences at once for multiple ranging periods corresponding to the light emission period, and determine the time when the multiple light-emitting blocks 111 emit light pulses respectively in the ranging period based on one of the random number sequences before each ranging period.

[0173] Alternatively, for multiple ranging time periods, a random number sequence containing the delay durations of each light-emitting block 111 in all ranging time periods can be pre-generated. Taking Figure 7 as an example, a random number sequence containing M×num random numbers can be pre-generated, and each data point of this random number sequence can be assigned to, for example, each light-emitting block 1~M in Figure 7 during T1~T1. num The random durations of the intermediate delay.

[0174] After assigning the value, you can use the corresponding random duration for different distance measurement periods.

[0175] In one embodiment, a random number sequence can be generated independently for each ranging time period of each light-emitting block 111. Specifically, the control module 12 is configured to determine the time of emission of light pulses by multiple light-emitting blocks 111 in the same light-emitting group within the corresponding light-emitting time period in the following manner:

[0176] A set of random number sequences is generated for each light-emitting block 111. The random number sequence includes multiple random numbers that correspond one-to-one with multiple ranging time periods of the light-emitting block 111. These random numbers are used as random durations of the time when the light-emitting block 111 emits a light pulse within the corresponding ranging time period, relative to the start time of the ranging time period. The value of the random duration is greater than or equal to zero and less than or equal to the preset duration of the light emission adjustment interval.

[0177] The timing of the light-emitting block 111 emitting light pulses in the corresponding multiple ranging time periods is determined according to the random duration, so as to control the light-emitting block 111 to emit light pulses sequentially in the multiple ranging time periods.

[0178] The embodiments of the present invention are not limited to the method of generating random number sequences, nor to the specific implementation of assigning random number sequences to random durations.

[0179] The random duration of the delay in Figure 7 is displayed through a grid. As can be seen from Figure 7, whether viewed horizontally or vertically, within the emission period of the first group, each emission block has different distance measurement periods T1 to T2. num Each random duration of the intermediate delay can be randomly generated.

[0180] The control module 12 can control the random duration corresponding to the time when each light-emitting block 111 emits a light pulse, starting from the beginning of the ranging period, for each ranging period, so as to obtain the time when each light-emitting block 111 emits a light pulse within the ranging period.

[0181] Taking the first ranging period T1 as an example, during the first ranging period, the time when the light-emitting blocks numbered 1, 2, ... M emit light pulses is delayed by a random duration relative to the start time of T1. The magnitude of the random duration of the delay is represented by grid lines, and the width of the grid lines represents the length of the random duration.

[0182] Because the delay time of the light-emitting block 111 relative to the start time of the ranging period varies randomly, the timing of the light pulse emitted by the light-emitting block 111 during the ranging period also varies randomly. As can be seen from Figure 7, in the same ranging period, the timing of the light pulse emitted by each light-emitting block numbered 1 to M in the first group varies randomly, and / or, in the entire light emission period of the first group, the timing of the light pulse emitted by the light-emitting block in each ranging period also varies randomly.

[0183] The generation of the above-mentioned random number sequence can refer to existing random number generation methods. Common random number generation methods include the following: pseudo-random number generation algorithms, such as linear congruential methods, which simulate random number sequences through a deterministic calculation process or use physical phenomena (such as thermal noise, radioactive decay, etc.) to generate real random numbers, etc. The embodiments of this invention do not limit this.

[0184] For the same light-emitting group, the delay duration of each light-emitting block 111 in each ranging period can be determined by generating a random number sequence. Different light-emitting blocks 111 use their respective random numbers as their delay duration in different ranging periods.

[0185] According to the above method, correspondingly, starting from the beginning of each ranging period, after a corresponding random delay, the transmission time of the light-emitting block 111 in each ranging period is determined.

[0186] In one embodiment, as shown in FIG7, the light emission period of each light-emitting group is equal to the sum of the charging time of the light-emitting group and the duration of multiple ranging periods.

[0187] The initial period of the light-emitting group's emission time is the charging time. As shown in Figure 7, taking the first group as an example, the charging time for the light-emitting blocks in the first group is from the start of the rising edge of the first group to the start of the first ranging period T1 (the time represented by the first and second dashed lines). This is followed by several ranging periods (T1 to T...). num That is, charging time + several ranging time periods (T1~T) num The total duration is equal to the length of the light emission period of each light-emitting group.

[0188] The duration of each ranging period is greater than or equal to the sum of the upper limit of the random duration and the flight time. The flight time is the time required for the sensing beam to travel back and forth across the ranging range.

[0189] Each ranging time period consists of two parts: the random duration of the delay and the flight time. In order to meet the delay duration requirements of each light-emitting block, the ranging time period can be set to a reasonable length, which is greater than or equal to the sum of the upper limit of the random duration of each block in the same group and the flight time that meets the ranging requirements.

[0190] In one embodiment, when the duration of the ranging period is equal to the sum of the upper limit of the random duration and the flight time, the number of times each light-emitting block emits light within the same set of corresponding light-emitting periods (equal to the number of ranging periods) can be determined by the following formula:

[0191] In the above formula, TX is the number of times each light-emitting block emits light; f is the working frame rate of the radar applicable to the transmitting module; n is the number of light-emitting groups; S is the ranging range of three-dimensional sensing; c is the speed of light; Tchg is the charging time of each light-emitting group; k is the data processing time; and t is the upper limit of the random duration.

[0192] In one embodiment, from the perspective of hardware circuit implementation, the light-emitting block includes multiple light-emitting units 112, and the light-emitting unit 112 is a vertical cavity surface-emitting laser.

[0193] In one embodiment, referring to Figures 10A and 10B, the transmitting module 1 further includes: a power supply circuit 13 disposed on one or both sides of each row in the two-dimensional array, and a trigger circuit 14 disposed on one or both sides of each column in the two-dimensional array.

[0194] The power supply circuit 13 is used to charge each light-emitting block in the row.

[0195] Trigger circuit 14 is used to trigger the light-emitting blocks in a specified column of a charged row to emit light.

[0196] In Figure 10A, PWR1 to PWRN are the power supply circuits 13 corresponding to each column. Trig1 to TrigM are the trigger circuits 14 corresponding to each row. Figure 10A shows the case where both ends of the row or column are provided. Referring to Figure 10B, in this embodiment of the invention, the power supply circuit 13 and the trigger circuit 14 can also be provided at one end, and not at the other end.

[0197] In addition, for the circuit configuration shown in Figure 10A, which is symmetrically arranged on both sides, the pads located on opposite sides can simultaneously supply power to multiple light-emitting blocks belonging to the same light-emitting group in a column. This can improve the consistency of the electrical signal power received by light-emitting blocks at different positions in the same column, thereby improving the uniformity of light emission from light-emitting blocks at different positions in the same column.

[0198] The power supply circuit 13 and the trigger circuit 14 can be electrically connected to the light-emitting blocks in the corresponding row or column via the connection pin 113 (Bondpad, indicated by the orange part in Figure 10A).

[0199] In one possible embodiment, each light-emitting block in the transmitting module 1 may be provided with an independent charging circuit and a triggering circuit to adapt to various flexible grouping methods and corresponding driving methods, so as to achieve a better balance between different requirements such as distance measurement performance, hardware cost, heat dissipation and sensing frame rate.

[0200] In one embodiment, the control module 12 in the above-mentioned transmitting module 1 can adopt various grouping principles and methods.

[0201] The principles and methods of grouping are explained below with reference to the attached diagrams.

[0202] Method 1: Treat every N columns or every N rows in the two-dimensional array as a light-emitting group; where N is an integer greater than or equal to 1.

