Optical scanning implementation method

Abstract

An optical scanning implementation method, a lidar, and an electronic device. The method comprises: within a light emission period, controlling a plurality of light-emitting unit groups (111) comprised in a light source module (11) to respectively emit light beams so as to illuminate a sub-region in a field of view range, wherein the light emission moments of at least two light-emitting unit groups (111) within one light emission period are different from each other; and controlling light beams emitted by a same light-emitting unit group (111) within different light emission periods to respectively illuminate different sub-regions in the field of view range, wherein each light-emitting unit group (111) comprises at least one light-emitting unit (112). The method can reduce crosstalk during the lidar sensing process and ensure the accuracy of sensing.

Description

Method for implementing optical scanning TECHNICAL FIELD

[0001] The present application relates to the technical field of depth sensing, and in particular to a method for implementing optical scanning. BACKGROUND

[0002] As a new technology, laser radar is increasingly applied in the field of autonomous driving. The working principle of laser radar is to emit laser beams through a transmitting module and receive the laser beams reflected by a target object through a receiving module. After the receiving module converts the light signals of the returned beams into electrical signals, three-dimensional point cloud data can be obtained through signal processing.

[0003] In the scanning process of the laser radar, the receiving end receives the light beams returned from the scanned area of different light sources through the corresponding photosensitive pixels to measure the distance of the area. In order to measure a farther distance, the light emitting power of the light source is usually increased. If the light emitting power is large and the reflectivity of the object is high, the reflected light energy is particularly large, which will crosstalk to other photosensitive pixels adjacent to the corresponding photosensitive pixels, thereby affecting the normal sensing of the other photosensitive pixels. Since the light beams emitted by the light source are received by the receiving end after being irradiated to the scanned area, the corresponding multiple photosensitive pixels are adjacent to each other. In the case that multiple light emitting units in the light source are synchronously turned on, the crosstalk signals between the corresponding multiple photosensitive pixels will continuously accumulate in the fixed time bins of the histogram generated by the crosstalk pixels to form obvious crosstalk peaks, thereby seriously affecting the accuracy of distance measurement and reducing the accuracy of laser radar detection.

[0004] Moreover, the more the number of simultaneously turned-on light emitting units, the higher the instantaneous driving current required, which increases the design difficulty of the circuit. If the number of light emitting units simultaneously emitted each time is reduced, although it is beneficial to reduce the instantaneous total current required by the transmitting module and can relatively increase the light emitting power of a single light source and the distance measurement range of the corresponding scanned area, it is necessary to increase the number of light source time-sharing emission rounds in each frame of sensing to maintain the signal-to-noise ratio of sensing, which affects the sensing frame rate of the laser radar.

[0005] Therefore, how to effectively avoid crosstalk to ensure the accuracy of detection while not increasing the design difficulty of the circuit and reducing the instantaneous current of the light source has become a technical problem to be solved in the application process of laser radar technology. SUMMARY

[0006] In view of the above problems, the present application is proposed to provide a method for implementing optical scanning which overcomes the above problems or at least partially solves the above problems.

[0007] The embodiment of the present application provides a method for implementing optical scanning, comprising:

[0008] In a light emitting period, control a plurality of light emitting unit groups included in the light source module to respectively emit light beams to irradiate a sub-region in the field of view range, wherein the light emitting time of at least two light emitting unit groups in a light emitting period is different; and control the light beams emitted by the same light emitting unit group in different light emitting periods to respectively irradiate different sub-regions in the field of view range.

[0009] Each light emitting unit group includes at least one light emitting unit.

[0010] In some optional embodiments, the control of the plurality of light emitting unit groups in a light emitting period to respectively emit light beams includes:

[0011] In a light emitting period, control the light emitting unit groups in the light source module to emit light in parallel, wherein the light emitting time of different light emitting unit groups is not completely staggered, and the light emitting time of each light emitting unit group is delayed by a random time length relative to the start time of the light emitting period; or

[0012] In a light emitting period, control the light emitting unit groups in the light source module to emit light in series according to a preset light emitting order, wherein the light emitting time of different light emitting unit groups is completely staggered.

[0013] In some optional embodiments, the control of the light emitting unit groups in a light emitting period to emit light in parallel includes:

[0014] Control the light emitting unit groups to emit a plurality of light pulses according to a preset time sequence in a light emitting period; wherein one light emitting period includes a plurality of pulse periods corresponding to the plurality of light pulses, and the light emitting unit groups emit one light pulse in one pulse period, and the light emitting time of the light emitting unit groups in a pulse period is delayed by a random time length relative to the start time of the pulse period, and the light emitting time of at least two light emitting unit groups in one pulse period is different.

[0015] In some optional embodiments, the light emitting time of the plurality of light emitting unit groups in a light emitting period is determined in the following manner:

[0016] According to the random number sequence corresponding to the pulse period, a random time length is determined, which is a delay of the time when each light emitting unit group emits a light pulse in the pulse period relative to the starting time of the pulse period, and the time when each light emitting unit group emits a light pulse in the pulse period is determined according to the random time length; wherein one random number sequence is generated corresponding to one pulse period, each random number sequence includes a plurality of random numbers corresponding to a plurality of light emitting unit groups, and the plurality of random numbers can be respectively used as the random time length of the time when the plurality of light emitting unit groups respectively emits a light pulse in the pulse period relative to the starting time of the pulse period, and the value range of the random number is greater than or equal to zero and less than or equal to a preset maximum random time length; or

[0017] According to the random number sequence corresponding to the pulse period, a random time length is determined, which is a delay of the time when each light emitting unit group emits a light pulse in the pulse period relative to the starting time of the pulse period, and the time when each light emitting unit group emits a light pulse in the pulse period is determined according to the random time length; wherein one random number sequence is generated corresponding to one pulse period, each random number sequence includes a plurality of random numbers corresponding to a plurality of light emitting unit groups, and the plurality of random numbers can be respectively used as the random time length of the time when the plurality of light emitting unit groups respectively emits a light pulse in the pulse period relative to the starting time of the pulse period, and the value range of the random number is greater than or equal to zero and less than or equal to a preset maximum random time length; or

[0018] In some optional embodiments, in a light emitting period, the time when at least two light emitting unit groups respectively emits a light pulse in a pulse period has a time difference, and the time length of the time difference corresponding to different pulse periods is randomly set.

[0019] In some optional embodiments, in a light emitting period, the time when at least two light emitting unit groups respectively emits a light pulse in a pulse period has a time difference, and the time length of the time difference corresponding to different pulse periods is randomly set.

[0020] In some optional embodiments, the control of the light emitting unit groups in the light source module to emit light in series in the preset light emitting order in a light emitting period includes:

[0021] The light emitting period is divided into a plurality of sub-light emitting periods, and one light emitting unit group emits light in a corresponding sub-light emitting period;

[0022] The control unit controls the light emitting unit group to emit a plurality of light pulses in a preset time sequence in a sub-light emitting period; wherein, one sub-light emitting period comprises a plurality of pulse periods corresponding to the plurality of light pulses respectively, and at least one light emitting unit in the light emitting unit group emits a light pulse in one pulse period.

[0023] In some optional embodiments, all light emitting units in one light emitting unit group emit light simultaneously in one pulse period, and the light emitting time of the light emitting unit group in one pulse period is delayed by a random time length relative to the starting time of the pulse period.

[0024] In some optional embodiments, the light emitting time of the plurality of light emitting unit groups in the corresponding sub-light emitting periods is determined in the following manner:

[0025] According to the random number sequence generated corresponding to the light emitting unit group, the random time length by which the light emitting time of the light emitting unit group in each pulse period is delayed relative to the starting time of the pulse period is determined, and the light emitting time of the light emitting unit group in each pulse period is determined according to the random time length; wherein, one random number sequence is generated corresponding to one light emitting unit group, each random number sequence comprises a plurality of random numbers corresponding to the plurality of pulse periods of the light emitting unit group respectively, the plurality of random numbers can be respectively used as the random time length by which the light emitting time of each light emitting unit in the plurality of pulse periods is delayed relative to the starting time of the pulse period, and the value range of the random number is greater than or equal to zero and less than or equal to a preset maximum random time length.

[0026] In some optional embodiments, the light emitting units in one light emitting unit group do not emit light completely simultaneously in one pulse period, and the light emitting time of each light emitting unit is delayed by a random time length relative to the starting time of the pulse period, wherein, the light emitting time of at least two light emitting units in one pulse period is different.

[0027] In some optional embodiments, in one sub-light emitting period, the light emitting time of at least two light emitting units in one pulse period has a time difference, and the time length of the time difference formed corresponding to different pulse periods is randomly set.

[0028] In some optional embodiments, in one sub-light emitting period, the light emitting time of a plurality of light emitting units in one pulse period corresponding to the same light emitting unit group has a corresponding time difference, and the time length of the time difference formed corresponding to different pulse periods is randomly set.

[0029] In some optional embodiments, the light emitting time of the plurality of light emitting units in the corresponding sub-light emitting periods of one light emitting unit group is determined in the following manner:

[0030] According to the random number sequence corresponding to the pulse period, a random time length is determined, which is a delay of the time when each light emitting unit in the light emitting unit group emits a light pulse in the pulse period relative to the starting time of the pulse period, and the time when each light emitting unit emits a light pulse in the pulse period is determined according to the random time length; wherein one random number sequence is generated corresponding to one pulse period, each random number sequence includes a plurality of random numbers corresponding to a plurality of light emitting units, and the plurality of random numbers can be respectively used as a random time length of a delay of the time when each light emitting unit emits a light pulse in the pulse period relative to the starting time of the pulse period, and the value range of the random number is greater than or equal to zero and less than or equal to a preset maximum random time length; or

[0031] According to the random number sequence corresponding to the pulse period, a random time length is determined, which is a delay of the time when each light emitting unit in the light emitting unit group emits a light pulse in the pulse period relative to the starting time of the pulse period, and the time when each light emitting unit emits a light pulse in the pulse period is determined according to the random time length; wherein one random number sequence is generated corresponding to one pulse period, each random number sequence includes a plurality of random numbers corresponding to a plurality of light emitting units, and the plurality of random numbers can be respectively used as a random time length of a delay of the time when each light emitting unit emits a light pulse in the pulse period relative to the starting time of the pulse period, and the value range of the random number is greater than or equal to zero and less than or equal to a preset maximum random time length; or

[0032] In some optional embodiments, the light source module includes a light source and a light deflection device, and the light source includes a plurality of light emitting unit groups;

[0033] The control of the light source module to emit light beams in a light emitting period includes:

[0034] The control of the light source module to emit light beams in a light emitting period includes:

[0035] The control of the light source module to emit light beams in a light emitting period includes:

[0036] The control of the light source module to emit light beams in a light emitting period includes:

[0037] In some optional embodiments, the light source module comprises a light source, and the light source comprises a plurality of light emitting unit groups;

[0038] The control of the light source module in a light emitting period includes a plurality of light emitting unit groups respectively emitting light beams to irradiate a sub-region in the field of view range, comprising:

[0039] In a light emitting period, the control of the light source includes a plurality of light emitting unit groups respectively emitting light beams with the same exit angle to correspondingly scan a sub-region in the field of view range; wherein the exit angle of the light beam is determined by setting the phase difference of the light beams respectively emitted by the light emitting units in a light emitting group;

[0040] The control of the light source module in a light emitting period includes a plurality of light emitting unit groups respectively emitting light beams to irradiate a sub-region in the field of view range, comprising:

[0041] The control of the light source module in a light emitting period includes a plurality of light emitting unit groups respectively emitting light beams to irradiate a sub-region in the field of view range, comprising:

[0042] The present application provides a light emitting module, comprising: a light source module and a control device;

[0043] The light source module comprises a plurality of light emitting unit groups, and each light emitting unit group comprises at least one light emitting unit;

[0044] The control device is configured to control the light emitting unit groups in the light source module to respectively emit light beams in a light emitting period to scan a sub-region in the field of view range, wherein the light emitting time of at least two light emitting unit groups in a light emitting period is different; and control the light beams emitted by the same light emitting unit group in different light emitting periods to respectively scan different sub-regions in the field of view range.

[0045] In some optional embodiments, the control device is configured to control the light emitting unit groups in the light source module to emit light in parallel in a light emitting period, comprising:

[0046] The control of the light emitting unit groups in a light emitting period includes a plurality of light emitting unit groups respectively emitting a plurality of light pulses according to a preset time sequence; wherein a light emitting period includes a plurality of pulse periods corresponding to a plurality of light pulses, and the light emitting unit group emits a light pulse in a pulse period, the light emitting unit group starts to emit light in a pulse period with a delay of a random time period relative to the start time of the pulse period, and the time of emitting a light pulse by at least two light emitting unit groups in a pulse period is different.

[0047] In some alternative embodiments, the time instants at which the light emitting unit groups included in the light source module respectively emit light pulses in at least one pulse period are different from each other.

[0048] In some alternative embodiments, the light emitting unit groups have time intervals with randomly set time lengths between the multiple light pulses emitted by the light emitting unit groups in a light emitting period.

[0049] In some alternative embodiments, the time instants at which at least two light emitting unit groups respectively emit light pulses in a pulse period have a time difference in a light emitting period, and the time lengths of the time differences corresponding to different pulse periods are randomly set.

[0050] In some alternative embodiments, the time instants at which the light emitting unit groups included in the light source module respectively emit light pulses in a pulse period have corresponding time differences with each other in a light emitting period, and the time lengths of the time differences corresponding to different pulse periods are randomly set.

[0051] In some alternative embodiments, the pulse period includes a random length adjustment interval with a preset time length, and the time length of the time difference is greater than or equal to zero and less than or equal to the time length of the random length adjustment interval.

[0052] In some alternative embodiments, the pulse period includes a random length adjustment interval with a preset time length, and the control device is configured to set a random length by which the time instants at which the light emitting unit groups emit light pulses in a pulse period are delayed from the starting time instant of the pulse period within the random length adjustment interval of the pulse period.

