WO2022227638A1 - 光探测装置及探测方法 - Google Patents

光探测装置及探测方法 Download PDF

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Publication number
WO2022227638A1
WO2022227638A1 PCT/CN2021/140287 CN2021140287W WO2022227638A1 WO 2022227638 A1 WO2022227638 A1 WO 2022227638A1 CN 2021140287 W CN2021140287 W CN 2021140287W WO 2022227638 A1 WO2022227638 A1 WO 2022227638A1
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WIPO (PCT)
Prior art keywords
light
signal
detection
array
optical
Prior art date
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Ceased
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PCT/CN2021/140287
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English (en)
French (fr)
Inventor
朱雪洲
杨晋
曾昭明
陶俊
向少卿
孙恺
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Hesai Technology Co Ltd
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Hesai Technology Co Ltd
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Filing date
Publication date
Application filed by Hesai Technology Co Ltd filed Critical Hesai Technology Co Ltd
Priority to MX2023012812A priority Critical patent/MX2023012812A/es
Priority to JP2023566767A priority patent/JP7736813B2/ja
Priority to KR1020237039790A priority patent/KR20240004554A/ko
Priority to EP21939097.8A priority patent/EP4332620A4/en
Priority to DE112021007595.0T priority patent/DE112021007595T5/de
Publication of WO2022227638A1 publication Critical patent/WO2022227638A1/zh
Priority to US18/496,394 priority patent/US20240061116A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4814—Constructional features, e.g. arrangements of optical elements of transmitters alone
    • G01S7/4815—Constructional features, e.g. arrangements of optical elements of transmitters alone using multiple transmitters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4816—Constructional features, e.g. arrangements of optical elements of receivers alone
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/4861—Circuits for detection, sampling, integration or read-out
    • G01S7/4863—Detector arrays, e.g. charge-transfer gates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/486—Receivers
    • G01S7/487—Extracting wanted echo signals, e.g. pulse detection
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/483—Details of pulse systems
    • G01S7/484—Transmitters