[0203] In a two-dimensional array, the light-emitting groups are divided into columns or rows.

[0204] When dividing the light-emitting groups by column or row, each group can be one row or multiple rows (two or more rows). Alternatively, each group can be one column or multiple columns (two or more columns).

[0205] Referring to Figure 3A, the entire two-dimensional array of the emitting light source 11 is divided into multiple light-emitting groups, with each group consisting of one column. Figure 3A illustrates the arrangement of groups 1 to 5.

[0206] Referring to Figure 3B, the entire two-dimensional array of the emitting light source 11 is divided into multiple light-emitting groups in groups of two columns. The division method for groups of more than two columns is similar.

[0207] The row-based partitioning method is similar to the column-based partitioning method described above, and will not be repeated here.

[0208] By dividing the light-emitting groups into N rows or N columns, the position of each light-emitting group is relatively fixed. Therefore, fewer and simpler circuits can be used to control a column or a row in terms of hardware circuit deployment, resulting in lower implementation costs.

[0209] With this grouping method, since the N rows or N columns share the same charging time, the charging time occupies less of the total time for each group's light emission period, allowing for more time to perform ranging, thus bringing the technical advantage of increasing the number of transmissions and the ranging distance.

[0210] For the lidar used in this transmitting module, it is also convenient to fuse data with other sensors, such as video data captured by a video capture camera. Since cameras usually use a line-by-line or column-by-column scanning method, the data acquisition method adopted by the transmitting module in this embodiment of the invention can be easily synchronized with this acquisition method, which facilitates subsequent data fusion processing.

[0211] In method one, the control module 12 can control the divided light-emitting groups to emit light sequentially in the following manner (from the perspective of the group):

[0212] When different light-emitting groups emit light in a preset order, two light-emitting groups that are adjacent in the emission order are adjacent to each other in the two-dimensional array; or, two light-emitting groups that are adjacent in the emission order are not adjacent to each other in the two-dimensional array.

[0213] For example, referring to Figure 3A, one approach is to light up the lights sequentially in group 1 → group 2 → group 3… Different groups are adjacent to each other.

[0214] Another approach is to emit light sequentially in the order of group 1 → group 3 → group 5, and in the order of group 2 → group 4 → group 6, i.e., skipping rows. In this case, different light-emitting groups are not adjacent to each other.

[0215] The method of keeping two adjacent light-emitting groups in the emission sequence separate from each other in the two-dimensional array can better avoid crosstalk problems of light-emitting blocks compared to the method of keeping them adjacent to each other.

[0216] Method 2: According to the positional relationship of each light-emitting block 111 in the two-dimensional array, the two-dimensional array is divided into multiple regular regions consisting of multiple adjacent light-emitting blocks 111 that are not in a whole row or column. The light-emitting blocks 111 in each regular region are regarded as a light-emitting group.

[0217] In this manner, multiple adjacent light-emitting blocks 111 in a non-integer row or non-integer column of a two-dimensional array form a continuous regular region, such as a relatively larger rectangular block composed of multiple light-emitting blocks 111.

[0218] For example, as shown in Figure 4A, four adjacent light-emitting blocks 111 starting from the upper left corner form a light-emitting group. The shapes and sizes of other light-emitting groups can be the same. In Figure 4B, groups 1 to 3 are only indicated by different colored blocks.

[0219] Referring to Figure 4B, different light-emitting groups are distinguished by different filling patterns. The light-emitting groups can have the same shape and size, or the same shape but different sizes, or different shapes and sizes. For example, in Figure 4B, group 1 is a square block containing 2×2 light-emitting blocks (shown by dense diagonal lines), while group 2 is a square block containing 4×4 light-emitting blocks (shown by thick diagonal lines). Another example is group 3 in Figure 4B, which is a rectangular block containing 2×4 light-emitting blocks (shown by vertical lines), and its shape and size are different from groups 1 and 2.

[0220] In Method 2, the control module 12 can control the divided groups to emit light in sequence in the following manner (from the perspective of the group): when different light-emitting groups emit light in sequence according to a preset order, two light-emitting groups that are adjacent in the light-emitting order are adjacent to each other in the two-dimensional array; or, two light-emitting groups that are adjacent in the light-emitting order are not adjacent to each other in the two-dimensional array.

[0221] Whether two light-emitting groups are adjacent to each other can be determined in practice by checking if there are two adjacent light-emitting blocks in these two light-emitting groups.

[0222] For example, consider two light-emitting groups, assuming they are light-emitting group A and light-emitting group B. Light-emitting group A contains a light-emitting block a, and light-emitting group B contains another light-emitting block b. Light-emitting blocks a and b are adjacent to each other.

[0223] In a two-dimensional array, the light-emitting blocks are adjacent to each other. Specifically, this can include various situations such as adjacent in the same column, adjacent in the same row, or adjacent diagonally.

[0224] Conversely, if there are no two adjacent light-emitting blocks in the two light-emitting groups, then the two light-emitting blocks are not adjacent to each other in the two-dimensional array.

[0225] Method 2 is more flexible in terms of grouping than Method 1. However, due to its more flexible grouping method, the circuit setup is also slightly more complex than Method 1. It requires charging different columns separately, so the charging time is longer than Method 1. In contrast, it will shorten the ranging time. From the perspective of data fusion with other sensors, this method may only be able to achieve local data alignment, and the fusion difficulty is higher than Method 1.

[0226] During implementation, the scanning frame rate can be increased for key ranging areas, or the ranging time can be appropriately increased.

[0227] Method 3: In each frame period, the multiple light-emitting blocks in the two-dimensional array are divided into multiple light-emitting groups in a random manner. The number of light-emitting blocks in each light-emitting group is random, and / or the position of the light-emitting blocks in each light-emitting group in the two-dimensional array is random. The frame period is the duration for the multiple light-emitting groups of the transmitting module 1 to emit light in sequence to form a detection frame.

[0228] To better avoid crosstalk between different light-emitting blocks within the same group, in Method 3, a random division method is used for each frame period, that is, during the time when all light-emitting groups of the transmitting module 1 emit light to form a detection frame. In the next frame period, the same random division method is used. The random division between different frames may be the same or different, and the specific situation is determined according to the random result.

[0229] The random division method allows the number and position of light-emitting blocks in different light-emitting groups to be random.

[0230] For example, Figures 5A and 5B illustrate different light-emitting groups using different filled texture blocks (only a portion of the light-emitting groups are shown). These two figures illustrate different methods of random grouping. In each detection frame, the number of light-emitting groups can be randomly generated, for example, using a pseudo-random number generation method. The positions of the light-emitting blocks within a light-emitting group can also be randomly generated, resulting in different numbers of light-emitting blocks in different groups (at least one light-emitting block), different positions of the light-emitting blocks in different groups, and different total numbers of light-emitting groups.

[0231] Figures 5A and 5B above are merely illustrations of two different random grouping methods, but the embodiments of the present invention are not limited to the above-described scenarios.

[0232] The advantage of randomly dividing the light emission groups is that, within each frame period, the random division of the light emission groups makes the positions of the light emission blocks within the same group random, which can more effectively reduce optical crosstalk between them, such as reducing crosstalk between adjacent light emission blocks.

[0233] Since the light-emitting blocks of each light-emitting group are randomly determined in a random state, the complexity of its corresponding driving circuit may be more complex than that of the aforementioned Method 1 and Method 2. The same applies to the driving logic. From the perspective of fusing data with other sensors, the fusion difficulty increases compared to Method 1.

[0234] Method 4: Consider using the following grouping principle to divide the light-emitting groups: Divide the light-emitting groups according to the light-emitting blocks. A light-emitting group includes light-emitting blocks located in different rows or columns.