[0053] In some alternative embodiments, the control device is configured to determine the time instants at which the light emitting unit groups emit light pulses in a light emitting period in the following manner:

[0054] According to a random number sequence generated corresponding to a pulse period, a random length by which the time instant at which each light emitting unit group emits a light pulse in the pulse period is delayed from the starting time instant of the pulse period is determined, and the time instant at which each light emitting unit group emits a light pulse in the pulse period is determined according to the random length; wherein one random number sequence is generated corresponding to one pulse period, each random number sequence includes multiple random numbers corresponding to the multiple light emitting unit groups one by one, the multiple random numbers can be respectively used as the random lengths by which the time instants at which the multiple light emitting unit groups respectively emit light pulses in the pulse period are delayed from the starting time instant of the pulse period, and the value range of the random number is greater than or equal to zero and less than or equal to a preset maximum random length;

[0055] Or

[0056] According to the random number sequence generated corresponding to the light emitting unit group, a random time length is determined, at which the light emitting unit group emits the light pulse in each pulse period relative to the start time of the pulse period, and the time at which the light emitting unit group emits the light pulse in each pulse period is determined according to the random time length; wherein one random number sequence is generated corresponding to one light emitting unit group, and each random number sequence includes a plurality of random numbers corresponding to a plurality of pulse periods of the light emitting unit group, and the plurality of random numbers can be respectively used as a random time length at which the light emitting unit group emits the light pulse in the plurality of pulse periods respectively relative to the start time of each corresponding pulse period, and the value range of the random number is greater than or equal to zero and less than or equal to a preset maximum random time length.

[0057] In some optional embodiments, the light emitting units included in the same light emitting unit group are configured to emit light at the same time.

[0058] In some optional embodiments, the time at which the different light emitting units included in the same light emitting unit group respectively emit the light pulse in one pulse period is different at least in part or is different each time, and the light emitting time of the light emitting unit that first emits the light pulse in one pulse period is different each time for different light emitting unit groups.

[0059] In some optional embodiments, the control device is configured to control the light emitting unit groups in the light source module to emit light in series in a preset light emitting order in one light emitting period, including:

[0060] dividing one light emitting period into a plurality of sub-light emitting periods, and one light emitting unit group emits light in a corresponding sub-light emitting period;

[0061] controlling the light emitting unit group to emit a plurality of light pulses in a preset time sequence in one sub-light emitting period; wherein one sub-light emitting period includes a plurality of pulse periods corresponding to the plurality of light pulses, and at least one light emitting unit in the light emitting unit group emits one light pulse in one pulse period.

[0062] In some optional embodiments, all light emitting units in one light emitting unit group emit light at the same time in one pulse period, and the light emitting time of the light emitting unit group in one pulse period is delayed by a random time length relative to the start time of the pulse period.

[0063] In some optional embodiments, the control device is configured to determine the time at which the plurality of light emitting unit groups emit the light pulse in the respective corresponding sub-light emitting period in the following manner:

[0064] According to the random number sequence generated corresponding to the light emitting unit group, a random time length is determined, which is the delay of the time when the light emitting unit group emits the light pulse in each pulse period relative to the starting time of the pulse period, and the time when the light emitting unit group emits the light pulse in each pulse period is determined according to the random time length; wherein one random number sequence is generated corresponding to one light emitting unit group, and each random number sequence includes a plurality of random numbers corresponding to a plurality of pulse periods of the light emitting unit group, and the plurality of random numbers can be respectively used as the random time length of the time when each light emitting unit of the light emitting unit group emits the light pulse in the plurality of pulse periods relative to the starting time of the pulse period, and the value range of the random number is greater than or equal to zero and less than or equal to a preset maximum random time length.

[0065] In some optional embodiments, each light emitting unit in a light emitting unit group does not emit light completely simultaneously in a pulse period, and the light emitting time of each light emitting unit is delayed by a random time length relative to the starting time of the pulse period, wherein the time when at least two light emitting units emit the light pulse in a pulse period is different.

[0066] In some optional embodiments, the time when a plurality of light emitting units in the same light emitting unit group emit the light pulse in at least one pulse period is different.

[0067] In some optional embodiments, the same light emitting unit has a time interval with a random time length between a plurality of light pulses emitted in a corresponding sub-light emitting period.

[0068] In some optional embodiments, in a sub-light emitting period, the time when at least two light emitting units emit the light pulse in a pulse period has a time difference, and the time length of the time difference corresponding to different pulse periods is randomly set.

[0069] In some optional embodiments, in a sub-light emitting period, the time when a plurality of light emitting units of the same light emitting unit group emit the light pulse in a pulse period has a corresponding time difference, and the time length of the time difference corresponding to different pulse periods is randomly set.

[0070] In some optional embodiments, the control device is configured to determine the time when a plurality of light emitting units of a light emitting unit group emit the light pulse in a corresponding sub-light emitting period in the following manner:

[0071] According to a random number sequence generated corresponding to a pulse period, a random time length of a time instant at which each light emitting unit in a light emitting unit group currently emitting light emits a light pulse in the pulse period relative to a starting time instant of the pulse period is determined, and a time instant at which each light emitting unit emits a light pulse in the pulse period is determined according to the random time length; wherein one random number sequence is generated corresponding to one pulse period, each random number sequence includes a plurality of random numbers corresponding to a plurality of light emitting units one by one, and the plurality of random numbers can be respectively used as random time lengths of time instants at which the plurality of light emitting units respectively emit light pulses in the pulse period relative to the starting time instant of the pulse period, a value range of the random number is greater than or equal to zero and less than or equal to a preset maximum random time length; or

[0072] According to a random number sequence generated corresponding to a pulse period, a random time length of a time instant at which each light emitting unit in a light emitting unit group currently emitting light emits a light pulse in the pulse period relative to a starting time instant of the pulse period is determined, and a time instant at which each light emitting unit emits a light pulse in the pulse period is determined according to the random time length; wherein one random number sequence is generated corresponding to one pulse period, each random number sequence includes a plurality of random numbers corresponding to a plurality of light emitting units one by one, and the plurality of random numbers can be respectively used as random time lengths of time instants at which the plurality of light emitting units respectively emit light pulses in the pulse period relative to the starting time instant of the pulse period, a value range of the random number is greater than or equal to zero and less than or equal to a preset maximum random time length; or

[0073] In some optional embodiments, the pulse period includes a random time length adjustment interval with a preset time length, and the control module is configured to randomly set the time instant at which the light emitting unit emits a light pulse in the pulse period within the random time length adjustment interval of the pulse period.

[0074] In some optional embodiments, the length of the pulse period is greater than or equal to the sum of a charging time length of the light emitting unit, a maximum random time length of the light emitting unit, and a photon flight time required by a ranging range.

[0075] In some optional embodiments, the light source in the light source module includes at least one queue of light emitting units arranged in a specified direction; when the light source includes more than one queue of light emitting units, the light emitting units in different queues are arranged in alignment or staggered.

[0076] In some optional embodiments, a plurality of light emitting units included in one light emitting unit group are continuously adjacent in arrangement positions, and there is no light emitting unit of another light emitting unit group between any two light emitting units in the light emitting unit group;

[0077] Alternatively, the plurality of light emitting units included in one of the light emitting unit groups are discontinuously adjacent in arrangement positions, and there is at least one other light emitting unit group of light emitting units between any two adjacent light emitting units in the light emitting unit group.

[0078] In some optional embodiments, the light source module includes a light source and a light deflection device;

[0079] The light source includes a plurality of light emitting unit groups, each of which includes at least one light emitting unit;

[0080] The light deflection device is configured to deflect the light beams emitted by each of the light emitting unit groups;

[0081] The control device is configured to control each of the light emitting unit groups in the light source to emit a light beam during a light emitting period, and control the light deflection device to deflect the light beam, wherein the light beam is deflected to one of a plurality of final deflection angles during a light emitting period, and corresponds to one of the sub-regions in the field of view range.

[0082] In some optional embodiments, the light deflection device includes at least one light deflection device, which includes any one or a combination of the following: an acousto-optic deflection device, an electro-optic deflection device, a liquid crystal polarization grating, a metasurface device, a rotating mirror, and a MEMS mirror.

[0083] In some optional embodiments, the length of the sub-region in the first direction is less than the length of the sub-region in the second direction, and the length of the field of view range in the first direction is less than the length of the field of view range in the second direction.

[0084] In some optional embodiments, the light deflection device includes an acousto-optic deflection device and a liquid crystal polarization grating.

[0085] The acousto-optic deflection device is configured to deflect the light beam along the first direction to a plurality of first deflection angles.

[0086] The liquid crystal polarization grating is configured to deflect the light beam deflected by the acousto-optic deflection device along the first direction and the second direction to a plurality of second deflection angles to project a scanning light beam; the length of the scanning light beam in the first direction is less than the length of the scanning light beam in the second direction; and the length of the field of view range in the first direction is less than the length of the field of view range in the second direction.

[0087] The control device is further configured to control the acousto-optic deflection device and the liquid crystal polarization grating to deflect the light beam.

[0088] In some optional embodiments, the method further includes:

[0089] The expansion deflection device is configured to magnify a deflection angle of a light beam deflected by an acousto-optic deflection device or a liquid crystal polarization grating by a preset multiple along a corresponding deflection direction, and to magnify a divergence angle of the light beam by a corresponding preset multiple.

[0090] In some optional embodiments, the light deflection device includes at least one acousto-optic deflection device, and the emission module further includes:

[0091] The collimating device is configured to collimate the light beam before the light beam enters the acousto-optic deflection device, wherein the collimation degree of the collimated light beam along a first direction is higher than that along a second direction, and the first direction is perpendicular to the second direction; and the length of the field of view range in the first direction is less than that in the second direction.

[0092] In some optional embodiments, the light source module includes a light source.

[0093] The light source includes a plurality of light-emitting unit groups, each of which includes at least one light-emitting unit.

[0094] The control device is configured to control each light-emitting unit group in the light source to emit a light beam with the same exit angle in a light-emitting period to scan a sub-region in the field of view range, and to control the same light-emitting unit group to emit light beams with different exit angles in different light-emitting periods, and a light beam with one exit angle corresponds to irradiation to a sub-region in the field of view range; and the control device is configured to control the direction of the light beam emitted by a light-emitting unit group by controlling the phase difference of the light beams emitted by each light-emitting unit in the light-emitting unit group.

[0095] In some optional embodiments, the device further includes a charging circuit.

[0096] The charging circuit includes a plurality of charging sub-circuits corresponding to the plurality of light-emitting unit groups, and each charging sub-circuit is configured to charge a plurality of light-emitting units in a corresponding light-emitting unit group.

[0097] In some optional embodiments, the device further includes a triggering circuit.

[0098] The triggering circuit includes a plurality of triggering sub-circuits, each of which is connected to a plurality of light-emitting units belonging to different light-emitting unit groups, and is configured to trigger the light-emitting units to emit light in a preset emission order; or

[0099] The triggering circuit includes a plurality of triggering sub-circuits, each of which is connected to a plurality of light-emitting units of a corresponding light-emitting unit group to trigger the light-emitting units of the light-emitting unit group to emit light at the same time, and different triggering sub-circuits are configured to trigger different light-emitting unit groups connected thereto to emit light at different times in a preset emission order.

[0100] The embodiment of the present application provides a laser radar, comprising the transmitting module and a receiving module, the receiving module comprises a plurality of sensing sub-zones, and the sensing sub-zones are configured to receive light signals returned from sub-regions corresponding to scanning of the light emitting unit group.

[0101] The controller is further configured to control the sensing sub-zone to be turned on during a light emitting period of the corresponding light emitting unit group.

[0102] In some optional embodiments, the controller comprises a transmitting driving circuit, a sensing driving circuit and a main controller, the transmitting driving circuit is configured to drive the light emitting unit to emit a light beam, the sensing driving circuit is configured to drive the sensing sub-zone to be turned on, and the main controller is configured to control a light emitting sequence of the light emitting unit and a working sequence of the sensing sub-zone.

[0103] The transmitting driving circuit, the sensing driving circuit and the main controller are respectively arranged on different chips.

[0104] The transmitting driving circuit, the sensing driving circuit and the main controller are integrated on the same chip.

[0105] The transmitting driving circuit and the sensing driving circuit are integrated on the same chip.

[0106] The transmitting driving circuit and the main controller are integrated on the same chip.

[0107] The sensing driving circuit and the main controller are integrated on the same chip.

[0108] The embodiment of the present application provides an electronic device comprising the laser radar.

[0109] The embodiment of the present application provides the above technical solution, and the beneficial effects at least include:

[0110] The light scanning method provided by the embodiment of the present application divides the light emitting units in the light source module into a plurality of light emitting unit groups, controls the light emitting time and order of the light emitting unit groups and the light emitting units in the light emitting unit groups in the light source module by the controller, so that each light emitting unit group in the light source module emits a light beam in a light emitting period, and the light emitting time of at least two light emitting unit groups is different, thereby reducing the crosstalk caused by the reflection energy when the light beams emitted by the light emitting units are reflected by an object and received by a receiving end, to ensure the accuracy of sensing. In addition, the controller controls the propagation direction of the light beams emitted by the light emitting unit groups in different light emitting periods, so that different light emitting unit groups can scan a sub-region in the field of view range in a light emitting period, and different light emitting unit groups can scan different sub-regions in the field of view range in different light emitting periods, thereby reducing the number of light emitting units that need to be turned on in a light emitting period, and by limiting the emission light beams of the light source in a certain range, the coverage area of a single laser beam is reduced, the sensing distance of the laser radar is improved as much as possible without changing the sensing frame rate of the laser radar, and the angular resolution of the laser radar is improved.