[0235] This principle does not divide different light-emitting groups according to whole rows or columns, but according to light-emitting blocks, so that each light-emitting group includes at least two light-emitting blocks located in different rows or columns.

[0236] Referring to the block division method shown in Figure 6, assuming the row numbers of the two-dimensional array are sequentially 1 to 5, and the column numbers are also 1 to 5, and assuming that a light-emitting block is identified by "row-column" position number, then the six light-emitting blocks with position numbers (1,1), (1,3), (3,1), (3,3), (5,1), and (5,3) can form a light-emitting group (see the blocks marked by diagonal stripes in Figure 6). The light-emitting group includes light-emitting blocks located in different rows or columns, which reduces the number of groups and the corresponding number of light-emitting periods, and reduces the time required for all light-emitting blocks in the two-dimensional array to emit light once, which is beneficial to improving the detection frame rate. Moreover, the array positions of different light-emitting blocks in the same row or column within the same light-emitting group are not continuous, and they are separated from each other by light-emitting blocks from at least one other light-emitting group, which reduces optical crosstalk between light-emitting blocks in the same group that emit light in the same light-emitting period.

[0237] Of course, under the principle of Method 4, there may be more grouping methods, which will not be shown one by one here.

[0238] Under the principle that a light-emitting group consists of light-emitting blocks located in different rows or columns, the number of light-emitting blocks in each light-emitting group may be the same or different.

[0239] Methods 1, 2, and 4 all involve the division of light-emitting groups within the same frame period or the principle of dividing them. The same division method and principle can be used to divide the light-emitting blocks within each frame period across different frames; alternatively, different division methods and principles can be switched between different frame periods to divide the blocks within the frame period. This embodiment of the invention does not limit this approach.

[0240] Method four is similar to method three. Since the grouping of light-emitting blocks is not fixed in different frame periods, the corresponding driving circuit may be more complex than that of methods one and two, and the driving logic is also more complex. From the perspective of fusing data with other sensors, the fusion difficulty increases compared to method one. However, the advantage of this method is that it can better avoid crosstalk problems caused by adjacent light-emitting blocks.

[0241] In one embodiment, the present invention also provides another method for a control module to drive multiple light-emitting blocks of different light-emitting groups to emit light. This method also satisfies that different light-emitting groups emit light sequentially in different light-emitting time periods according to a preset order, and that at least two light-emitting blocks emit light at different times within the light-emitting time period corresponding to the same light-emitting group.

[0242] Specifically, the control module 12 is configured to control the light-emitting blocks of the light-emitting group to emit multiple light pulses according to a preset time sequence within the corresponding light-emitting period. One light-emitting period includes multiple ranging periods corresponding to the multiple light pulses. The control module 12 is configured to control different light-emitting blocks in the light-emitting group to perform charging and emit a light pulse in sequence according to a preset order within a ranging period.

[0243] Control module 12 is further configured to determine the moment when the light-emitting blocks of the same light-emitting group emit light pulses during a ranging period by means of the following:

[0244] The timing of the light-emitting pulse of each light-emitting block in the light-emitting group within a ranging time period is determined by generating a random number sequence, and the random duration of the delay relative to the end of the charging time period of the light-emitting block is determined.

[0245] For each light-emitting block in the light-emitting group, starting from the end time of the charging duration of the light-emitting block within the ranging period, the corresponding random duration is delayed to obtain the time when the light-emitting block emits a light pulse within the ranging period.

[0246] The control timing for this method is explained below:

[0247] During the light emission period corresponding to each light emission group, each light emission block will emit multiple rounds of light pulses, and one round of light pulse emission will be achieved within a ranging period. The light emission period of each light emission group consists of multiple ranging periods.

[0248] Referring to Figure 8, which only illustrates the details of the first ranging period, T1, the other ranging periods are similar. Multiple ranging periods, such as T1, constitute the emission period of a certain emission group.

[0249] In terms of emission timing, as shown in Figure 8, within each ranging period, a corresponding charging period (represented by Tchg1 to TchgN) is set for each light-emitting block, and a light pulse (the pulse signal corresponding to Trig1 to TrigN) is set after the charging period.

[0250] The timing of the emission pulse of each light-emitting block within each ranging period is delayed by a random duration (represented by grid lines) relative to the end of the charging period.

[0251] This random duration can be determined in a similar way to the aforementioned random duration determination method, such as by generating a random number sequence and then assigning a value to the random duration. For specific implementation methods, please refer to the aforementioned embodiments, which will not be repeated here.

[0252] Each light-emitting group contains several ranging time periods within its light-emitting duration. The timing sequence of each ranging time period can be seen in Figure 8. Within a ranging time period, the charging cycle (represented by PWR) and light-emitting pulse (represented by Trig) of each light-emitting block in the light-emitting group are included. For example, if the first group contains N light-emitting blocks, then within the ranging time period T1, the N light-emitting blocks in the first group will sequentially undergo the processes of charging, emitting light, and ranging.

[0253] Referring to Figure 8, the charging and emitting sequence of each light-emitting block is as follows: light-emitting block 1 charges and emits light → light-emitting block 2 charges and emits light → ... light-emitting block N charges and emits light.

[0254] For example, the end time of charging of light-emitting block 2 is later than the end time of emitting light pulse of light-emitting block 1, and so on.

[0255] In one embodiment, the charging time of each light-emitting block within the same light-emitting group is equal, but the difference lies in the random duration of the delay between the light-emitting moment and the end of charging. As shown in Figure 8, where the grid lines represent the magnitude of the random delay, it can be seen that the random duration of the delay relative to the end of charging is different for each light-emitting block during the ranging period T1.

[0256] The charging time of different light-emitting blocks in the same light-emitting group can be the same time interval.

[0257] Referring to Figure 8, for the same ranging time period, although the times when each light-emitting block emits light pulses are different, their ranging times (light flight time, i.e., the time after the light pulse) can overlap.

[0258] In one embodiment, the present invention also provides a light emission timing implementation similar to that in Figure 8:

[0259] Referring to Figure 9, similar to the second type of light emission sequence mentioned above, each light-emitting block will emit multiple rounds of light pulses during the light emission period corresponding to each light-emitting group, and each round is realized within a ranging period. During each ranging period, multiple light-emitting blocks in the same light-emitting group emit one light pulse respectively.

[0260] In terms of emission timing, as shown in Figure 9, each light-emitting block is configured with a corresponding charging period and a light pulse following that charging period within each ranging period. The difference from the timing control method shown in Figure 8 is that, as shown in Figure 9, there is a random delay after the charging period. The end of this random delay is the moment the light pulse is emitted, which randomly delays the emission time of the light pulse following the charging period.

[0261] The aforementioned random duration can also be determined in a similar way to the aforementioned random duration determination method, such as by generating a random number sequence and then assigning a value to the random duration. For specific implementation methods, please refer to the aforementioned embodiments, which will not be repeated here.

[0262] When the charging time is randomly delayed, the start time of the emitted light pulse is synchronized with the end time of charging, or it can be equal to the end time of charging delayed by a fixed amount of time.

[0263] In the timing schemes shown in Figures 8 and 9 above, the emission period of each light-emitting group is equal to the sum of the durations of multiple ranging periods. The duration of the ranging period is greater than or equal to the sum of the charging time of all light-emitting blocks within the light-emitting group, the duration of each random delay, and the flight time of each light-emitting block.