[0111] Additional features and advantages of the application will be set forth in the description that follows, and in part will be apparent from the description, or can be learned by practice of the application. The objectives and other advantages of the application will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

[0112] The technical solutions of the present application will be further described in detail below with the help of drawings and examples. BRIEF DESCRIPTION OF DRAWINGS

[0113] The accompanying drawings are included to provide a further understanding of the present application, and constitute a part of the specification, illustrate embodiments of the present application and explain the present application, and do not constitute a limitation of the present application. In the drawings:

[0114] Fig. 1 is a schematic structural diagram of a transmitting module in an embodiment of the present application;

[0115] Fig. 2 is a schematic diagram of the working process of the transmitting module in the embodiment of the present application;

[0116] Fig. 3 is a schematic diagram of the scanning of the field of view range by the transmitting module in the embodiment of the present application;

[0117] Fig. 4 is a schematic diagram of the serial light emission of the light emitting unit groups in an embodiment of the present application;

[0118] Fig. 5 is a schematic diagram of one grouping mode of the transmitting array and the receiving array in the embodiment of the present application;

[0119] Fig. 6 is a schematic diagram of another grouping mode of the transmitting array and the receiving array in the embodiment of the present application;

[0120] Fig. 7 is an example diagram of a trigger circuit and light signal emitting timing in the second embodiment of the present application;

[0121] Fig. 8 is an example diagram of another trigger circuit and light signal emitting timing in the second embodiment of the present application;

[0122] Fig. 9 is a structural schematic diagram of a light source module using a light deflection device in the second embodiment of the present application;

[0123] Fig. 10 is an example diagram of a specific structure of a light source module using a light deflection device in the second embodiment of the present application;

[0124] Fig. 11 is a schematic diagram of a light path in a vertical direction in the second embodiment of the present application;

[0125] Fig. 12 is a schematic diagram of a light path in a horizontal direction in the second embodiment of the present application;

[0126] Fig. 13 is an example diagram of a splicing manner of a light emitting unit in a light source in the second embodiment of the present application;

[0127] Fig. 14 is an example diagram of a splicing manner of a light emitting unit in a light source in the second embodiment of the present application;

[0128] Fig. 15 is an example diagram of a splicing manner of a light emitting unit in a light source in the second embodiment of the present application;

[0129] Fig. 16 is an example diagram of a splicing manner of a light emitting unit in a light source in the second embodiment of the present application;

[0130] Fig. 17 is an example diagram of a splicing manner of a light emitting unit in a light source in the second embodiment of the present application;

[0131] Fig. 18 is an example diagram of a control signal and light emitting timing in the third embodiment of the present application;

[0132] Fig. 19 is an example diagram of a control signal and light emitting timing in the third embodiment of the present application;

[0133] Fig. 20 is a schematic diagram of crosstalk signal accumulation in a light emitting unit group emitting light in series in the third embodiment of the present application;

[0134] Fig. 21 is a schematic diagram of a light emitting unit group emitting light in parallel in the fourth embodiment of the present application;

[0135] Fig. 22 is a schematic diagram of crosstalk signal accumulation in a light emitting unit group emitting light in parallel in the fourth embodiment of the present application;

[0136] Fig. 23 is a schematic diagram of light emitting unit emitting trigger in each light emitting unit group in the fifth embodiment of the present application;

[0137] Fig. 24 is a structural schematic diagram of a laser radar in the sixth embodiment of the present application.

[0138] Explanation of reference signs: 1, transmitting module; 2, receiving module; 11, light source module; 12, control device; 110, light source; 120, light deflection device; 130, acousto-optic deflection device; 140, liquid crystal polarization grating; 150, collimating device; 160, expanding deflection device; 111, light-emitting unit group; 112, light-emitting unit. DETAILED DESCRIPTION

[0139] Exemplary embodiments of the present disclosure will be described in greater detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be accurately conveyed to those skilled in the art.

[0140] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the application. In addition, the terms "first", "second", "third" are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0141] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0142] The multiple light-emitting units in the light source of the transmitting end of the laser radar form a transmitting array, and the receiving end sensor has up to hundreds of receiving channels to form a receiving array. Through the multiple receiving channels, higher point frequency and longer sensing distance can be provided, and the integration is high, which has great application potential in the fields of autonomous driving, industrial automation and robots.

[0143] In order to meet the measurement requirements of long distance, high frame rate and high angle resolution, and effectively avoid crosstalk to ensure the accuracy of detection. The light source at the transmitting end can be divided into several groups, and the corresponding sensor at the receiving end can also be divided into multiple sensing subareas. Different groups of light sources are transmitted at different times, and different subareas of the receiving end are received at different times to reduce the mutual interference between different receiving channels.

[0144] An optional way is that each light emitting unit in the light source emits light in turn at the transmitting end, and the corresponding multiple sensing partitions work in turn at the receiving end, so that mutual interference between channels can be effectively avoided. When the number of light emitting units is large, in order to meet the same detection frame rate, the measurement time of each partition will be shortened, thereby affecting the number of transmissions and the measurement distance.

[0145] An optional way is that multiple light emitting units in the light source work in parallel, but each light emitting unit and the corresponding sensing partition have a short random delay in the opening time, so that the light emitting time of multiple light emitting units does not completely overlap without shortening the measurement time, thereby improving the anti-interference ability between multiple channels. For the case of needing more light emitting units and sensing partitions to complete scanning, in order to ensure that there is enough ranging time and meet a certain detection frame rate, the change time range of the random delay is limited. With the increase of the number of light emitting units and partitions, the repetition probability of the random delay will increase, and the anti-interference ability will also be worse.

[0146] After various studies, it is found that if the deflection of the light beam is combined, so that the light beam emitted by the light source each time only corresponds to a sub-region in the angle scanning field of view range of the deflection, and at the same time, the light emitting units of the light source are grouped when scanning each sub-region, and the light emitting units are controlled for different groups, the crosstalk between different receiving channels can be more effectively avoided while meeting the measurement requirements of long distance, high frame rate and high angle resolution. Based on this, the embodiment of the application provides a transmitting module capable of realizing the above functions, a laser radar and an electronic device using the transmitting module, and a corresponding light scanning implementation method. The specific embodiments are described below in detail.

[0147] Embodiment one

[0148] The embodiment one of the application provides a transmitting module, which has the structure as shown in FIG. 1 and comprises a light source module 11 and a control device 12.

[0149] The light source module 11 comprises a plurality of light emitting unit groups 111, each of which comprises at least one light emitting unit 112;

[0150] The control device 12 is used for controlling the light emitting unit groups 111 in the light source module 11 to emit light beams respectively to scan a sub-region in the field of view range in a light emitting period, wherein the light emitting time of at least two light emitting unit groups 111 in a light emitting period is different; and the light beams emitted by the same light emitting unit group 111 in different light emitting periods are used to scan different sub-regions in the field of view range.

[0151] In some embodiments, the light source module is controlled by the controller to emit light beams with different exit angles. Each light unit group in the light source module can emit a light beam with an exit angle in a light emitting period, and a light beam with an exit angle can correspond to a sub-region in the scanning field of view range. In a light emitting period, different light unit groups can be designed to emit light in parallel or in series, and at least two light unit groups do not emit light at the same time, which can reduce crosstalk to a certain extent. When all light unit groups do not emit light at the same time, crosstalk can be reduced to the greatest extent.

[0152] Referring to the working flow diagram of the emission module shown in FIG. 2, a frame period (Frame_Sync) can include multiple light emitting periods (Slot_Sync), and each light unit can emit multiple light pulses in a light emitting period, i.e., a light emitting period can include multiple pulse periods (Tx-Trig). In the above-mentioned emission module, each light unit group 111 in the light source module 11 can emit light in parallel or in series. The controller 12 controls the light emitting order and light emitting time of the light unit 112 in the light source module 11. Referring to FIG. 3, the field of view range is divided into multiple blocks 3, and 16 blocks 3 are taken as an example in the figure, each block 3 includes multiple sub-regions 30, and after each light unit group 111 emits light in a light emitting period, it can correspond to scan a sub-region 30 in the field of view range, such as a small long strip region in the figure. The controller 12 controls the light source module 11 to change the exit angle of the light beam emitted by each light unit group 111 to scan another sub-region in the next light emitting period. In this way, through multiple light emitting periods in a frame period, the scanning of all sub-regions can be completed, i.e., a frame scanning of the entire field of view range is completed. Referring to FIG. 3, 16·P light emitting periods in a frame period can scan 16·P sub-regions, i.e., the entire field of view range, and P is the number of sub-regions included in a block.

[0153] Optionally, the control device can be configured to control the light-emitting unit groups in the light source module to emit light in parallel in a light-emitting period, where the light-emitting time of different light-emitting unit groups is not completely staggered, and the light-emitting time of each light-emitting unit group is delayed by a random time length relative to the start time of the light-emitting period. In this case, the control device controls the light-emitting unit groups to emit a plurality of light pulses in a preset time sequence in a light-emitting period; where one light-emitting period includes a plurality of pulse periods corresponding to the plurality of light pulses, and the light-emitting unit groups emit one light pulse in one pulse period, the light-emitting time of the light-emitting unit groups in a pulse period is delayed by a random time length relative to the start time of the pulse period, and the light-emitting time of at least two light-emitting unit groups in a pulse period is different. Where the length of the pulse period is greater than or equal to the sum of the charging time of the light-emitting unit, the maximum random time length of the light-emitting unit, and the photon flight time required for the ranging range.

[0154] The random time length is a time length randomly set in a preset range.

[0155] Optionally, the control device can be configured to control the light-emitting unit groups in the light source module to emit light in a preset light-emitting order in a light-emitting period, where the light-emitting time of different light-emitting unit groups is completely staggered. In this case, one light-emitting period is divided into a plurality of sub-light-emitting periods, and one light-emitting unit group emits light in a corresponding sub-light-emitting period; the control device controls the light-emitting unit groups to emit a plurality of light pulses in a preset time sequence in a corresponding sub-light-emitting period; where one sub-light-emitting period includes a plurality of pulse periods corresponding to the plurality of light pulses, and at least one light-emitting unit in the light-emitting unit group emits one light pulse in one pulse period.

[0156] The control device 12 can be, for example, but not limited to, an application processor (AP), a central processing unit (CPU), a micro controller unit (MCU), a programmable gate array (PGA), a field programmable gate array (FPGA), etc. in terms of hardware. The functions of the control device 12 or part of the functions can be implemented by computer software, such as hardware description language (HDL) code for FPGA hardware. The embodiments of the present application do not limit the specific implementation of the computer program.

[0157] The emission module provided in the embodiment of the present application divides the light emitting units in the light source module into a plurality of light emitting unit groups, controls the light emitting time and order of the light emitting unit groups and the light emitting units in the light source module by the controller, so that each light emitting unit group in the light source module emits a light beam in a light emitting period, and the light emitting time of at least two light emitting unit groups is different from each other, thereby reducing the crosstalk generated between corresponding sensing sub-zones when the light beams emitted by the light emitting units are reflected by an object and received by a receiving end, to improve the sensing accuracy. In addition, the controller changes the propagation direction of the light beams emitted by the light emitting unit groups in different light emitting periods, so that all the light emitting unit groups correspond to scan a sub-region in a scanning field of view range in a light emitting period, and correspond to scan different sub-regions in the scanning field of view range in different light emitting periods, thereby using fewer light emitting unit groups to scan a larger scanning field of view range, and by limiting the emission light beams of the light source in a certain range, the coverage area of a single laser beam is reduced, without changing the sensing frame rate of the laser radar, the sensing distance of the laser radar is as far as possible to be improved, and the angular resolution of the laser radar is improved.

[0158] The light emitting unit is at least one of, for example but not limited to, a vertical cavity surface emitting laser (VCSEL), an edge emitting laser (EEL), a light emitting diode (LED), a laser diode (LD), a semiconductor laser, a fiber laser, and the like. The edge emitting laser can be a Fabry Perot (FP) laser, a distribute feedback (DFB) laser, an electro-absorption modulated laser (EML), and the like, which are not limited in the present application.

[0159] The following embodiments two, three, four and five respectively describe different structures of the emission module and different light emitting modes of the light emitting unit groups.

[0160] Embodiment two

[0161] The embodiment two of the present application provides an emission module, in which different light emitting unit groups 111 emit light in series, and the light emitting units in the same light emitting unit group are configured to emit light at the same time.

[0162] The light source module of the embodiment is characterized in that different light emitting unit groups emit light in series, each light emitting unit group has a sub-light emitting period that does not overlap with each other, each light emitting unit group emits a plurality of light pulses, the light emitting units in the same light emitting unit group emit light at the same time, that is, each light emitting unit group emits light as a whole, and each light emitting unit group emits all the light pulses thereof before the next light emitting unit group emits light, and the other light emitting unit groups do not emit light during the sub-light emitting period of the light emitting unit group.

[0163] The light emitting module provided by the embodiment of the application comprises a light source module 11 and a control device 12.

[0164] The control device 12 is configured to control the light emitting unit groups in the light source module to emit light in series in a preset light emitting order during a light emitting period, and each light emitting unit group emits a light beam in turn during the light emitting period to complete scanning of a sub-region in a scanning field of view.

[0165] During the series light emission of different light emitting unit groups, the light emitting period can be divided into a plurality of sub-light emitting periods, and each light emitting unit group emits light in a corresponding sub-light emitting period.

[0166] In the embodiment, all the light emitting units in a light emitting unit group emit light at the same time during a pulse period to emit a light pulse in the light emitting unit group during the pulse period, and the light emitting time of the light emitting unit group during the pulse period is delayed by a random time length relative to the start time of the pulse period.

[0167] As shown in FIG. 4, each light emitting unit group emits a plurality of light pulses in a corresponding sub-light emitting period in FIG. 4, and the light emitting unit group 1 emits a plurality of light pulses in a second sub-light emitting period after the light emitting of the light emitting unit group 1 is completed, and the light emitting unit group M emits a plurality of light pulses in a third sub-light emitting period after the light emitting of the light emitting unit group M is completed.

[0168] Referring to FIG. 4, trig1 triggers the first group of light emitting units to emit a plurality of light pulses, trig2 triggers the second group of light emitting units to emit a plurality of light pulses, trig3 triggers the third group of light emitting units to emit a plurality of light pulses, and so on. Each light pulse has a random delay relative to the start time of the pulse period. In the example shown in the figure, the delay time of each light pulse is different. In actual applications, the trigger time of some light pulses can be the same.

[0169] The emission module provided by the embodiment of the present application can be applied to a linear array laser radar. The light source in the light source module adopts a strip-shaped light source. The light source in the light source module includes at least one group of light emitting units arranged along a specified direction. When the light source includes more than one group of light emitting units, the light emitting units in different groups are arranged in alignment or staggered.

[0170] In some optional embodiments, the groups of light emitting units can adopt different grouping manners. One group of light emitting units includes a plurality of light emitting units that are continuously adjacent in arrangement position, and there is no light emitting unit of another group of light emitting units between any two light emitting units in the group of light emitting units. Alternatively, one group of light emitting units includes a plurality of light emitting units that are not continuously adjacent in arrangement position, and there is at least one light emitting unit of another group of light emitting units between two adjacent light emitting units. Since the light emitting units in the same group of light emitting units can be continuously or discontinuously arranged, the sensing sub-regions in the receiving sub-region group corresponding to different groups of light emitting units can also be continuously or discontinuously arranged.