[0264] When the duration of the ranging period is equal to the sum of the charging time of all light-emitting blocks in the same light-emitting group, the random duration of each delay, and the flight time of each light-emitting block, the number of times each light-emitting block emits light within the corresponding light-emitting period of the same group (equal to the number of ranging periods) is determined by the following formula:

[0265] In the above formula, TX is the number of times each light-emitting block emits light; f is the working frame rate of the radar applicable to the transmitting module; n is the number of light-emitting groups; S is the ranging range; c is the speed of light; Tchg is the charging time of each light-emitting block; and k is the data processing time.

[0266] Regarding the timing implementation methods described above, the first timing implementation method is suitable for the grouping rules of the light-emitting blocks, such as grouping by row or column, or grouping by N rows or N columns (N is an integer greater than 1).

[0267] Referring to the hardware circuit shown in Figure 10, and taking the timing diagram shown in Figure 7 as an example, the power supply circuit 13 charges all rows (or columns) containing the light-emitting blocks in the first group during the charging time of the first group. During each ranging period, it controls the trigger circuit 14 of the column (or row) containing the block that needs to emit light to operate, thereby triggering the light-emitting blocks in a specified column of a charged row to emit light, or triggering the light-emitting blocks in a specified row of a charged column to emit light (a specific light-emitting block can be uniquely determined based on its row and column).

[0268] Taking the timing diagram shown in Figure 8 as an example, during a ranging period, the power supply circuit 13 and the trigger circuit 14 work sequentially to enable each light-emitting block in the same group to be charged and emit light in a preset order. For example, the power supply circuit 13 charges the first light-emitting block (charging the row where the light-emitting block is located) and stops working after charging is completed. The trigger circuit 14 then triggers the column where the light-emitting block is located to emit light (since the corresponding rows of other light-emitting blocks in the column have not been charged, they cannot emit light). This enables the first light-emitting block in the light-emitting group to emit light. This process continues until each light-emitting block in the same group is charged and emits light.

[0269] With each light-emitting block equipped with a corresponding charging circuit and triggering circuit, for the timing sequence shown in Figures 7 to 9, the light-emitting block is charged by the charging circuit during the corresponding charging period and light pulse period, and the light pulse is triggered by the triggering circuit of the light-emitting block at the moment of light pulse emission.

[0270] The following describes the process of driving and controlling the emitting light source 11 by the above-mentioned emitting module 1 using several specific implementation methods.

[0271] Example 1:

[0272] The emitting module 1 is a VCSEL light source with an area array, consisting of a two-dimensional array of M (columns) × N (rows). Each light-emitting block in the two-dimensional array is divided into M groups according to the method of dividing each column into a group, and each light-emitting group is a column.

[0273] Each light-emitting group, as shown in Figure 3A, is driven to emit light column by column from left to right.

[0274] The control module 12 drives one column of light-emitting blocks to emit light each time. For example, the first column of light-emitting blocks is driven to emit light for the first time. After each light-emitting block in the first column is lit up num times in sequence, the module switches to the next column and repeats the above process until the entire array is lit up.

[0275] The timing diagram can be seen in Figure 15, where PWR1 to PWRN are the waveform timings of the charging circuit charging each light-emitting block in a certain light-emitting group; Trig1 to TrigM are the waveform timings of the trigger circuit triggering the emission of light pulses.

[0276] In one embodiment of the present invention, the charging time of a certain light-emitting group is equal to the length of the light-emitting period of that light-emitting group.

[0277] Within each column (or group), the illumination duration is further divided into several ranging time intervals. The illumination duration of each group is equal to the charging time for that group plus the total duration of the ranging time intervals. Within each ranging time interval, each light-emitting block will be lit once, and there are a total of num ranging time intervals.

[0278] Within each column's corresponding emission duration, the illumination time of each light-emitting block is randomly delayed (relative to the start time of the ranging period) within each ranging time interval. Furthermore, within the same group's emission duration, the random delay duration for each light-emitting block is different. This ensures that the emission times of each light-emitting block are staggered within the group, effectively reducing optical crosstalk between light-emitting blocks.

[0279] From the perspective of hardware circuit implementation, referring to the hardware circuit shown in FIG10, the power supply circuit 13 set on one or both sides of the first column charges each light-emitting block of the first column during the charging time of the first column. Then, during each ranging time period, the trigger circuit 14 triggers the light-emitting block in the row to emit light pulses at the time corresponding to the light-emitting block of the first column (since the light-emitting blocks in the row are not charged and cannot emit light except for the light-emitting blocks in the first column, only one light-emitting block will be triggered to emit light at the same time), so that each light-emitting block emits light sequentially at different times.

[0280] The receiving module can be composed of a single-photon avalanche diode (SPAD) array, with each n×n SPAD forming a pixel. Each U×V pixel forms a slot, and the receiving module has a total of M×N slots, corresponding to the M×N partitions of the light source.

[0281] Of course, the receiving module in the embodiments of the present invention can also use other photosensitive devices, such as avalanche photodiodes or silicon photomultiplier tubes, and the embodiments of the present invention do not limit this.

[0282] The receiving module can receive the returned echo light signal by synchronously opening the corresponding column with the transmitting module 1. For example, at the start of the emission duration of the transmitting module 1, such as at the start of the first emission duration in Figure 7, the receiving module synchronously opens the slot column corresponding to the first column of the transmitting module 1 to sense the echo beam signal returned from the object. Based on the time-of-flight measurement principle, the avalanche count caused by num transmissions is recorded, and a histogram is obtained through statistics to further determine the time of flight.

[0283] The above grouping can also be done in rows, and the specific implementation method is similar to the aforementioned implementation method of grouping in columns.

[0284] Example 2:

[0285] In Embodiment 2, the emitting module 1 is a VCSEL light source with an area array, including a two-dimensional array of M (columns) × N (rows). For each light-emitting block in the two-dimensional array, X groups are generated in a randomized manner with random number and / or random position. The number of light-emitting blocks in each group is randomly allocated, and their positions in the two-dimensional array are also random.

[0286] Each group emits light sequentially according to a preset order. Within each group, each light-emitting block emits light multiple times during various ranging periods. Furthermore, within each ranging period in a light-emitting group, each light-emitting block sequentially undergoes a charging and triggering process. The light-emitting time of each light-emitting block is randomly delayed relative to the charging end time to ensure that the light pulses sent by each light-emitting block are staggered.

[0287] Referring to the example shown in Figure 8, the light-emitting driver determines the random duration of the delay of each light-emitting block relative to the end of charging within the ranging period by generating random numbers, so as to achieve that the time of sending light pulses by each light-emitting block is staggered.

[0288] The light-emitting driver controls the power supply circuit 13 and the trigger circuit 14 to control the light-emitting block to emit light pulses after a random delay corresponding to the time when each light-emitting block emits a light pulse, starting from the end of the charging time within the ranging period.

[0289] Referring to the example shown in Figure 11, the light-emitting blocks in a certain group are identified by rows and columns as (1,1), (2,3), and (3,1), where (1,1) is represented by a blue block, (2,3) by a yellow block, and (3,1) by a gray block. Assume that the order of light emission within the same ranging time period is (1,1), (2,3), and (3,1).

[0290] Then the charging circuit of the column where the light-emitting block (1,1) is located charges the first column. After the charging is completed and a corresponding random time delay is set, the trigger circuit 14 of the row where the light-emitting block (1,1) is located, i.e. the first row, is triggered, and the light-emitting block (1,1) is completed.

[0291] Next, the charging circuit of the column where the light-emitting block (2,3) is located charges the 3rd column. After the charging is completed and a corresponding random time delay is applied, the trigger circuit 14 of the row where the light-emitting block (2,3) is located, i.e. the 2nd row, is triggered, and the light-emitting block (2,3) emits light.