[0171] An optional grouping manner is shown in FIG. 5, taking the example of the light source in the emission module in the form of staggered arrangement of multiple light emitting units. A light emitting unit group includes multiple light emitting units that are continuously adjacent in arrangement position, and there is no light emitting unit of other light emitting unit group between any two light emitting units in the light emitting unit group. Specifically, the emission module includes two teams of light emitting units arranged along a specified direction, each team including multiple light emitting units, and the two teams of light emitting units are arranged along the column direction. The positions of the two teams of light emitting units along the specified column arrangement direction are staggered, and the gap between a light emitting unit in one team and two adjacent light emitting units in the other team is aligned, so that the two teams of light emitting units are alternately adjacent along the specified column arrangement direction. Multiple light emitting units that are continuously adjacent in position form a light emitting unit group. As shown in the figure, the emission module includes MxN light emitting units, and every N light emitting units that are continuously adjacent in position form a light emitting unit group, and there are M light emitting unit groups. The N light emitting units that are continuously adjacent in position at the top are the first light emitting unit group (Group 1), the N light emitting units that are continuously adjacent in position below are the second light emitting unit group (Group 2), and so on, and the N light emitting units that are continuously adjacent in position at the bottom are the Mth light emitting unit group (Group M). Correspondingly, the receiving module accordingly includes MxN sensing sub-zones, and N sensing sub-zones that are continuously adjacent in position form a sensing sub-zone group, and there are M sensing sub-zone groups.

[0172] An optional grouping manner is shown in FIG. 6, taking the example of the staggered arrangement of multiple light emitting units of the light source in the emission module. A light emitting unit group includes multiple light emitting units that are not continuously adjacent in arrangement position. There is no gap between any two light emitting units in the light emitting unit group. Specifically, the emission module includes two teams of light emitting units arranged along a specified direction, each team including multiple light emitting units, and both teams of light emitting units are arranged along the column direction. The positions of the two teams of light emitting units along the specified column arrangement direction are staggered, and the gap between a light emitting unit in one team and two adjacent light emitting units in the other team is aligned, so that the two teams of light emitting units are alternately adjacent along the specified column arrangement direction. A light emitting unit group includes multiple light emitting units that are not continuously adjacent in arrangement position, and there is at least one light emitting unit of another light emitting unit group between two adjacent light emitting units. Multiple positionally discontinuous light emitting units form a light emitting unit group. As shown in the figure, the emission module includes MxN light emitting units, the first light emitting unit on the top belongs to the first light emitting unit in the first light emitting unit group (Group 1), the second light emitting unit belongs to the first light emitting unit in the second light emitting unit group (Group 2), the third light emitting unit belongs to the first light emitting unit in the third light emitting unit group (Group 3), and so on. The Mth light emitting unit belongs to the first light emitting unit in the Mth light emitting unit group (Group M); the M+1th light emitting unit belongs to the second light emitting unit in the first light emitting unit group, the M+2th light emitting unit belongs to the second light emitting unit in the second light emitting unit group, the M+3th light emitting unit belongs to the first light emitting unit in the third light emitting unit group, and so on. The 2Mth light emitting unit belongs to the second light emitting unit in the Mth light emitting unit group; and so on, so that multiple light emitting units spaced apart in position form a light emitting unit group. The receiving module includes MxN sensing partitions with corresponding grouping, and multiple positionally spaced apart sensing partitions form a sensing partition group. That is, multiple light emitting units, in the arrangement order, every M light emitting units are respectively arranged as light emitting units with the same order in each light emitting unit group, and this configuration of every M light emitting units is repeated N times. In this case, there are M-1 light emitting units of other groups between the two adjacent light emitting units in the same group. The multiple light emitting units of the same light emitting unit group are spaced apart and not adjacent in position, and correspondingly, the receiving partitions at the receiving end are also not adjacent. In the sub-light emitting period corresponding to a light emitting unit group, the light emitting unit and the receiving partition are not adjacent, so that crosstalk can be better avoided. The MxN light emitting units can be grouped according to the above rules or randomly grouped.

[0173] An optional grouping manner is shown in FIG. 7, taking the aligned arrangement of multiple light emitting units of the light source in the emission module as an example. A light emitting unit group includes multiple light emitting units that are continuously adjacent in arrangement position, and there is no light emitting unit of other light emitting unit group between any two light emitting units in the light emitting unit group. Specifically, the emission module includes a group of light emitting units arranged along a specified direction, including multiple light emitting units, and the light emitting units are arranged along a column direction. Multiple light emitting units that are continuously adjacent in position form a light emitting unit group. As shown in the figure, the emission module includes MxN light emitting units, and every N light emitting units that are continuously adjacent in position form a light emitting unit group, and there are M light emitting unit groups. The N light emitting units that are continuously adjacent in position on the top are the first light emitting unit group (Group 1), the N light emitting units that are continuously adjacent in position below are the second light emitting unit group (Group 2), and so on, and the N light emitting units that are continuously adjacent in position on the bottom are the Mth light emitting unit group (Group M). Correspondingly, the receiving module correspondingly includes MxN sensing sub-zones, and N sensing sub-zones that are continuously adjacent in position form a sensing sub-zone group, and there are M sensing sub-zone groups.

[0174] An optional grouping manner is shown in FIG. 8, taking the aligned arrangement of multiple light emitting units of a light source in the emission module as an example. The multiple light emitting units in a light emitting unit group are discontinuously adjacent in arrangement position, and at least one light emitting unit of another light emitting unit group is arranged between two adjacent light emitting units. Specifically, the emission module includes a group of light emitting units arranged along a specified direction, including multiple light emitting units, and the light emitting units are arranged along a column direction. Multiple light emitting units that are discontinuous in position form a light emitting unit group. As shown in the figure, the emission module includes MxN light emitting units. The first light emitting unit at the top belongs to the first light emitting unit in the first light emitting unit group (Group 1), the second light emitting unit belongs to the first light emitting unit in the second light emitting unit group (Group 2), the third light emitting unit belongs to the first light emitting unit in the third light emitting unit group (Group 3), and so on. The Mth light emitting unit belongs to the first light emitting unit in the Mth light emitting unit group (Group M). The M+1th light emitting unit belongs to the second light emitting unit in the first light emitting unit group, the M+2th light emitting unit belongs to the second light emitting unit in the second light emitting unit group, the M+3th light emitting unit belongs to the first light emitting unit in the third light emitting unit group, and so on. The 2Mth light emitting unit belongs to the second light emitting unit in the Mth light emitting unit group. And so on, so that multiple light emitting units that are spaced apart in position form a light emitting unit group. The receiving module includes MxN sensing partitions with corresponding grouping, and multiple sensing partitions that are spaced apart in position form a sensing partition group. That is, according to the arrangement order, every M light emitting units are respectively arranged as light emitting units with the same order in each light emitting unit group, and this configuration of every M light emitting units is repeated N times. In this case, M-1 light emitting units of other groups are arranged between two adjacent light emitting units in the same group. The multiple light emitting units in the same light emitting unit group are arranged in a spaced manner and are not adjacent in position, and correspondingly, the receiving partitions at the receiving end are also not adjacent. In the sub-light emitting period corresponding to a light emitting unit group, the light emitting unit and the receiving partition are not adjacent, so that crosstalk can be better avoided.

[0175] In some embodiments, the control device is configured to determine the time of emitting light pulses of the multiple light emitting unit groups in the respective corresponding sub-light emitting period in the following manner:

[0176] According to the random number sequence generated corresponding to the light emitting unit group, the random time length of the time instant at which the light emitting unit group emits the light pulse in each pulse period relative to the starting time instant of the pulse period is determined, and the time instant at which the light emitting unit group emits the light pulse in each pulse period is determined according to the random time length; wherein one random number sequence is generated corresponding to one light emitting unit group, each random number sequence includes a plurality of random numbers corresponding to a plurality of pulse periods of the light emitting unit group, and the plurality of random numbers can be respectively used as the random time length of the time instant at which the light emitting unit group emits the light pulse in each pulse period relative to the starting time instant of the pulse period, and the value range of the random number is greater than zero and less than or equal to a preset maximum random time length.

[0177] The pulse period includes a random time length adjustment interval with a preset time length, and the time instant at which each light emitting unit group emits the light pulse in the pulse period is randomly set in the random time length adjustment interval, and the ending point of the random time length adjustment interval relative to the starting time instant of the pulse period is the maximum random time length. The random time length adjustment interval is determined according to the scanning frame rate required to be met by the emission module, the number of light pulses of one light emitting period, and the time length of the light emitting period. In other words, the random number sequence is generated according to the predetermined maximum random time length, and the maximum random time length is determined according to the scanning frame rate required to be met by the emission module, the number of light pulses of one light emitting period, and the time length of the light emitting period. The control module is configured to randomly set the time instant at which the light emitting unit emits the light pulse in the pulse period in the random time length adjustment interval of the pulse period.

[0178] In some optional embodiments, the emission module further includes a charging circuit; the charging circuit includes a plurality of charging sub-circuits corresponding to a plurality of light emitting unit groups, and one charging sub-circuit is used for charging a plurality of light emitting units in a corresponding light emitting unit group. Of course, optionally, one charging sub-circuit can also charge two or more light emitting unit groups, and similarly, one light emitting unit group can be configured with two or more charging sub-circuits. Further optionally, one charging sub-circuit is connected to one light emitting unit. The charging sub-circuit can be provided with a slow power-on switch control circuit.

[0179] In some optional embodiments, the emission module further includes a trigger circuit for triggering each light emitting unit to emit light; the trigger circuit can be set as needed, and the trigger circuit can include a plurality of trigger sub-circuits, one trigger circuit can be connected to a plurality of light emitting units belonging to different groups, or one trigger circuit can be connected to a plurality of light emitting units in the same group; and one trigger circuit can be connected to one light emitting unit. The trigger circuit can be provided with a trigger switch control circuit.

[0180] Optionally, the trigger circuit comprises a plurality of trigger sub-circuits, one trigger sub-circuit is connected to a plurality of light emitting units, and the plurality of light emitting units connected by the trigger sub-circuit belong to different light emitting unit groups respectively, and the trigger sub-circuit is used to trigger the light emitting units connected by the trigger sub-circuit to emit light in a preset emission sequence. As shown in FIG. 7, the first trigger sub-circuit trig1 is connected to the first light emitting unit in the light emitting unit group 1-M, the second trigger sub-circuit trig2 is connected to the second light emitting unit in the light emitting unit group 1-M, and the Nth trigger sub-circuit trigN is connected to the Nth light emitting unit in the light emitting unit group 1-M. The light emitting units in each light emitting unit group are continuously adjacent in position, for example, the light emitting units 1-N in the figure are continuously adjacent in position. The N trigger sub-circuits simultaneously trigger the N light emitting units in a light emitting unit group to emit light in a pulse period, and in the sub-light emitting period corresponding to each light emitting unit group, the plurality of light emitting units in the light emitting unit group emit a plurality of light pulses. FIG. 7 is an example of an example of an aligned arrangement of light emitting units, and the staggered arrangement shown in FIG. 5 can also be implemented using the above trigger circuit.

[0181] As shown in FIG. 8, the first trigger sub-circuit trig1 is connected to the first light emitting unit in the light emitting unit group 1-M, the second trigger sub-circuit trig2 is connected to the second light emitting unit in the light emitting unit group 1-M, and the Nth trigger sub-circuit trigN is connected to the Nth light emitting unit in the light emitting unit group 1-M. The plurality of light emitting units in each light emitting unit group are discontinuous in position, and in the sub-light emitting period corresponding to each light emitting unit group, the plurality of light emitting units in the light emitting unit group emit a plurality of light pulses. For example, starting from the first light emitting unit at the top, the N trigger sub-circuits simultaneously trigger the N light emitting units in a light emitting unit group in a pulse period.

[0182] Optionally, the trigger circuit comprises a plurality of trigger sub-circuits, one trigger sub-circuit is connected to a plurality of light emitting units, and the plurality of light emitting units connected by the trigger sub-circuit belong to different light emitting unit groups respectively, and the trigger sub-circuit is used to trigger the light emitting units connected by the trigger sub-circuit to emit light in a preset emission sequence. As shown in FIG. 7, the first trigger sub-circuit trig1 is connected to the first light emitting unit in the light emitting unit group 1-M, the second trigger sub-circuit trig2 is connected to the second light emitting unit in the light emitting unit group 1-M, and the Nth trigger sub-circuit trigN is connected to the Nth light emitting unit in the light emitting unit group 1-M. The light emitting units in each light emitting unit group are continuously adjacent in position, for example, the light emitting units 1-N in the figure are continuously adjacent in position. The N trigger sub-circuits simultaneously trigger the N light emitting units in a light emitting unit group to emit light in a pulse period, and in the sub-light emitting period corresponding to each light emitting unit group, the plurality of light emitting units in the light emitting unit group emit a plurality of light pulses. FIG. 7 is an example of an example of an aligned arrangement of light emitting units, and the staggered arrangement shown in FIG. 5 can also be implemented using the above trigger circuit.

[0183] Those skilled in the art can understand that the charging sub-circuit and the trigger sub-circuit can be set as needed, and are not limited to the above-mentioned setting modes.

[0184] In some optional embodiments, the light source module in the above-mentioned emission module can change the propagation direction of the light beam emitted by the light source through the light deflection device, and can also control the light source to emit light beams with different propagation directions through the controller.

[0185] In the case that the light source module can change the propagation direction of the light beam emitted by the light source through the light deflection device, the structure of the light source module is shown in FIG. 9, which includes a light source 110 and a light deflection device 120; wherein:

[0186] The light source 110 includes a plurality of light emitting unit groups 111, each of which includes at least one light emitting unit 112;

[0187] The light deflection device 120 is used to deflect the light beams emitted by each light emitting unit group 111;

[0188] The controller 12 is specifically used to control each light emitting unit group 111 in the light source 110 to emit a light beam in a light emitting period, and control the light deflection device 120 to deflect the light beam, wherein the light beam is deflected to one of a plurality of final deflection angles in a light emitting period, and corresponds to one sub-region in the field of view range.

[0189] The light deflection device 120 can change the deflection angle of the light beam emitted by the light source 110 by deflecting the light beam to change its propagation direction. The light deflection device 120 includes at least one light deflection device, which includes but is not limited to any one or a combination of more than one of the following: acousto-optic deflection device, electro-optic deflection device, liquid crystal polarization grating, metasurface device, rotating mirror and MEMS scanning mirror.

[0190] Through the light deflection device, the light source can emit light beams with different propagation directions in different light emitting periods, so as to correspond to scan one sub-region in the field of view range, wherein the sub-region can be determined according to the shape of the light source and the shape of the light beam emitted by the light source. One optional way is that when the light source emits a strip-shaped light beam, the sub-region is also strip-shaped, and when the light deflection device deflects the light beam in the first direction, the length of the sub-region in the first direction is less than that in the second direction, and the length of the entire field of view range in the first direction is also less than that in the second direction.

[0191] Optionally, referring to FIG. 10, the light deflection device 120 includes an acousto-optic deflection device 130 and a liquid crystal polarization grating 140. The acousto-optic deflection device is configured to deflect the light beam along a first direction by a plurality of first deflection angles. The liquid crystal polarization grating is configured to deflect the light beam deflected by the acousto-optic deflection device along the first direction and a second direction by a plurality of second deflection angles to project a scanning light beam. The length of the scanning light beam in the first direction is less than the length of the scanning light beam in the second direction. The length of the field of view in the first direction is less than the length of the field of view in the second direction. The controller is further configured to control the deflection of the light beam by the acousto-optic deflection device and the liquid crystal polarization grating.

[0192] Optionally, referring to FIG. 10, the light deflection device 120 includes an acousto-optic deflection device 130 and a liquid crystal polarization grating 140. The acousto-optic deflection device is configured to deflect the light beam along a first direction by a plurality of first deflection angles. The liquid crystal polarization grating is configured to deflect the light beam deflected by the acousto-optic deflection device along the first direction and a second direction by a plurality of second deflection angles to project a scanning light beam. The length of the scanning light beam in the first direction is less than the length of the scanning light beam in the second direction. The length of the field of view in the first direction is less than the length of the field of view in the second direction. The controller is further configured to control the deflection of the light beam by the acousto-optic deflection device and the liquid crystal polarization grating.

[0193] The expansion deflection device 160 includes at least one expansion deflection lens, which is a single lens or a combination of two or more lenses. The expansion deflection lens includes at least one or any combination of a cylindrical lens, a spherical lens, a superlens, and a Fresnel lens. When the expansion deflection lens includes a combination of two or more lenses, the combination of the two or more lenses can be regarded as a single lens. The positional relationship between the acousto-optic deflection device 130, the liquid crystal polarization grating 140, and the expansion deflection device 160 can be designed according to the parameters of the devices. The expansion deflection device can be arranged before or after the liquid crystal polarization grating 140.

[0194] Optionally, referring to FIG. 13, the light deflection device includes at least one acousto-optic deflection device. The light deflection device further includes:

[0195] The collimation device 150 is configured to collimate the light beam before the light beam enters the acousto-optic deflection device. The collimation degree of the collimated light beam along the first direction is higher than the collimation degree along the second direction. The first direction is perpendicular to the second direction. The length of the field of view in the first direction is less than the length of the field of view in the second direction. The first direction can be the vertical direction, and the second direction can be the horizontal direction, or the first direction can be the horizontal direction, and the second direction can be the vertical direction.

[0196] The collimating device 150 includes at least one collimating lens, for example, can include two cylindrical lenses, or includes a spherical lens, or includes a cylindrical lens and a spherical lens, to collimate the light beam emitted by the light source in the first direction and the second direction perpendicular to each other. Optionally, in order to realize the collimation of the light beam according to the collimation requirement, the positional relationship between the collimating device 150 and the light source 110 can be set according to the collimation requirement of the light beam.

[0197] The specific structure of the emission module shown in FIG. 10 includes a light source 110, a collimating device 150, an acousto-optic deflection device 130, an expanding deflection device 160, a liquid crystal polarization grating 140, and a control device 12 (not shown in the figure). The light path of the light source module in the vertical direction (the first direction) is shown in FIG. 11, and the light path in the horizontal direction (the second direction) is shown in FIG. 12. The light beam emitted by the light source 110 enters the collimating device 150, is collimated by the collimating device 150, and then enters the acousto-optic deflection device 130. After being deflected by the acousto-optic deflection device 130, it enters the expanding deflection device 160. After being expanded and deflected by the expanding deflection device 160, it enters the liquid crystal polarization grating 140. After being deflected by the liquid crystal polarization grating 140, the scanning light beam conforming to the propagation direction is obtained.

[0198] The light beam is deflected by the light deflection device including but not limited to an acousto-optic deflection device (AOD) + a liquid crystal deflection grating (LCPG). The acousto-optic deflection device (AOD) is used to realize one-dimensional light scanning at the emission end by ultrasonic control, and time-sharing and block receiving of the signal light are realized at the receiving end by time sequence control, matching the spatial distribution of the emission signal light.

[0199] The control device can control the light source to emit light beams with different propagation directions according to the principle of optical phased array (OPA). In this case, the light source module in the above-mentioned emission module includes a light source; the light source includes a plurality of light emitting unit groups, each light emitting unit group including a plurality of light emitting units; the control device 12 is specifically configured to control each light emitting unit group in the light source to emit light beams with the same exit angle in a light emitting period, so as to scan a sub-region in the field of view range; and control the same light emitting unit group to emit light beams with different exit angles in different light emitting periods, and a light beam with one exit angle corresponds to irradiation to a sub-region in the field of view range; wherein the control device is configured to control the direction of the light beam emitted by the light emitting unit group by controlling the phase difference of the light beams emitted by each light emitting unit in the light emitting unit group.

[0200] The control device controls the light source to emit light beams with different propagation directions at the emission end, to realize one-dimensional light scanning, and time-sharing and block receiving of the signal light are realized at the receiving end by time sequence control, matching the spatial distribution of the emission signal light.

[0201] The light source can be spliced according to requirements.

[0202] Optionally, referring to FIG. 13, a plurality of light emitting units can be spliced into a row along the long axis direction to form a long strip light beam conforming to the aspect ratio. This splicing manner can form a long strip light beam with a relatively small length and width, and the length direction of the light beam is a horizontal direction.

[0203] Optionally, referring to FIG. 14, a plurality of light emitting units can be spliced into two rows along the long axis direction to form a long strip light beam conforming to the aspect ratio. This splicing manner can form a long strip light beam with a slightly wider width than the manner shown in FIG. 13.

[0204] Optionally, referring to FIG. 15, a plurality of light emitting units can be spliced into a column along the long axis direction to form a long strip light beam conforming to the aspect ratio. This splicing manner can form a long strip light beam with a relatively small length and width, and the length direction of the light beam is a vertical direction, which is different from FIG. 13.

[0205] Optionally, referring to FIG. 16, a plurality of light emitting units can be spliced into two columns along the long axis direction to form a long strip light beam conforming to the aspect ratio. This splicing manner can form a long strip light beam with a slightly wider width than the manner shown in FIG. 15.

[0206] Optionally, referring to FIG. 17, a plurality of light emitting units can be spliced into a row along the short axis direction to form a long strip light beam conforming to the aspect ratio. This splicing manner can form a relatively square block light beam with a small difference between the length and width.

[0207] The above emitting module of the embodiment of the present application can realize dispersion of crosstalk signals by grouping the light emitting units and serially emitting different light emitting unit groups. Since one light emitting unit group emits light while other light emitting unit groups do not emit light, there is no crosstalk signal from other light emitting unit groups. Moreover, after the light emitting units are grouped, one light emitting unit group irradiates a part of a sub-region, and each light emitting unit group irradiates a smaller area. Even if there is a high reflection phenomenon in this part of the region, it will not crosstalk to the area corresponding to the irradiation of other light emitting unit groups. In the case of serially emitting different light emitting unit groups and simultaneously emitting each light emitting unit in a group, the time of each light pulse emitted by the light emitting unit group in its own sub-emitting period has a random delay, which can also well avoid crosstalk with other laser radars. In addition, the grouping and time division emission of the light emitting units can reduce the number of light emitting units emitting light at the same time, which can reduce the required instantaneous total current of the emitting module, thereby reducing the requirements and design difficulty of the emission driving circuit of the emitting module.

[0208] Embodiment three

[0209] The third embodiment of the present application provides a transmitting module, different light emitting unit groups 111 emit light in series, the light emitting units in the same light emitting unit group emit light in parallel, and each light emitting unit has a random delay in light emitting time, so that the light emitting time of at least two light emitting units in the same light emitting unit group is different in a pulse period.

[0210] The light source module of the embodiment emits light in series among different light emitting unit groups, each light emitting unit group has an independent light emitting period which does not overlap with each other, each light emitting unit group emits a plurality of light pulses, and the light emitting time of each pulse emitted by the light emitting units in the same light emitting unit group has a random delay. After each light emitting unit group emits all the light pulses, the next light emitting unit group emits light. During the light emitting period of one light emitting unit group, other light emitting unit groups do not emit light. The light source module of the embodiment is different from the transmitting module in the second embodiment in that the light emitting units in the same light emitting unit group do not emit light at the same time, and the asynchronous emission among the light emitting units in the same light emitting unit group can solve the crosstalk among the sensing pixels of the laser radar itself in the high reflection condition.

[0211] The transmitting module provided by the embodiment of the present application is characterized in that the light emitting units in one light emitting unit group do not emit light completely at the same time in a pulse period, and the light emitting time of each light emitting unit is delayed by a random time length relative to the start time of the pulse period, wherein the light emitting time of at least two light emitting units in a pulse period is different.

[0212] For one light emitting unit group, the light emitting units included in the light emitting unit group complete light emission in a pulse period, and the light emitting time of each light emitting unit has a random delay relative to the start time of the pulse period. The so-called random is to randomly determine the light emitting time of each light emitting unit within a preset range, so that the light emitting time of each light emitting unit in different pulse periods is not completely the same.

[0213] Referring to the control signal and light emitting timing diagram shown in FIGS. 18 and 19, the delay time of each light emitting unit in each light emitting unit group is different, and in actual application, due to the randomness of the random delay, the light emitting time after the random delay can have various conditions, that is, the light emitting time of different light emitting units included in the same light emitting unit group in a pulse period is at least partially different, completely different, or partially the same. The light emitting time of the light emitting unit which first emits a light pulse in a pulse period is different for different light emitting unit groups. An optional condition is that the light emitting time of the light emitting units included in the same light emitting unit group in at least one pulse period is different.

[0214] Due to the randomness of the random delay, the same light emitting unit has a time interval with a random length between multiple light pulses emitted in a corresponding sub-light emitting period.

[0215] Due to the random delay of the light emitting time of each light emitting unit relative to the starting time of the pulse period, in a sub-light emitting period, at least two light emitting unit groups have a time difference in the time of emitting light pulses in a pulse period, and the time difference corresponding to different pulse periods is randomly set.

[0216] Optionally, in a sub-light emitting period, multiple light emitting units of the same light emitting unit group have a corresponding time difference between each other in the time of emitting light pulses in a pulse period, and the time difference corresponding to different pulse periods is randomly set.

[0217] In some embodiments, the control device is configured to determine the time of emitting light pulses of multiple light emitting units of a light emitting unit group in a corresponding sub-light emitting period in the following manner: according to a random number sequence generated corresponding to a pulse period, determine the random length of the delay of the time of emitting light pulses of each light emitting unit of the current light emitting light emitting unit group in the pulse period relative to the starting time of the pulse period, and determine the time of emitting light pulses of each light emitting unit in the pulse period according to the random length; wherein a random number sequence is generated corresponding to a pulse period, each random number sequence includes multiple random numbers corresponding to multiple light emitting units, and the multiple random numbers can be used as the random length of the delay of the time of emitting light pulses of the multiple light emitting units in the pulse period relative to the starting time of the pulse period, and the value range of the random number is the random length adjustment interval, that is, the value range of the random length is greater than or equal to zero and less than or equal to a preset maximum random length.

[0218] In some embodiments, the control device is configured to determine the time of emitting light pulses of multiple light emitting units in a light emitting period in the following manner: according to a random number sequence generated corresponding to a light emitting unit, determine the random length of the delay of the time of emitting light pulses of the light emitting unit in each pulse period relative to the starting time of the pulse period, and determine the time of emitting light pulses of the light emitting unit in each pulse period according to the random length; wherein a random number sequence is generated corresponding to a light emitting unit, each random number sequence includes multiple random numbers corresponding to multiple pulse periods of the light emitting unit, and the multiple random numbers can be used as the random length of the delay of the time of emitting light pulses of the light emitting unit in multiple pulse periods relative to the starting time of each corresponding pulse period, and the value range of the random number is greater than or equal to zero and less than or equal to a preset maximum random length.

[0219] The pulse period includes a random duration adjustment interval with a preset duration, and the time at which each light emitting unit in a light emitting unit group emits a light pulse within the pulse period is randomly set within the random duration adjustment interval. The end point of the random duration adjustment interval is delayed from the start time of the pulse period by a duration that is the maximum random duration. The random duration adjustment interval is determined according to a scanning frame rate required by the emission module, the number of light pulses in a light emitting period, and the duration of the light emitting period. That is, the random number sequence is generated according to the predetermined maximum random duration, and the maximum random duration is determined according to the scanning frame rate of the system, the number of light pulses in a light emitting period, and the duration of the light emitting period.

[0220] The light emitting units and the trigger circuit are similar to those in Embodiment Two. The arrangement of the light emitting units can be aligned or staggered, and the trigger circuit can include multiple trigger sub-circuits.

[0221] Referring to FIG. 18, an example in which the multiple light emitting units of the light source in the emission module are arranged in an aligned manner is shown. A light emitting unit group includes multiple light emitting units that are continuously adjacent in position, and there are no light emitting units of other light emitting unit groups between any two light emitting units in the light emitting unit group. Specifically, the emission module includes a row of light emitting units arranged in a specified direction, and the row includes multiple light emitting units arranged in a column direction. Multiple light emitting units that are continuously adjacent in position form a light emitting unit group. Referring to the figure, the emission module includes MxN light emitting units, and every N light emitting units that are continuously adjacent in position form a light emitting unit group, and there are M light emitting unit groups. The N light emitting units that are continuously adjacent in position at the top are the first light emitting unit group (Group 1), the N light emitting units that are continuously adjacent in position below the first light emitting unit group are the second light emitting unit group (Group 2), and so on, and the N light emitting units that are continuously adjacent in position at the bottom are the Mth light emitting unit group (Group M). Correspondingly, the receiving module includes MxN sensing sub-zones, and N sensing sub-zones that are continuously adjacent in position form a sensing sub-zone group, and there are M sensing sub-zone groups. The first trigger sub-circuit trig1 is connected to the first light emitting unit in the light emitting unit groups 1-M, the second trigger sub-circuit trig2 is connected to the second light emitting unit in the light emitting unit groups 1-M, and so on, and the Nth trigger sub-circuit trigN is connected to the Nth light emitting unit in the light emitting unit groups 1-M. The light emitting units in each light emitting unit group are continuously adjacent in position, such as the 1-N light emitting units in the figure. The N trigger sub-circuits simultaneously trigger the N light emitting units in a light emitting unit group to emit light within a pulse period, and the multiple light emitting units in each light emitting unit group emit multiple light pulses within a corresponding sub-light emitting period.