[0292] The last light-emitting block to emit light is the light-emitting block (3,1). The charging circuit of the column where the light-emitting block (3,1) is located charges the first column. After the charging is completed and a corresponding random time delay is applied, the trigger circuit 14 of the row where the light-emitting block (3,1) is located, i.e. the third row, is triggered, thus completing the illumination of the light-emitting block (3,1).

[0293] From the perspective of the receiving module, for example, by adopting the method of synchronously opening the corresponding column with the transmitting module 1 to receive the returned echo optical signal, when the light-emitting block (1,1) sends an optical pulse, the column of the corresponding slot of the receiving module is also opened synchronously. The same applies to light-emitting blocks (2,3) and (3,1).

[0294] Of course, the echo beam signal can also be sensed by synchronously opening the slot corresponding to each light-emitting block in the transmitting module 1. This embodiment of the invention does not limit this.

[0295] Based on the time-of-flight measurement principle, the avalanche counts triggered by multiple emitted light pulses are recorded, and a histogram is obtained through statistical analysis, which is then used to determine the flight time.

[0296] As those skilled in the art will understand, during the sensing process, a large amount of ambient light, including optical crosstalk signals generated by adjacent light-emitting blocks, will also be sensed by the receiving module, generating corresponding optical signal counts. The probability of these ambient light photons being sensed and leaving a count in each time slot tends to be the same, constituting a noise level within the detection range. In scenarios with high ambient light intensity, the average level of the noise level is relatively high; in scenarios with low ambient light intensity, the average level of the noise level is relatively low. Based on this, the optical signal count generated by the sensing beam reflected from the target object is superimposed on the noise level, making the optical signal count in the time slot corresponding to the moment the sensing beam is sensed significantly higher than the optical signal counts in other time slots, thus forming a prominent signal peak. However, the height of the signal peak count is affected by factors such as the optical power of the sensing beam, the reflectivity of the target object, and the detection range.

[0297] In this embodiment of the invention, multiple light-emitting blocks are divided into several groups. Each light-emitting group emits light sequentially in different light-emitting segments according to a preset order. Within the light-emitting time period corresponding to the same group, random delays are used to ensure that the light-emitting times of multiple different light-emitting blocks are different. For the receiving module, even if there are optical crosstalk signals between multiple pixels corresponding to light-emitting blocks in different light-emitting groups, these crosstalk signals will be counted into different time bins during multiple light pulse transmissions, thus preventing them from accumulating and forming crosstalk peaks (which interfere with normal measurement signals) in the same time bin.

[0298] Referring to Figure 12, the left side is a schematic diagram of the histogram time bins obtained by the receiving module in the case of non-random delay and misfiring of light emission according to the prior art. As can be seen from the schematic diagram, the light emission block of the light emission group A emits light pulses through the three ranging periods TX1 to TX3. The peak value of the superimposed echo beam signal (represented by the black line) sensed by the receiving module is basically the same as the peak value of the superimposed crosstalk signal (represented by the blue line) of the light emission group B (the light emission group that causes crosstalk to the light emission group A). ​​This makes it difficult to identify the time bin where the echo beam signal is located. The right side of Figure 12 shows a schematic diagram of the histogram time division of the light-emitting blocks in the same group of light-emitting blocks in the embodiment of the present invention, which emit light through random delay and staggered emission, and the receiving module senses the echo beam. As can be seen from the schematic diagram, similarly, the light-emitting blocks of light-emitting group A emit light pulses through three ranging periods TX1 to TX3. The effective echo beam signal (represented by the black line) is superimposed into a signal peak in the same time division, while the crosstalk signal (represented by the blue line) is dispersed into several time divisions due to the random delay and cannot be superimposed into a signal peak, thereby avoiding crosstalk to the real echo beam signal.

[0299] Based on the same inventive concept, embodiments of the present invention also provide a lidar and related electronic equipment, as well as a driving method for a lidar emitting light source. Since the principles by which these devices and methods solve problems are similar to those of the aforementioned emitting module 1, the implementation of these devices and methods can refer to the implementation of the aforementioned emitting module 1, and repeated details will not be described again.

[0300] The lidar provided in this embodiment of the invention, as shown in FIG13, includes a transmitting module 1 and a receiving module 2 as described in the previous embodiment, wherein: the receiving module includes a plurality of sensing partitions arranged in a two-dimensional array, and the plurality of sensing partitions correspond one-to-one with a plurality of light-emitting blocks of the transmitting light source 11; the sensing partitions are configured to receive light signals returned from the sub-field of view scanned by the corresponding light-emitting blocks;

[0301] The control module 12 is configured to control the sensing partition to start working during the light emission period of the corresponding light-emitting block.

[0302] Furthermore, the aforementioned control module 12 is also used to, for each light-emitting group of the emitting light source 11, trigger multiple sensing partitions corresponding to multiple light-emitting blocks in the light-emitting group to open simultaneously at the receiving turn-on time corresponding to the light-emitting group; the receiving turn-on time is not earlier than the start time of the light-emitting duration of the group, and not later than the light-emitting time of the earliest lit light-emitting block in the light-emitting group.

[0303] In one embodiment, referring to FIG14, the control module 12 includes: a transmission drive circuit 121, a sensing drive circuit 122, and a main controller 123. The transmission drive circuit 121 is configured to drive the light-emitting block to emit a light beam, the sensing drive circuit 122 is configured to drive the sensing partition to start working, and the main controller 123 is configured to control the light emission sequence of the light-emitting block and the working sequence of the sensing partition; wherein...

[0304] In terms of hardware, the transmit drive circuit 121, the sense drive circuit 122, and the main controller 123 are respectively located on different chips; or,

[0305] The transmit drive circuit 121 and the main controller 123 are integrated on the same chip; or,

[0306] The transmit drive circuit 121 and the sense drive circuit 122 are integrated on the same chip; or,

[0307] The transmit drive circuit 121, the sense drive circuit 122, and the main controller 123 are integrated on the same chip; or,

[0308] The sensing drive circuit 122 and the main controller 123 are integrated on the same chip.

[0309] It should be noted that in the foregoing embodiments, for ease of understanding, the control module 12 is included in the transmitting module based on its function of controlling the light-emitting block to emit light pulses. However, in specific implementations of this invention, since the control module 12 of the lidar can not only control the light-emitting block to emit light pulses, but also control the sensing partition of the receiving module to sense the returned light signal, the control module 12 can be an independent component in specific implementations. Its placement can be varied, such as being a single component placed near the transmitting light source, near the receiving module, or independently placed in a position neither near the transmitting light source nor the receiving module. This invention is not limited to its specific placement or method. For example, the control module 12 can be further divided into a transmission drive circuit 121, a sensing drive circuit 122, and a main controller 123. In specific configuration, the transmission drive circuit 121 included in the control module 12 can be set in the transmission module 1, the sensing drive circuit 122 can be set in the receiving module 2, and the main controller 123 can be set independently, or set on the same chip as the sensing drive circuit 122, or set on the same chip as the transmission drive circuit 121, or the transmission drive circuit 121, the sensing drive circuit 122, and the main controller 123 can be set on the same chip.

[0310] The embodiments of the present invention do not limit the specific structure and setting of the control module 12 itself, or the structural and / or relative positional relationship between it and the transmitting module 1 and the receiving module 2.

[0311] The multiple sensing partitions of the receiving module 2 that correspond to the multiple light-emitting blocks in the light-emitting group can be columns or rows corresponding to each light-emitting block, or sensing blocks that correspond one-to-one with each light-emitting block. This embodiment of the invention does not limit this.