[0222] Referring to FIG. 19, as an example of the aligned arrangement of the multiple light emitting units of the light source in the transmitting module, the multiple light emitting units included in a light emitting unit group are discontinuously adjacent in arrangement position, and there are at least one light emitting unit of another group between the two adjacent light emitting units. Specifically, the transmitting module includes a group of light emitting units arranged in a specified direction, including multiple light emitting units, and the light emitting units are arranged in a column direction. The multiple light emitting units that are discontinuous in position form a light emitting unit group. Referring to the figure, the transmitting module includes MxN light emitting units, the first light emitting unit on the top belongs to the first light emitting unit in the first light emitting unit group (Group 1), the second light emitting unit belongs to the first light emitting unit in the second light emitting unit group (Group 2), the third light emitting unit belongs to the first light emitting unit in the third light emitting unit group (Group 3), and so on. The Mth light emitting unit belongs to the first light emitting unit in the Mth light emitting unit group (Group M); the M+1th light emitting unit belongs to the second light emitting unit in the first light emitting unit group, the M+2th light emitting unit belongs to the second light emitting unit in the second light emitting unit group, the M+3th light emitting unit belongs to the first light emitting unit in the third light emitting unit group, and so on. The 2Mth light emitting unit belongs to the second light emitting unit in the Mth light emitting unit group; and so on, so that the multiple light emitting units that are spaced apart from each other in position form a light emitting unit group. The receiving module includes MxN sensing partitions with corresponding groups, and the multiple sensing partitions that are spaced apart from each other in position form a sensing partition group. That is, according to the arrangement order, every M light emitting units are respectively arranged as light emitting units with the same order in each light emitting unit group, and this configuration of every M light emitting units is repeated N times. In this case, there are M-1 light emitting units of other groups between the two adjacent light emitting units in the same group. The multiple light emitting units in the same light emitting unit group are spaced apart and not adjacent in position, and correspondingly, the receiving partitions at the receiving end are also not adjacent. In the sub-light emitting period corresponding to a light emitting unit group, the light emitting unit and the receiving partition are not adjacent, so that crosstalk can be better avoided. The first trigger sub-circuit trig1 is connected to the first light emitting unit in the light emitting unit group 1-M, the second trigger sub-circuit trig2 is connected to the second light emitting unit in the light emitting unit group 1-M, and so on. The Nth trigger sub-circuit trigN is connected to the Nth light emitting unit in the light emitting unit group 1-M. The multiple light emitting units in each light emitting unit group are discontinuous in position, and in the sub-light emitting period corresponding to each light emitting unit group, the multiple light emitting units in the light emitting unit group are triggered to emit multiple light pulses. For example, starting from the first light emitting unit on the top, the N trigger sub-circuits simultaneously trigger the N light emitting units in a light emitting unit group in a pulse period.

[0223] In the case that the multiple light emitting units of the light source in the emission module are staggered arranged, the trigger circuit is similar, which is not described here.

[0224] For a deflection angle of the light beam, the above-mentioned emission module of the embodiment of the present application transmits multiple pulse signals by the light source to realize the sensing of the field of view region corresponding to the deflection angle, and the sensing pixels accumulate the counts sensed in each pulse period to generate a histogram of the sensed field of view region. By grouping the light emitting units, different groups of light emitting units emit light in series to disperse the crosstalk signals. Since one group of light emitting units emits light, other groups of light emitting units do not emit light, so there is no crosstalk signal from other groups of light emitting units. For the light emitting units in the same group of light emitting units, since there is a random delay when the light emitting units emit light in parallel, the crosstalk signals from other light emitting units are also dispersed and reduced. Referring to FIG. 20, the left side is the received signal histogram of the light emitting unit A in one group of light emitting units without random delay. In each pulse period, such as TX1, TX2, TX3, etc., the relative time interval between the effective echo beam signal of the light emitting unit A and the crosstalk signal from the light emitting unit B is fixed and unchanged. The accumulated crosstalk signal forms a crosstalk peak. The right side is the received signal histogram of the light emitting unit A in one group of light emitting units with random delay. In each pulse period, such as TX1, TX2, TX3, etc., since there is a random delay between the light emitting units in the same group, the effective echo beam signal of the light emitting unit A can be effectively accumulated according to the delay. Since there is a random difference in the light emitting time between the light emitting units A and B, the crosstalk signal from the light emitting unit B is recorded in different time bins in different pulse periods, and cannot be accumulated. Even if the light beam emitted by the light emitting unit is reflected by the object and has a high emission rate, there is no obvious crosstalk peak. In addition, since the number of light emitting units that emit light at the same time is reduced, the instantaneous total drive current of the emission module can be reduced, and the design difficulty of the circuit can be reduced.

[0225] When the above-mentioned emission module uses AOD+LCPG to deflect the light beam, the AOD is used to obtain high angular resolution while deflecting the light beam by using the microsecond-level response speed of the AOD. The subsequent optical elements including the liquid crystal deflection grating (LCPG) are used to amplify the deflection angle and realize coverage of the field of view. For one light beam deflection angle of AOD+LCPG, the light source emits multiple light beams to sense a corresponding sub-region in the field of view. The light source uses a plurality of light-emitting units to realize the effect of a strip-shaped light beam. The strip-shaped light beam is deflected by AOD+LCPG to cover and scan the entire field of view with fewer deflection times. One deflection angle of the strip-shaped light beam corresponds to a plurality of sensing pixels of a corresponding sub-region of the receiving end. The sub-region can also be strip-shaped. By controlling the light-emitting time of the light-emitting units in the light-emitting unit group, the light-emitting time can be randomly staggered to a certain extent. The sub-region irradiated by the strip-shaped light beam corresponds to a plurality of mutually adjacent sensing pixels. In the case of pulsed strip-shaped light beam lighting, the crosstalk signals between the plurality of sensing pixels do not overlap as much as possible in the fixed time bin of the histogram generated by the crosstalk pixels. Therefore, no obvious crosstalk peak is formed, so that the crosstalk is reduced or avoided as much as possible, and the accuracy of distance measurement is improved.

[0226] The above-mentioned emission module uses the advantages of fast response speed and high resolution point number of the acousto-optic deflection device (AOD) to realize fast scanning with high resolution. The AOD is combined with the LCPG array to realize long-distance ranging with large angles by using the advantages of high diffraction efficiency and large deflection angle of the LCPG. The multiple light-emitting units of the light source are grouped. The light-emitting units of different groups are pulsed to emit light with a random time difference between each other during detection to avoid the superposition of crosstalk signals between pixels, reduce the sensing crosstalk between different sensing pixel regions, avoid the appearance of crosstalk peaks, and reduce the power burden of the emission of all light-emitting units.

[0227] Embodiment four

[0228] Embodiment four of the present application provides an emission module. Different light-emitting unit groups 111 in the emission module emit light in parallel. The light-emitting units in the same light-emitting unit group are configured to emit light at the same time.

[0229] The light source module of the present embodiment emits light in parallel among different M light-emitting unit groups in the same pulse period. The multiple light-emitting units in the same light-emitting group emit light at the same time to serve as a light pulse emitted by the light-emitting unit group in this pulse period. That is, each light-emitting unit group emits light as a whole. The time when each light-emitting unit group emits each pulse has a random delay from each other. That is, the time periods when the multiple light-emitting unit groups emit multiple pulses overlap each other.

[0230] The control device in the emission module is configured to control the light-emitting units in the light source module to emit light in parallel in a light-emitting period. The control device controls the light-emitting units to emit a plurality of light pulses in a preset time sequence in a light-emitting period; wherein, a light-emitting period includes a plurality of pulse periods corresponding to the plurality of light pulses respectively, and the light-emitting units emit a light pulse in a pulse period; the light-emitting units emit light at a time delay of a random length from the start time of the pulse period; and the light-emitting units in at least two light-emitting unit groups emit light at different times in a pulse period.

[0231] As shown in FIG. 21, a frame period can include a plurality of light-emitting periods, such as a first light-emitting period, a second light-emitting period, …, and an Nth light-emitting period; a light-emitting period includes a plurality of pulse periods, such as T1, T2, …, and Tnum; and each light-emitting period can further include a charging period Tchg. The emission module includes a plurality of light-emitting unit groups, such as a first light-emitting unit group, a second light-emitting unit group, …, and an Mth light-emitting unit group. The light-emitting units emit light once in each pulse period, and the light-emitting units in each light-emitting unit group emit light at a time delay from the start time of the pulse period. The light-emitting in a light-emitting period is completed to scan a sub-region in the field of view. After the light-emitting in a light-emitting period is completed, the light-emitting in the next light-emitting period can be started. By changing the angle of the light beam emitted by the light source module, the next sub-region can be scanned in the next light-emitting period, and the scanning of the entire field of view can be completed in all light-emitting periods in a frame period.

[0232] In this embodiment, the grouping and arrangement of the light-emitting units in the emission module can refer to the related descriptions in Embodiments 1 and 2. The light-emitting units can be arranged in alignment or not in alignment, and the light-emitting units in a light-emitting unit group can be continuously adjacent or not continuously adjacent. The trigger circuit can also refer to the descriptions in Embodiments 1 and 2. The trigger circuit can include a plurality of trigger sub-circuits, such as a first trigger sub-circuit trig1 connected to the first light-emitting unit in the first light-emitting unit group, a second trigger sub-circuit trig2 connected to the second light-emitting unit in the first light-emitting unit group, …, and an Nth trigger sub-circuit trigN connected to the Nth light-emitting unit in the first light-emitting unit group. Alternatively, one trigger sub-circuit can be responsible for triggering the light-emitting units in one light-emitting unit group, i.e., the light-emitting units in the first light-emitting unit group are triggered to emit light by Trig_1, the light-emitting units in the second light-emitting unit group are triggered to emit light by Trig_2, and so on.

[0233] The delay time of the light emission of the light source module is random when the light emission of the several light unit groups is performed in parallel. In a pulse period, the light emission time of all the light unit groups can be different, or part of the light emission time of the light unit groups can be the same and part of the light emission time of the light unit groups can be different. For the same light unit group, the random delay time in each pulse period can be the same or different. In an optional manner, the light emission time of the light pulses emitted by the several light unit groups in the light source module in at least one pulse period is different.

[0234] In the case of random light emission of the light unit groups, the time interval between the light pulses emitted by the light unit groups in a light emission period has a random length.

[0235] In the case of random light emission of the light unit groups, the light emission time of the light pulses emitted by different light unit groups in a pulse period can have a time difference. For different light unit groups, the time difference can be the same or different.

[0236] In an optional manner, the light emission time of the light pulses emitted by at least two light unit groups in a pulse period has a time difference, and the length of the time difference corresponding to different pulse periods is randomly set.

[0237] In the case of random light emission of the light unit groups, in an optional manner, in a light emission period, the light emission time of the light pulses emitted by the several light unit groups in the light source module in a pulse period has a corresponding time difference between each other, and the length of the time difference corresponding to different pulse periods is randomly set.

[0238] In an optional manner, the pulse period includes a random length adjustment interval with a preset length, and the light emission time of the light pulses emitted by the light unit groups in the pulse period in which the light unit groups emit light in parallel is randomly set in the random length adjustment interval. The length of the delay of the end point of the random length adjustment interval compared to the start time of the pulse period is the maximum random length. The length of the above-mentioned time difference is greater than or equal to zero and less than or equal to the maximum random length.

[0239] In some embodiments, the control device is configured to determine the light emission time of the light pulses emitted by the light unit groups in a light emission period in the following manner:

[0240] According to the random number sequence generated corresponding to the pulse period, a random time length is determined, which is the delay of the time when each light emitting unit group emits a light pulse in the pulse period relative to the starting time of the pulse period, and according to the random time length, the time when each light emitting unit group emits a light pulse in the pulse period is determined; wherein one random number sequence is generated corresponding to one pulse period, each of the random number sequences includes a plurality of random numbers corresponding to a plurality of light emitting unit groups one by one, and the plurality of random numbers can be respectively used as the random time length of the time when the plurality of light emitting unit groups respectively emits a light pulse in the pulse period relative to the starting time of the pulse period, and the value range of the random number is greater than or equal to zero and less than or equal to a preset maximum random time length.

[0241] In some embodiments, the control device is configured to determine the time when the plurality of light emitting unit groups emits a light pulse in a light emitting period in the following manner:

[0242] According to the random number sequence generated corresponding to the pulse period, a random time length is determined, which is the delay of the time when each light emitting unit group emits a light pulse in the pulse period relative to the starting time of the pulse period, and according to the random time length, the time when each light emitting unit group emits a light pulse in the pulse period is determined; wherein one random number sequence is generated corresponding to one pulse period, each of the random number sequences includes a plurality of random numbers corresponding to a plurality of light emitting unit groups one by one, and the plurality of random numbers can be respectively used as the random time length of the time when the plurality of light emitting unit groups respectively emits a light pulse in the pulse period relative to the starting time of the pulse period, and the value range of the random number is greater than or equal to zero and less than or equal to a preset maximum random time length.

[0243] The above emitting module of the embodiment of the present application groups the light emitting units, and different groups of light emitting units emit light in parallel to disperse the crosstalk signals. Since there is a random delay when each group of light emitting units emits light in parallel, the crosstalk signals from other groups of light emitting units are also dispersed and reduced. In this case, even if there are crosstalk signals between the multiple sensing pixels corresponding to different groups of light emitting units, these crosstalk signals will be counted in different time bins during multiple pulse emissions, and thus will not be accumulated in the same time bin to form a crosstalk peak. Referring to FIG. 22, the left side shows a histogram of the received signals of a group of light emitting units A without random delay. In each pulse period, for example, TX1, TX2, TX3, and the like, the effective echo beam signals of the group of light emitting units A and the crosstalk signals from the group of light emitting units B always occur at the same time, and the accumulated crosstalk signals are relatively strong. The right side shows a histogram of the received signals of a group of light emitting units A with random delay. In each pulse period, for example, TX1, TX2, TX3, and the like, since the light emitting time of each group of light emitting units has a random delay, the effective echo beam signals of the group of light emitting units A can be effectively accumulated according to the delay. However, due to the random difference between the light emitting time of the group of light emitting units A and the group of light emitting units B, the time bins in which the crosstalk signals from the group of light emitting units B are recorded in different pulse periods are not exactly the same, and thus the crosstalk signals cannot be accumulated. Even if the light beams emitted by the light emitting units have high reflectivity after being reflected by the object, a high reflection phenomenon occurs, and a significant crosstalk peak is not formed. In addition, since the number of light emitting units that are lit at the same time is reduced, the instantaneous total drive current of the emitting module can be reduced, and the design difficulty of the circuit is reduced.

[0244] Meanwhile, since the multiple light emitting units are divided into multiple groups and the emission time is staggered, the number of light emitting units that need to emit light at the same time is reduced, the required drive current is reduced, and the performance requirement of the drive circuit is also reduced accordingly. For example, in some cases, the instantaneous laser power required by a single light emitting unit is very large, such as 1000W. If the light source emits light as a whole, the instantaneous current required for driving will be very large, which is a great challenge to the drive circuit, and it may even be impossible to implement. By using parallel grouping, the instantaneous current required will be much smaller, and the difficulty of laser drive implementation will be greatly reduced. Assuming that the light emitting units are divided into four groups, the instantaneous current will be reduced to one fourth compared to the case without grouping. Reducing the instantaneous current of the laser drive also reduces the implementation difficulty of the drive circuit. In addition, by using parallel grouping, multiple groups of light emitting units emit light pulses in a staggered manner in the same light emitting period, which can further compress the length of the light emitting period on the basis of dispersing the light crosstalk count between the groups, and is conducive to improving the frame rate.

[0245] Embodiment five

[0246] The fifth embodiment of the present application provides a light emitting module, in which different light emitting unit groups 111 adopt parallel light emitting mode, and the light emitting units in the same light emitting unit group do not emit light at the same time.

[0247] The difference between the fifth embodiment and the fourth embodiment is that, in addition to the parallel light emitting between different light emitting unit groups in the same pulse period, the light emitting units in the same light emitting unit group also have random differences in the time of emitting each light pulse, so that the light emitting time of each light emitting unit is randomly staggered, the crosstalk signal is dispersed as much as possible, and the occurrence of crosstalk is reduced to the greatest extent. The scheme of the present embodiment further reduces high crosstalk and further reduces instantaneous current compared with the scheme of the fourth embodiment.

[0248] In the present embodiment, the time of emitting light pulses by different light emitting units in the same light emitting unit group in a pulse period is at least partially different or different from each other, and the light emitting time of the light emitting unit that first emits a light pulse in different light emitting unit groups in a pulse period is different from each other.

[0249] Optionally, in a pulse period, the emission time of the light emitting unit that first emits in one light emitting unit group and the emission time of the light emitting unit that first emits in other light emitting unit groups have a random delay. Overall, it is equivalent to no grouping, and all light emitting units correspond to emit each pulse with random delay between each other, but the light emitting units start to randomly stagger at different times.

[0250] Referring to FIG. 23, a frame period can include a plurality of light emitting periods, such as a first light emitting period, a second light emitting period, …, an Nth light emitting period. A light emitting period includes a plurality of pulse periods, such as T1, T2, …, Tnum. Each light emitting period can also include a charging period Tchg. The light emitting module includes a plurality of light emitting unit groups, such as light emitting unit group 1, light emitting unit group 2, …, light emitting unit group M. For each light emitting unit group, the light emitting units included in the light emitting unit group emit light once in each pulse period, and the light emitting time of each light emitting unit has a random delay compared to the start time of each pulse period. The light emitting of a light emitting period is completed, and a sub-region in the field of view is scanned. After the light emitting of a light emitting period is completed, the light emitting of the next light emitting period can be started, and by changing the angle of the light beam emitted by the light source module, the next sub-region can be scanned in the next light emitting period, until all light emitting periods in a frame period are completed, and the entire field of view is scanned.

[0251] In this embodiment, the grouping and arrangement of the light emitting units in the emission module can refer to the related description in Embodiments I and II above, similar to that shown in FIGS. 5, 6, 7, and 8, the light emitting units can be arranged in alignment or not in alignment, and the light emitting units in a group of light emitting units can be in continuous contact or not in continuous contact. The trigger circuit can also refer to the description in Embodiments I or II, similar to that shown in FIGS. 7 and 8, FIGS. 18 and 19, the trigger circuit can include a plurality of trigger sub-circuits, for example, a first trigger sub-circuit trig1 is connected to the first light emitting unit in the group of light emitting units 1-M, a second trigger sub-circuit trig2 is connected to the second light emitting unit in the group of light emitting units 1-M, and an Nth trigger sub-circuit trigN is connected to the Nth light emitting unit in the group of light emitting units 1-M.

[0252] By controlling each light emitting unit in each group of light emitting units to emit light randomly, due to the random difference in the light emitting time of each light emitting unit, the crosstalk signals generated by adjacent light emitting units are dispersed as much as possible in different pulse periods and cannot be accumulated. Even if the light beams emitted by the light emitting units have a high reflectivity after being reflected by an object, a high reflection phenomenon exists, and no obvious crosstalk peak is formed. In addition, due to the further reduction in the number of light emitting units that are lit at the same time, the instantaneous total drive current of the emission module can be further reduced, and the design difficulty of the circuit is reduced.

[0253] Embodiment VI

[0254] Based on the same inventive concept, the present embodiment VI provides a laser radar, the structure of which is shown in FIG. 24, which includes an emission module 1 and a receiving module 2, the receiving module 2 includes a plurality of sensing sub-zones, and the plurality of sensing sub-zones are one-to-one corresponding to the plurality of light emitting units of the emission module 1; the sensing sub-zone is configured to receive the light signal returned from the corresponding sub-region scanned by the corresponding group of light emitting units;

[0255] The emission module 1 can adopt the emission module provided in each of the above embodiments.

[0256] The control device is also used to control the sensing sub-zone to be turned on during the light emitting period of the corresponding group of light emitting units. The control device can be an independent device arranged in the emission module, or two or more separate devices arranged in the emission module and the receiving module, respectively.

[0257] The above laser radar, the control device includes a transmission drive circuit, a sensing drive circuit, and a main controller, the transmission drive circuit is configured to drive the light emitting unit to emit a light beam, the sensing drive circuit is configured to drive the sensing sub-zone to be turned on and work, and the main controller is configured to control the light emitting sequence of the light emitting unit and the working sequence of the sensing sub-zone; wherein,

[0258] The emission driving circuit, the sensing driving circuit and the main controller are integrated on the same chip; or,

[0259] The emission driving circuit, the sensing driving circuit and the main controller are integrated on the same chip; or,

[0260] The emission driving circuit and the sensing driving circuit are integrated on the same chip; or,

[0261] The emission driving circuit and the main controller are integrated on the same chip; or,

[0262] The sensing driving circuit and the main controller are integrated on the same chip.

[0263] Embodiment four of the present application provides an electronic device comprising the above laser radar.

[0264] Embodiment seven

[0265] Embodiment seven of the present application provides a light scanning implementation method, comprising: controlling a plurality of light emitting unit groups included in a light source module to respectively emit light beams in a light emitting period to irradiate a sub-region in a field of view range, wherein the light emitting time of at least two light emitting unit groups in a light emitting period is different; and controlling the light beams emitted by the same light emitting unit group in different light emitting periods to respectively irradiate different sub-regions in the field of view range; wherein each light emitting unit group includes at least one light emitting unit.

[0266] Optionally, in a light emitting period, controlling a plurality of light emitting unit groups included in a light source module to respectively emit light beams can control a plurality of light emitting unit groups included in a light source module to emit light beams in parallel, or control a plurality of light emitting unit groups included in a light source module to emit light beams in series. Wherein:

[0267] The case of emitting light beams in parallel includes: controlling each light emitting unit group in the light source module to emit light in parallel in a light emitting period, and the light emitting time of different light emitting unit groups is not completely staggered, wherein the light emitting time of each light emitting unit group is delayed by a random time length relative to the start time of the light emitting period.

[0268] The above control of each light emitting unit group in the light source module to emit light in parallel in a light emitting period includes: controlling the light emitting unit group to emit a plurality of light pulses according to a preset time sequence in a light emitting period; wherein a light emitting period includes a plurality of pulse periods corresponding to a plurality of light pulses, and the light emitting unit group emits a light pulse in a pulse period, and the light emitting time of each light emitting unit group in a pulse period is randomly delayed by a random time length relative to the start time of the pulse period, and the time of emitting light pulses by at least two light emitting unit groups in a pulse period is different.

[0269] Optionally, in a light emitting period, the time difference between the time instants when the at least two light emitting unit groups respectively emit light pulses in a pulse period is formed, and the time length of the time difference corresponding to different pulse periods is randomly set.

[0270] Optionally, in a light emitting period, the time difference between the time instants when the at least two light emitting unit groups respectively emit light pulses in a pulse period is formed, and the time length of the time difference corresponding to different pulse periods is randomly set.

[0271] Optionally, the time instants when the multiple light emitting unit groups emit light pulses in a light emitting period are determined in different manners, including but not limited to the following listed manners:

[0272] Manner one: according to a random number sequence corresponding to a pulse period, the random time length by which the time instant when each light emitting unit group emits a light pulse in the pulse period is delayed relative to the starting time instant of the pulse period is determined, and the time instant when each light emitting unit group emits a light pulse in the pulse period is determined according to the random time length; wherein one random number sequence is generated corresponding to one pulse period, each random number sequence includes multiple random numbers corresponding to the multiple light emitting unit groups one by one, and the multiple random numbers can be respectively used as the random time length by which the time instant when each light emitting unit group emits a light pulse in the pulse period is delayed relative to the starting time instant of the pulse period, the value range of the random number is greater than or equal to zero and less than or equal to a preset maximum random time length.

[0273] Manner two: according to a random number sequence corresponding to a light emitting unit group, the random time length by which the time instant when the light emitting unit group emits a light pulse in each pulse period is delayed relative to the starting time instant of the pulse period is determined, and the time instant when the light emitting unit group emits a light pulse in each pulse period is determined according to the random time length; wherein one random number sequence is generated corresponding to one light emitting unit group, each random number sequence includes multiple random numbers corresponding to the multiple pulse periods of the light emitting unit group one by one, and the multiple random numbers can be respectively used as the random time length by which the time instant when the light emitting unit group emits a light pulse in each pulse period is delayed relative to the starting time instant of the pulse period, the value range of the random number is greater than or equal to zero and less than or equal to a preset maximum random time length.

[0274] The case of serially emitting light beams includes: in a light emitting period, each light emitting unit group in the light source module is controlled to serially emit light in a preset light emitting order, and the serial light emission means that the light emitting time of different light emitting unit groups is completely staggered. The above-mentioned control of each light emitting unit group in the light source module to serially emit light in a preset light emitting order in a light emitting period includes:

[0275] The light emitting period is divided into a plurality of sub-light emitting periods, and a light emitting unit group emits light in a corresponding sub-light emitting period; the light emitting unit group is controlled to emit a plurality of light pulses in a preset time sequence in a sub-light emitting period; wherein, a sub-light emitting period includes a plurality of pulse periods corresponding to the plurality of light pulses, and at least one light emitting unit in the light emitting unit group emits a light pulse in a pulse period.

[0276] Optionally, all light emitting units in a light emitting unit group emit light simultaneously in a pulse period, and the light emitting time of the light emitting unit group in a pulse period is delayed by a random time length relative to the starting time of the pulse period. In this case, the time at which the plurality of light emitting unit groups emit light pulses in the respective corresponding sub-light emitting periods can be determined in the following manner:

[0277] According to the random number sequence generated corresponding to the light emitting unit group, the random time length by which the time at which the light emitting unit group emits a light pulse in each pulse period is delayed relative to the starting time of the pulse period is determined, and the time at which the light emitting unit group emits a light pulse in each pulse period is determined according to the random time length; wherein, a random number sequence is generated corresponding to a light emitting unit group, each random number sequence includes a plurality of random numbers corresponding one-to-one to a plurality of pulse periods of the light emitting unit group, and the plurality of random numbers can be respectively used as the random time length by which the time at which the light emitting unit emits a light pulse in each of the plurality of pulse periods is delayed relative to the starting time of the pulse period, and the value range of the random number is greater than or equal to zero and less than or equal to a preset maximum random time length.

[0278] Optionally, the light emitting units in a light emitting unit group do not emit light completely simultaneously in a pulse period, and the light emitting time of each light emitting unit is delayed by a random time length relative to the starting time of the pulse period, wherein the time at which at least two light emitting units emit light pulses in a pulse period is different.

[0279] Optionally, in a sub-light emitting period, the time at which at least two light emitting units emit light pulses in a pulse period has a time difference, and the time length of the time difference corresponding to the at least two light emitting units in different pulse periods is randomly set.

[0280] Optionally, in a sub-light emitting period, the time at which a plurality of light emitting units of the same light emitting unit group emit light pulses in a pulse period has a corresponding time difference, and the time length of the time difference corresponding to the plurality of light emitting units in different pulse periods is randomly set.

[0281] In this case, the time at which the plurality of light emitting units of a light emitting unit group emit light pulses in the corresponding sub-light emitting period can be determined in the following manner:

[0282] According to the random number sequence generated corresponding to the pulse period, a random time length is determined, which is a delay of the time when each light emitting unit in the current light emitting unit group emits a light pulse in the pulse period relative to the starting time of the pulse period, and the time when each light emitting unit emits a light pulse in the pulse period is determined according to the random time length; wherein one random number sequence is generated corresponding to one pulse period, each random number sequence includes a plurality of random numbers corresponding to a plurality of light emitting units one by one, and the plurality of random numbers can be respectively used as a random time length of a delay of the time when each light emitting unit emits a light pulse in the pulse period relative to the starting time of the pulse period, and the value range of the random number is greater than or equal to zero and less than or equal to a preset maximum random time length.

[0283] In this case, the time when a plurality of light emitting unit groups emit light pulses in a light emitting period can also be determined in the following manner:

[0284] According to the random number sequence generated corresponding to the pulse period, a random time length is determined, which is a delay of the time when each light emitting unit in the current light emitting unit group emits a light pulse in the pulse period relative to the starting time of the pulse period, and the time when each light emitting unit emits a light pulse in the pulse period is determined according to the random time length; wherein one random number sequence is generated corresponding to one pulse period, each random number sequence includes a plurality of random numbers corresponding to a plurality of light emitting units one by one, and the plurality of random numbers can be respectively used as a random time length of a delay of the time when each light emitting unit emits a light pulse in the pulse period relative to the starting time of the pulse period, and the value range of the random number is greater than or equal to zero and less than or equal to a preset maximum random time length.