[0312] In one embodiment, the lidar provided by this invention is configured to detect the distance to objects within a preset field of view. The lidar system includes a transmitting module 1, a receiving module 2, and a control module 12 as described above.

[0313] The receiving module 2 is configured to sense light signals from the field of view. The receiving module 2 includes a photoelectric sensor and receiving optics. The photoelectric sensor includes multiple photoelectric conversion devices configured to respond to the light signals and output corresponding light-sensing signals. The receiving optics are configured to transmit light signals from different directions within the field of view to the corresponding photoelectric conversion devices. The processing module is configured to process the light-sensing signals to obtain three-dimensional information. This three-dimensional information can be used, for example, in 3D modeling, identity recognition, autonomous driving, machine vision, surveillance, drone control, augmented reality (AR) / virtual reality (VR), simultaneous localization and mapping (SLAM), object proximity detection, etc., and this embodiment of the invention does not limit its application to these fields.

[0314] In some embodiments, the photoelectric conversion device is any one or more combinations of a single-photon avalanche diode, an avalanche photodiode, or a silicon photomultiplier tube.

[0315] This invention also provides an electronic device, including the aforementioned lidar and application module. The application module is configured to perform corresponding functions based on the detection results of the lidar.

[0316] The electronic devices may include, for example, mobile phones, automobiles, robots, access control / monitoring systems, smart locks, unmanned mobile vehicles, and aircraft. Taking an intelligent driving vehicle as an example, the lidar provided in this embodiment of the invention, when installed in an intelligent driving vehicle, can scan the surrounding environment by rapidly and repeatedly emitting laser pulses as beams to obtain point cloud data of the shape, position, and motion of objects within the field of view.

[0317] This invention provides a method for driving a lidar emitting light source, used to drive the lidar emitting light source to emit a beam of light for three-dimensional sensing within a field of view. The method includes the following steps:

[0318] The emitting light source comprises multiple light-emitting blocks arranged in a two-dimensional array, which are divided into several light-emitting groups. Different light-emitting groups are controlled to emit light sequentially in different light-emitting time periods according to a preset order, and within the light-emitting time period corresponding to the same light-emitting group, the light-emitting times of at least two light-emitting blocks are different.

[0319] In one embodiment, the step of dividing the plurality of light-emitting blocks comprising the emitting light source into several light-emitting groups may include any of the following methods:

[0320] Each N columns or each N rows in the two-dimensional array is used as a light-emitting group; where N is an integer greater than or equal to 1.

[0321] Alternatively, according to the positional relationship of each light-emitting block in the two-dimensional array, the two-dimensional array is divided into multiple regular regions consisting of multiple adjacent light-emitting blocks that are not in a whole row or column, and the light-emitting blocks in each regular region are regarded as a light-emitting group.

[0322] Alternatively, in each frame period, the multiple light-emitting blocks in the two-dimensional array are randomly divided into multiple light-emitting groups, the number of light-emitting blocks in each light-emitting group is random, and / or the position of the light-emitting blocks in each light-emitting group in the two-dimensional array is random; the frame period is the duration of the multiple light-emitting groups of the transmitting module emitting light sequentially to form a frame.

[0323] Alternatively, different light-emitting groups can be formed according to the light-emitting blocks, and one light-emitting group includes light-emitting blocks located in different rows or columns.

[0324] In one embodiment, the emission times of at least two light-emitting blocks within the same group of light-emitting blocks can be made different in the following way:

[0325] The light-emitting blocks of the control light-emitting group emit multiple light pulses according to a preset time sequence within the corresponding light-emitting period. One light-emitting period includes multiple ranging periods corresponding to the multiple light pulses.

[0326] The light-emitting blocks are controlled to emit one light pulse in a ranging time period, and at least two light-emitting blocks in the same light-emitting group emit light pulses at different times in a ranging time period.

[0327] In one embodiment, the times at which the at least two light-emitting blocks controlling the same light-emitting group emit light pulses are different within a ranging time period, which can be achieved in the following way:

[0328] During at least one ranging period, the timing at which each light-emitting block of the light-emitting group emits a light pulse is different.

[0329] In one embodiment, the step of controlling at least two light-emitting blocks of the same light-emitting group to emit light pulses at different times during a ranging period may further include:

[0330] Within the same light-emitting group, in addition to the fact that at least two light-emitting blocks in the same light-emitting group emit light pulses at different times within a ranging time period, there are also two or more light-emitting blocks that emit light pulses at the same time in at least one ranging time period.

[0331] In one embodiment, the step of controlling at least two light-emitting blocks of the same light-emitting group to emit light pulses at different times during a ranging period may further include:

[0332] Within the same light-emitting group, the time when the same light-emitting block emits light pulses during at least two ranging periods is the same time interval relative to the start time of each ranging period.

[0333] In one embodiment, the time when the same light-emitting block emits light pulses during multiple ranging periods within a single light-emitting period has a corresponding time interval relative to the start time of each ranging period, and the length of the time interval corresponding to each of the different ranging periods varies randomly.

[0334] In one embodiment, the time interval at which the same light-emitting block emits light pulses during multiple ranging periods within a single emission period is different from the start time of each of the respective ranging periods.

[0335] In one embodiment, the step of controlling at least two light-emitting blocks of the same light-emitting group to emit light pulses at different times within a ranging time period can be achieved in the following manner:

[0336] Within the same light-emitting group corresponding to the light-emitting period, at least two light-emitting blocks emit light pulses at times with a time difference within a ranging period, and the time difference formed by the at least two light-emitting blocks in different ranging periods varies randomly.

[0337] In one embodiment, the step of controlling at least two light-emitting blocks of the same light-emitting group to emit light pulses at different times during a ranging period may further include:

[0338] Within the same light-emitting group, the time when multiple light-emitting blocks in the same light-emitting group emit light pulses during a ranging period forms a corresponding time difference with each other. The time difference formed by the multiple light-emitting blocks in the same light-emitting group in different ranging periods varies randomly.

[0339] In one embodiment, the initial portion of the ranging time period has a light emission adjustment interval of preset duration, and the random variation range of the time difference is greater than or equal to zero and less than or equal to the preset duration of the light emission adjustment interval.

[0340] In one embodiment, the step of controlling at least two light-emitting blocks in the same light-emitting group to emit light pulses at different times during a ranging period further includes:

[0341] The starting part of the ranging time period has a preset duration of light emission adjustment interval. Within the light emission adjustment interval of a ranging time period, the times when multiple light emission blocks of the same light emission group emit light pulses are randomly set during the ranging time period.

[0342] In one embodiment, the timing of the emitted light pulses from multiple light-emitting blocks within the same light-emitting group during a corresponding light-emitting period can be determined in the following manner:

[0343] A set of random number sequences is generated for a ranging time period. The random number sequence includes multiple random numbers that correspond one-to-one with multiple light-emitting blocks. Each random number is used as a random duration of the time when the multiple light-emitting blocks emit light pulses during the ranging time period, which is delayed relative to the start time of the ranging time period. The value of the random duration is greater than or equal to zero and less than or equal to the preset duration of the light emission adjustment interval.

[0344] The timing at which multiple light-emitting blocks emit light pulses during the ranging period is determined based on the random duration, so as to control the multiple light-emitting blocks to emit light pulses correspondingly during the ranging period.

[0345] In one embodiment, a set of random number sequences is generated corresponding to a ranging time period, which can be implemented in the following way:

[0346] A set of random sequences is generated sequentially before each ranging period in the emission period to determine the time when the plurality of light-emitting blocks emit light pulses respectively in the ranging period.

[0347] In one embodiment, a set of random number sequences is generated corresponding to a ranging time period, which can be implemented in the following way:

[0348] To generate multiple sets of random number sequences for multiple ranging periods corresponding to the emission period, before each ranging period, the time when the multiple light-emitting blocks emit light pulses in that ranging period is determined according to one of the random number sequences.

[0349] In one embodiment, the timing of the emitted light pulses from multiple light-emitting blocks within the same light-emitting group during a corresponding light-emitting period can be determined in the following manner:

[0350] A set of random number sequences is generated for each light-emitting block. The random number sequence includes multiple random numbers that correspond one-to-one with multiple ranging time periods of the light-emitting block. These random numbers are used as random durations of the time when the light-emitting block emits a light pulse within the corresponding ranging time period, relative to the start time of the ranging time period. The value of the random duration is greater than or equal to zero and less than or equal to the preset duration of the light emission adjustment interval.

[0351] The timing of the light-emitting block emitting light pulses within the corresponding multiple ranging time periods is determined based on the random duration, so as to control the light-emitting block to emit light pulses sequentially within the multiple ranging time periods.

[0352] The specific implementation of the driving method for the lidar emission light source in the above embodiments has been described in detail in the specific embodiments of the emission module. Please refer to the foregoing embodiments. It will not be described in detail here.

[0353] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with the said embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0354] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0355] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in one or more blocks of the flowchart illustrations and / or one or more blocks of the block diagrams.

[0356] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0357] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable apparatus, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