[0285] In some optional embodiments, the light source module includes a light source 110 and a light deflection device 120, and the light source 110 includes a plurality of light emitting unit groups 111; correspondingly, in a light emitting period, the plurality of light emitting unit groups included in the light source module respectively emit light beams to irradiate a sub-region in the field of view range, including: controlling the plurality of light emitting unit groups in the light source to respectively emit light beams in a light emitting period, and controlling the light deflection device to deflect the light beams emitted by the light emitting unit groups, wherein the light beams are deflected to one of a plurality of final deflection angles in a light emitting period, and correspondingly scan a sub-region in the field of view range.

[0286] Correspondingly, the light beams emitted by the same light emitting unit group in different light emitting periods respectively irradiate different sub-regions in the field of view range, including: controlling the light deflection device to deflect the light beams emitted by the same light emitting unit group to different deflection angles in different light emitting periods, so that the light beams emitted by the same light emitting unit group in different light emitting periods respectively irradiate different sub-regions in the field of view range.

[0287] In some optional embodiments, the light source module comprises the light source 110, the light source 110 comprises a plurality of light emitting unit groups 111; correspondingly, in a light emitting period, the plurality of light emitting unit groups comprised in the light source module respectively emit light beams to irradiate a sub-region in the field of view range, comprising:

[0288] In a light emitting period, the light emitting unit groups in the light source respectively emit light beams with the same exit angle to correspondingly scan a sub-region in the field of view range; wherein the exit angle of the light beam is determined by setting the phase difference of the light beams respectively emitted by the light emitting units in a light emitting group;

[0289] The light beams respectively emitted by the same light emitting unit group in different light emitting periods irradiate different sub-regions in the field of view range, comprising: the light beams with different exit angles respectively emitted by the same light emitting unit group in different light emitting periods, and the light beam with one exit angle corresponds to irradiate a sub-region in the field of view range.

[0290] As to the method in the above-mentioned embodiments, the related content has been described in detail in the above-mentioned embodiments of the emitting module and the laser radar, and will not be described in detail here.

[0291] Unless specifically stated otherwise, terms such as processing, computing, calculating, determining, displaying, and the like, can refer to an action and / or process of one or more processing or computing systems, or similar devices, that manipulate and / or transform data represented as physical (e.g., electronic) quantities within the processing system's registers and / or memories into other data similarly represented as physical quantities within the processing system's memories, registers or other such information storage, transmission or display devices. Information and signals can be represented using any of a variety of different technologies and techniques. For example, data, instructions, commands, information, signals, bits, symbols, and chips that can be referenced throughout the above description can be represented by voltages, currents, electromagnetic waves, magnetic fields or particles, optical fields or particles, or any combination thereof.

[0292] It should be understood that a specific order or hierarchy of steps in the processes disclosed is an example that can be modified as appropriate. In some optional embodiments, the specific order or hierarchy of steps in the processes can be re-arranged while remaining within the scope of the present disclosure. The accompanying method claims present elements of the various steps in a sample order, and are not meant to be limited to the specific order or hierarchy presented.

[0293] In the detailed description above, various features are grouped together in single embodiments for the purpose of streamlining the disclosure. This method of disclosure should not be interpreted as reflecting a necessity to disclose features in any single patent. Rather, according to the inventive concept, features can be combined in any single patent in one or more claims. Thus, the disclosure hereof is to be understood as being illustrative of the inventive concept and not a limitation thereof. For example, not every aspect of the creative process is described with every embodiment. It is contemplated that the creative process is a dynamic process that will necessitate implementation of new techniques by those skilled in the art. Those skilled in the art will appreciate that, in the development of this creative process, numerous implementation-specific decisions can be made. These implementation-specific decisions can vary from one implementation to another, and from one environment to another. Those skilled in the art will appreciate that such a development effort might be complex and time-consuming, but would nevertheless result in innovations that embody the inventive concept.

[0294] Those skilled in the art will further appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the embodiments disclosed herein can be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the overall system. Skilled artisans can implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present disclosure.

[0295] The steps of a method or algorithm described in connection with the embodiments disclosed herein can be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module can reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the processor such that the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium can be integral to the processor. The processor and the storage medium can reside in an ASIC. The ASIC can reside in a user terminal. In the alternative, the processor and the storage medium can reside as discrete components in a user terminal.

[0296] For a software implementation, the techniques described herein can be implemented with modules (e.g., procedures, functions, and so on) that perform the functions described herein. The software codes can be stored in memory units and executed by processors. The memory unit can be implemented within the processor or external to the processor, in which case it can be communicatively coupled to the processor via various means as is well known in the art.

[0297] The above description includes examples of one or more embodiments. Of course, not all possible combinations of components or methods described above can be claimed as an embodiment, but one of ordinary skill in the art will recognize that many such further combinations and permutations of the embodiments described are possible. Accordingly, the described embodiments are intended to embrace all such alterations, modifications and variations which fall within the scope of the appended claims. Additionally, where the description or the claims recite "a", "an" or a "the" one or more of elements, this does not exclude multiple numbers for this element. Further, where the description or the claims recite that an element can or can not be used, this indicates that the element is optional. Additionally, the use of "a" or "an" or "the" preceding an element does not exclude the presence of more than one of the element. Further, the description or the claims can include a plurality of means plus function components consisting of a specific combination of means. The method or process of claims can be implemented by one or more processors or one or more digital signal processors.

Claims

1. An optical scanning implementation method characterized by, The application relates to a light source module and a light source module control method. In a light-emitting period, a plurality of light-emitting unit groups included in the light source module are controlled to emit light beams respectively to irradiate a sub-region in a field of view range, wherein the light-emitting time of at least two light-emitting unit groups in the light-emitting period is different; and the light beams emitted by the same light-emitting unit group in different light-emitting periods irradiate different sub-regions in the field of view range respectively. Each light-emitting unit group includes at least one light-emitting unit.

2. The method of claim 1, wherein, The control of the plurality of light-emitting unit groups in the light-emitting period includes: In a light-emitting period, the light-emitting unit groups in the light source module are controlled to emit light in parallel, wherein the light-emitting time of different light-emitting unit groups is not completely staggered, and the light-emitting time of each light-emitting unit group is delayed by a random time length relative to the starting time of the light-emitting period; or In a light-emitting period, the light-emitting unit groups in the light source module are controlled to emit light in a preset light-emitting order, wherein the light-emitting time of different light-emitting unit groups is completely staggered.

3. The method of claim 2, wherein, The control of the light-emitting unit groups in the light-emitting period includes: The light-emitting unit groups are controlled to emit a plurality of light pulses in a preset time sequence in a light-emitting period; wherein one light-emitting period includes a plurality of pulse periods corresponding to the plurality of light pulses, and the light-emitting unit groups emit one light pulse in one pulse period, and the light-emitting time of the light-emitting unit groups in a pulse period is delayed by a random time length relative to the starting time of the pulse period, and the light-emitting time of at least two light-emitting unit groups in one pulse period is different.

4. The method of claim 3, wherein, The light-emitting time of the plurality of light-emitting unit groups in a light-emitting period is determined in the following manner: According to a random number sequence generated corresponding to the pulse period, the random time length by which the light-emitting time of each light-emitting unit group in the pulse period is delayed relative to the starting time of the pulse period is determined, and the light-emitting time of each light-emitting unit group in the pulse period is determined according to the random time length; wherein one random number sequence is generated corresponding to one pulse period, each random number sequence includes a plurality of random numbers corresponding to the plurality of light-emitting unit groups one by one, the plurality of random numbers can be used as the random time length by which the light-emitting time of each light-emitting unit group in the pulse period is delayed relative to the starting time of the pulse period, and the value range of the random number is greater than or equal to zero and less than or equal to a preset maximum random time length; or ​ According to the random number sequence generated corresponding to the light emitting unit group, a random time length is determined, by which the time at which the light emitting unit group emits a light pulse in each pulse period is delayed from the start time of the pulse period, and the time at which the light emitting unit group emits a light pulse in each pulse period is determined according to the random time length; wherein one random number sequence is generated corresponding to one light emitting unit group, each random number sequence includes a plurality of random numbers corresponding to a plurality of pulse periods of the light emitting unit group, and the plurality of random numbers can be respectively used as a random time length by which the time at which the light emitting unit group emits a light pulse in a plurality of pulse periods is delayed from the start time of each corresponding pulse period, and the value range of the random number is greater than or equal to zero and less than or equal to a preset maximum random time length.

5. The method of claim 3, wherein, In a light emitting period, the time at which at least two light emitting unit groups emit a light pulse in a pulse period has a time difference, and the time length of the time difference corresponding to different pulse periods of the at least two light emitting unit groups is randomly set.

6. The method of claim 3, wherein, In a light emitting period, the time at which a plurality of light emitting unit groups included in the light source module emit a light pulse in a pulse period has a corresponding time difference, and the time length of the time difference corresponding to different pulse periods of the plurality of light emitting unit groups is randomly set.

7. The method of claim 1, wherein, The control of the light emitting unit groups in the light source module to emit light in a preset light emitting order in a light emitting period includes: dividing a light emitting period into a plurality of sub-light emitting periods, and a light emitting unit group emits light in a corresponding sub-light emitting period; controlling the light emitting unit group to emit a plurality of light pulses in a sub-light emitting period according to a preset time sequence; wherein a sub-light emitting period includes a plurality of pulse periods corresponding to a plurality of light pulses, and at least one light emitting unit in the light emitting unit group emits a light pulse in a pulse period.

8. The method of claim 7, wherein, All light emitting units in a light emitting unit group emit light simultaneously in a pulse period, and the light emitting time of the light emitting unit group in a pulse period is delayed from the start time of the pulse period by a random time length.

9. The method of claim 8, wherein, The time at which a plurality of light emitting unit groups emit a light pulse in a corresponding sub-light emitting period is determined in the following manner: According to the random number sequence generated corresponding to the light emitting unit group, a random time length is determined, by which the time at which the light emitting unit group emits a light pulse in each pulse period is delayed from the start time of the pulse period, and the time at which the light emitting unit group emits a light pulse in each pulse period is determined according to the random time length; wherein one random number sequence is generated corresponding to one light emitting unit group, each random number sequence includes a plurality of random numbers corresponding to a plurality of pulse periods of the light emitting unit group, and the plurality of random numbers can be respectively used as a random time length by which the time at which the light emitting unit group emits a light pulse in a plurality of pulse periods is delayed from the start time of each corresponding pulse period, and the value range of the random number is greater than or equal to zero and less than or equal to a preset maximum random time length.

10. The method of claim 7, wherein, The light emitting units in one light emitting unit group emit light at different time points in a pulse period, and the time point of each light emitting unit is delayed from the start time of the pulse period by a random time length.

11. The method of claim 10, wherein, In a sub-light emitting period, the time points of the light pulses emitted by the at least two light emitting units in a pulse period are different, and the time length of the time difference corresponding to different pulse periods is randomly set.

12. The method of claim 10, wherein, In a sub-light emitting period, the time points of the light pulses emitted by the multiple light emitting units in one light emitting unit group in a pulse period are different, and the time length of the time difference corresponding to different pulse periods is randomly set.

13. The method of claim 10, wherein, The time points of the light pulses emitted by the multiple light emitting units in one light emitting unit group in a corresponding sub-light emitting period are determined as follows: According to a random number sequence generated corresponding to a pulse period, the random time length by which the time point of the light pulse emitted by each light emitting unit in the light emitting unit group currently emitting light in the pulse period is delayed from the start time of the pulse period is determined, and the time point of the light pulse emitted by each light emitting unit in the pulse period is determined according to the random time length; wherein one random number sequence is generated corresponding to one pulse period, each random number sequence includes multiple random numbers corresponding to the multiple light emitting units one by one, and the multiple random numbers can be respectively used as the random time length by which the time point of the light pulse emitted by each light emitting unit in the pulse period is delayed from the start time of the pulse period, and the value range of the random number is the random time length adjustment interval; or According to a random number sequence generated corresponding to a pulse period, the random time length by which the time point of the light pulse emitted by each light emitting unit in the light emitting unit group currently emitting light in the pulse period is delayed from the start time of the pulse period is determined, and the time point of the light pulse emitted by each light emitting unit in the pulse period is determined according to the random time length; wherein one random number sequence is generated corresponding to one pulse period, each random number sequence includes multiple random numbers corresponding to the multiple light emitting units one by one, and the multiple random numbers can be respectively used as the random time length by which the time point of the light pulse emitted by each light emitting unit in the pulse period is delayed from the start time of the pulse period, and the value range of the random number is the random time length adjustment interval; or 14. The method of claim 1, wherein, The light source module includes a light source and a light deflection device, and the light source includes a plurality of light emitting unit groups; In a light emitting period, the plurality of light emitting unit groups included in the light source module emit light beams respectively to irradiate a sub-region in the field of view range, which includes: In a light emitting period, the plurality of light emitting unit groups included in the light source module emit light beams respectively to irradiate a sub-region in the field of view range, which includes: In a light emitting period, the plurality of light emitting unit groups included in the light source module emit light beams respectively to irradiate a sub-region in the field of view range, which includes: The light deflection device is controlled to deflect the light beams to a plurality of different deflection angles in different light emitting periods, so that the light beams emitted by the same light emitting unit group respectively irradiate different sub-regions in the field of view range in different light emitting periods.

15. The method of claim 1, wherein, The light source module comprises a plurality of light emitting unit groups; The control of the light source module in a light emitting period comprises a plurality of light emitting unit groups respectively emitting light beams to irradiate a sub-region in the field of view range, comprising: In a light emitting period, each light emitting unit group in the light source emits light beams with the same exit angle to correspondingly scan a sub-region in the field of view range; wherein the exit angle of the light beam is determined by setting the phase difference of each light emitting unit in a light emitting group respectively emitting light beams; The control of the light source module in a light emitting period comprises a plurality of light emitting unit groups respectively emitting light beams to irradiate a sub-region in the field of view range, comprising: The control of the light source module in a light emitting period comprises a plurality of light emitting unit groups respectively emitting light beams to irradiate a sub-region in the field of view range, comprising:

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