[0358] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

A transmitting module, characterized in that, The emitting module is configured to emit a light beam for three-dimensional sensing within a field of view, and includes an emitting light source and a control module. The emitting light source includes multiple light-emitting blocks; The control module is configured to control the plurality of light-emitting blocks to emit light according to a number of pre-divided light-emitting groups. The number of light-emitting groups emit light sequentially in different corresponding light-emitting time periods according to a preset order. Moreover, within the light-emitting time period corresponding to the same light-emitting group, the light-emitting times of the plurality of light-emitting blocks in that light-emitting group are not exactly the same. The transmitting module as described in claim 1, characterized in that, The control module is configured to control the light-emitting block to emit multiple rounds of light pulses according to a preset time sequence within the corresponding light emission period. One light emission period includes multiple ranging periods corresponding to the multiple rounds of light pulse emission. The control module is configured to control the light-emitting block to emit one light pulse corresponding to one ranging period. The light-emitting blocks belonging to the same light-emitting group emit light pulses at different times within the corresponding ranging period. The transmitting module as described in claim 2, characterized in that, Within a single ranging time period corresponding to the same light-emitting group, at least two light-emitting blocks in that group emit light at different times. The transmitting module as described in claim 2, characterized in that, The control module is further configured to control that the timing at which each light-emitting block of the light-emitting group emits a light pulse is different during at least one ranging period. The transmitting module as described in claim 2, characterized in that, Within the same emission group and corresponding emission period, there are two or more emission blocks that emit light pulses at the same time during at least one ranging period. The transmitting module as described in claim 2, characterized in that, Within the same light-emitting group and corresponding light-emitting period, the time when the same light-emitting block emits light pulses in at least two ranging periods has the same time interval relative to the start time of each ranging period. The transmitting module as described in claim 2, characterized in that, The control module is further configured to control the time at which the same light-emitting block emits light pulses during multiple ranging periods within a single light-emitting period, with each pulse having a corresponding time interval relative to the start time of its respective ranging period, and the length of the time interval corresponding to each of the different ranging periods varying randomly. The transmitting module as described in claim 2, characterized in that, The control module is further configured to control the timing of the light pulse emitted by the same light-emitting block during multiple ranging periods within a single light-emitting period to have different time intervals relative to the start time of each ranging period. The transmitting module as described in claim 2, characterized in that, The control module is further configured to control that at least two light-emitting blocks emit light pulses at different times within a ranging time period in the same light-emitting group, and the time difference formed by the at least two light-emitting blocks in different ranging time periods varies randomly. The transmitting module as described in claim 2, characterized in that, The control module is further configured to control the time when multiple light-emitting blocks of the same light-emitting group emit light pulses during a ranging period, and the time difference formed by the multiple light-emitting blocks of the same light-emitting group in different ranging periods varies randomly. The transmitting module as described in claim 9 or 10, characterized in that, The starting portion of the ranging period has a preset duration of light emission adjustment interval, and the random variation range of the time difference is greater than or equal to zero and less than or equal to the preset duration of the light emission adjustment interval. The transmitting module as described in claim 2, characterized in that, The starting part of the ranging time period has a preset duration of light emission adjustment interval. The control module is configured to randomly set the time when multiple light emission blocks of the same light emission group emit light pulses during the ranging time period within the light emission adjustment interval of a ranging time period. The transmitting module as described in claim 12 is characterized in that, The duration of the ranging period is greater than or equal to the sum of the light emission adjustment interval and the flight time; the flight time is the time required for the light beam emitted by the transmitting module to travel back and forth through the ranging range once. The transmitting module as described in claim 12 is characterized in that, The control module is configured to determine the timing of light pulse emission from multiple light-emitting blocks in the same light-emitting group during a corresponding light-emitting period in the following manner: A set of random number sequences is generated for a ranging time period. The random number sequence includes multiple random numbers that correspond one-to-one with multiple light-emitting blocks. Each random number is used as a random duration of the time when the multiple light-emitting blocks emit light pulses during the ranging time period, which is delayed relative to the start time of the ranging time period. The value of the random duration is greater than or equal to zero and less than or equal to the preset duration of the light emission adjustment interval. The timing at which multiple light-emitting blocks emit light pulses during the ranging period is determined based on the random duration, so as to control the multiple light-emitting blocks to emit light pulses correspondingly during the ranging period. The transmitting module as described in claim 12 is characterized in that, The control module is configured to determine the timing of light pulse emission from multiple light-emitting blocks in the same light-emitting group during a corresponding light-emitting period in the following manner: A set of random number sequences is generated for each light-emitting block. The random number sequence includes multiple random numbers that correspond one-to-one with multiple ranging time periods of the light-emitting block. These random numbers are used as random durations of the time when the light-emitting block emits a light pulse within the corresponding ranging time period, relative to the start time of the ranging time period. The value of the random duration is greater than or equal to zero and less than or equal to the preset duration of the light emission adjustment interval. The timing of the light-emitting block emitting light pulses within the corresponding multiple ranging time periods is determined based on the random duration, so as to control the light-emitting block to emit light pulses sequentially within the multiple ranging time periods. The transmitting module as described in any one of claims 1-10 and 12-15 is characterized in that, The plurality of light-emitting blocks are arranged in a two-dimensional array, and the control module is further used to treat each N columns or each N rows in the two-dimensional array as a light-emitting group; where N is an integer greater than or equal to 1. The transmitting module as described in claim 16, characterized in that, The light-emitting group includes light-emitting blocks located in different rows or columns, and the array positions of different light-emitting blocks in the same row or column within the same light-emitting group are not continuous, with at least one light-emitting block from another light-emitting group between them. The transmitting module as described in any one of claims 1-10 and 12-15 is characterized in that, The transmitting module further includes: a corresponding power supply circuit set on one side or opposite sides of each row in the two-dimensional array, and a corresponding trigger circuit set on one side or opposite sides of each column in the two-dimensional array. The power supply circuit is used to charge each light-emitting block in the corresponding row; The triggering circuit is used to trigger the light-emitting blocks in the corresponding columns of the charged rows to emit light. The transmitting module as described in claim 2, characterized in that, A light-emitting period corresponding to the light-emitting group is equal to the sum of the charging time for the light-emitting group and the duration of multiple ranging periods. A laser radar, characterized in that, The device includes a transmitting module as described in any one of claims 1-19, and a receiving module, wherein the receiving module includes a plurality of sensing partitions arranged in a two-dimensional array, and the plurality of sensing partitions correspond one-to-one with a plurality of light-emitting blocks of the transmitting light source; The sensing partition is configured to receive light signals returned from the sub-field of view scanned by the corresponding light-emitting block; The control module is configured to control the sensing partition to start working during the light emission period of the corresponding light-emitting block. The lidar as described in claim 20, characterized in that, The control module includes a transmission drive circuit, a sensing drive circuit, and a main controller. The transmission drive circuit is configured to drive the light-emitting blocks to emit light beams, the sensing drive circuit is configured to drive the sensing zones to start working, and the main controller is configured to control the light emission sequence of the light-emitting blocks and the working sequence of the sensing zones. The transmit drive circuit, the sense drive circuit, and the main controller are each mounted on different chips; or... The transmit drive circuit and the main controller are integrated on the same chip; or... The transmission drive circuit and the sensing drive circuit are integrated on the same chip; or... The transmission drive circuit, the sensing drive circuit, and the main controller are integrated on the same chip; or... The sensing drive circuit and the main controller are integrated on the same chip. An electronic device, characterized in that, Including the lidar as described in claim 20 or 21. A method for driving the emission of a lidar sensor, used to drive the lidar's emission source to emit a beam of light for three-dimensional sensing within a field of view, characterized in that... The method includes: The emitting light source comprises multiple light-emitting blocks arranged in a two-dimensional array, which are divided into several light-emitting groups. The light-emitting groups are controlled to emit light sequentially in different light-emitting time periods according to a preset order. Within the light-emitting time period corresponding to the same light-emitting group, the light-emitting times of the multiple light-emitting blocks in the same light-emitting group are not exactly the same. The method as described in claim 23, characterized in that, The step of dividing the multiple light-emitting blocks contained in the emitting light source into several light-emitting groups includes: Each N columns or each N rows in the two-dimensional array is used as a light-emitting group; where N is an integer greater than or equal to 1. Alternatively, according to the positional relationship of each light-emitting block in the two-dimensional array, the two-dimensional array is divided into multiple regular regions. Each regular region includes multiple adjacent light-emitting blocks that are not in a whole row or column. The multiple light-emitting blocks in each regular region are considered as a light-emitting group. Alternatively, the multiple light-emitting blocks in the two-dimensional array can be randomly divided into multiple light-emitting groups, with the number of light-emitting blocks in each light-emitting group being random, and / or the position of the light-emitting blocks in each light-emitting group being random in the two-dimensional array; the frame period is the time required for the multiple light-emitting groups of the transmitting module to emit light sequentially to complete one frame of three-dimensional sensing of the field of view. Alternatively, different light-emitting groups can be formed according to the light-emitting blocks, and one light-emitting group includes light-emitting blocks located in different rows or columns. The method as described in claim 23, characterized in that, Within the same light-emitting group's emission period, the emission times of multiple light-emitting blocks in that group are not entirely identical, including: The light-emitting blocks of the light-emitting group are controlled to emit multiple rounds of light pulses according to a preset time sequence within the corresponding light-emitting period. One light-emitting period includes multiple ranging periods corresponding to the multiple rounds of light pulse emission. The light-emitting block is controlled to emit one light pulse in a ranging time period. The light-emitting blocks belonging to the same light-emitting group emit light pulses at different times in the corresponding ranging time period. The method as described in claim 25, characterized in that, Within the same light-emitting group's emission period, the emission times of multiple light-emitting blocks in that group are not entirely identical, including: During at least one ranging period, the timing at which each light-emitting block of the light-emitting group emits a light pulse is different. The method as described in claim 25, characterized in that, Controlling the emission times of multiple light-emitting blocks within the same light-emitting group to be not completely identical during the emission period also includes: Within the same light-emitting group, in addition to the fact that at least two light-emitting blocks in the same light-emitting group emit light pulses at different times within a ranging time period, there are also two or more light-emitting blocks that emit light pulses at the same time in at least one ranging time period. The method as described in claim 25, characterized in that, Controlling the emission times of multiple light-emitting blocks within the same light-emitting group to be not completely identical during the emission period also includes: Within the same light-emitting group, the time when the same light-emitting block emits light pulses during at least two ranging periods is the same time interval relative to the start time of each ranging period. The method as described in claim 25, characterized in that, Controlling the emission times of multiple light-emitting blocks within the same light-emitting group to be not completely identical during the emission period also includes: The timing of the light pulse emitted by the same light-emitting block during multiple ranging periods within a single emission period has a corresponding time interval relative to the start time of each ranging period, and the length of the time interval corresponding to each of the different ranging periods varies randomly. The method as described in claim 25, characterized in that, Controlling the emission times of multiple light-emitting blocks within the same light-emitting group to be not completely identical during the emission period also includes: The timing of the light pulse emitted by the same light-emitting block during multiple ranging periods within a single emission period is different from the start time of each of its respective ranging periods. The method as described in claim 25, characterized in that, Within the same light-emitting group's emission period, the emission times of multiple light-emitting blocks in that group are not entirely identical, including: Within the same light-emitting group corresponding to the light-emitting period, at least two light-emitting blocks emit light pulses at times with a time difference within a ranging period, and the time difference formed by the at least two light-emitting blocks in different ranging periods varies randomly. The method as described in claim 25, characterized in that, Controlling the emission times of multiple light-emitting blocks within the same light-emitting group to be not completely identical during the emission period also includes: Within the same light-emitting group, the time when multiple light-emitting blocks in the same light-emitting group emit light pulses during a ranging period forms a corresponding time difference with each other. The time difference formed by the multiple light-emitting blocks in the same light-emitting group in different ranging periods varies randomly. The method as described in claim 25, characterized in that, The starting portion of the ranging time period has a preset duration of light emission adjustment interval, controlling that within the light emission time period of the same light emission group, the light emission times of multiple light emission blocks in the same light emission group are not completely identical, and also includes: Within a distance measurement period, the timing of light pulse emission from multiple light-emitting blocks of the same light-emitting group is randomly set within the light emission adjustment interval. The method as described in claim 33, characterized in that, The timing of the emitted light pulses from multiple light-emitting blocks in the same light-emitting group during a corresponding light-emitting period is determined using the following method: A set of random number sequences is generated for each light-emitting block. The random number sequence includes multiple random numbers that correspond one-to-one with multiple ranging time periods of the light-emitting block. These random numbers are used as random durations of the time when the light-emitting block emits a light pulse within the corresponding ranging time period, relative to the start time of the ranging time period. The value of the random duration is greater than or equal to zero and less than or equal to the preset duration of the light emission adjustment interval. The timing of the light-emitting block emitting light pulses within the corresponding multiple ranging time periods is determined based on the random duration, so as to control the light-emitting block to emit light pulses sequentially within the multiple ranging time periods. The method as described in claim 33, characterized in that, The timing of the emitted light pulses from multiple light-emitting blocks in the same light-emitting group during a corresponding light-emitting period is determined using the following method: A set of random number sequences is generated for a ranging time period. The random number sequence includes multiple random numbers that correspond one-to-one with multiple light-emitting blocks. Each random number is used as a random duration of the time when the multiple light-emitting blocks emit light pulses during the ranging time period, which is delayed relative to the start time of the ranging time period. The value of the random duration is greater than or equal to zero and less than or equal to the preset duration of the light emission adjustment interval. The timing at which multiple light-emitting blocks emit light pulses during the ranging period is determined based on the random duration, so as to control the multiple light-emitting blocks to emit light pulses correspondingly during the ranging period.

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