Definitions

  • the present application relates to the technical field of optical ranging, and in particular, to a light detection device and a detection method.
  • Lidar is a device that realizes external detection by emitting laser light and receiving echo signals that laser light reaches the surface of the target and returns. Therefore, the lidar will include a light emission module and a light detection module.
  • the light emission module of the lidar will include a laser array, which includes a plurality of lasers; correspondingly, the light detection module will include a photodetector array, which includes a plurality of photodetectors.
  • a detection channel is formed between at least one laser and at least one light detector, and each detection channel corresponds to a field of view (Field Of View, FOV), which may also be referred to as a field of view angle.
  • FOV Field Of View
  • the number of beams in the so-called multi-line lidar corresponds to the number of detection channels.
  • a detection channel A receives the echo signal of a detection point C obtained in the field of view of detection channel B, and this detection point C may be outside the field of view of detection channel A, which will cause detection results.
  • a C appears in a position where there is no C in a point cloud image (for example, in a point cloud image), which is called a "ghosting" phenomenon.
  • lidar applications such as autonomous driving require high-frequency and high-speed detection.
  • the present application provides a light detection device and a detection method to solve the problems of the prior art.
  • a first aspect of the present application provides an optical detection device, comprising: an optical transmitter array, including a plurality of optical transmitters; the optical transmitters are configured to output emission signals; the optical detectors an array, including a plurality of photodetectors; the photodetectors are configured to detect echo signals that are reflected after the emission signal encounters obstacles; wherein, the phototransmitter array and photodetector array constitute a plurality of a detection channel, each detection channel includes at least one light transmitter and at least one light detector; a control module; in a signal transmission process of sending an emission signal to detecting a corresponding echo signal, the control module selects a plurality of predetermined The light emitters emit light at the same time, and the fields of view of the plurality of light emitters that emit light at the same time do not overlap within the detection distance.
  • the light emitter array is a one-dimensional array or a two-dimensional array; wherein, when the light emitter array is a two-dimensional array, the ratio between its dimensions in two dimensions greater than 3, or greater than 5.
  • a plurality of activated light emitters in the light emitter array and a plurality of activated photodetectors in the photodetector array respectively form a plurality of working states. detection channels; the light emitter array includes a plurality of light emitter groups and/or the light detector array includes a plurality of light detector groups; the activated light emitters belong to different light emitter groups and /or the activated photodetectors belong to different photodetector groups respectively.
  • the individual light emitters in each light emitter group and/or the individual light detectors in each light detector group are activated in turn during multiple signal transmissions.
  • first isolation range between two light emitters in the same light emitter group; and/or, during the same signal transmission process, two adjacent light detector groups are A second isolation range is formed between the activated photodetectors.
  • each light emitter group includes a preset number of light emitters, and the plurality of light emitters of the light emitter group are integrated on at least one chip.
  • the plurality of light emitters of the light emitter group are coupled to at least one selection unit, and the selection unit selects the light emitters according to an external signal.
  • the light emitter array includes N columns of light emitters staggered from each other, each column of light emitters extends along a first direction, N>1; and/or the light detectors
  • the array includes M columns of photodetectors staggered from each other, and each column of photodetectors extends along the first direction, M>1.
  • the signal characteristics between the optical signals transmitted in the respective detection channels are not completely the same.
  • the optical detection device includes: a control module for judging whether the signal characteristic of the echo signal detected by the optical detector is the same as the signal characteristic of the emission signal of the optical transmitter belonging to the detection channel When matching, the echo signal is used for the corresponding detection channel to calculate the target distance.
  • the emission signal emitted by the optical transmitter includes one or more pulse signals; the dimensions of the signal characteristics include: wavelength, pulse width, pulse number, pulse peak value, and inter-pulse time interval One or more combinations of .
  • the signal characteristics in the direction of the pulse width dimension include: judging whether the signal characteristics of the echo signal match the signal characteristics of the transmitted signal based on the pulse width ratio among multiple pulses.
  • the signal characteristics in the direction of the signal intensity dimension include: judging whether the signal characteristics of the echo signal match the signal characteristics of the transmitted signal based on the intensity ratio among multiple pulses.
  • the wavelengths of the emitted signals of the optical transmitters in different detection channels working in the same signal transmission process are different; the front part of the photodetectors of the different working detection channels is provided with a filter an optical unit, the filter unit only allows the echo signals of the corresponding wavelengths of the detection channel to pass through.
  • control module is configured to control the optical transmitter array and the optical receiver array to continuously perform multiple detections on a detection channel during one signal transmission process to obtain a time-of-flight value, and according to the multiple detections The time-of-flight values of the second detections are compared to determine that the detection result of the channel is valid when the comparison is consistent; otherwise, the detection result is discarded.
  • the light detection device comprises a lidar.
  • a second aspect of the present application provides a method for light detection by the light detection device according to any one of the first aspects, comprising: activating a plurality of light beams in the light emitter array
  • the transmitter sends an emission signal; activates a plurality of photodetectors in the photodetector array; wherein, the activated plurality of phototransmitters and the activated plurality of photodetectors respectively form a working state a plurality of detection channels; the activated light emitters belong to different light emitter groups respectively and/or the activated light detectors belong to different light detector groups respectively.
  • a plurality of detection channels are formed between the light emitter array and the light detector array in the light detection device, and each detection channel includes at least one light emitter and at least one light emitter.
  • a photodetector in one embodiment, a detection channel may be composed of a photoemitter and a photodetector; in other embodiments, a detection channel may be composed of a photoemitter and several photodetectors ; In addition, various configurations of detection channels can also be used in the same embodiment.
  • a plurality of predetermined light emitters are selected to emit light at the same time, and the fields of view of the plurality of light emitters that emit light at the same time do not overlap within the detection distance, so that There is enough space between the detection channels working at the same time to effectively reduce the crosstalk.
  • 1 to 3 are schematic structural diagrams of lidars that may be implemented by the light detection device according to various embodiments of the present application.
  • FIG. 4A shows a schematic diagram of a front-view arrangement structure of the light emitter array according to an embodiment of the present application.
  • FIG. 4B is a left partial structural schematic diagram of FIG. 4A .
  • FIG. 4C shows a schematic structural diagram of the division of light emitter groups according to the example structure of FIG. 4A .
  • FIG. 4D is a schematic diagram showing that each light emitter group divided according to FIG. 4C emits light from multiple detection channels at a time.
  • FIG. 5A shows a schematic diagram of the principle of detection using wavelength as a signal feature in an embodiment of the present application.
  • FIG. 5B shows a schematic diagram of a waveform with a pulse width as a signal characteristic in an embodiment of the present application.
  • FIG. 5C shows a schematic diagram of a waveform characterized by a time interval between pulses in an embodiment of the present application.
  • FIG. 6 is a schematic diagram of a circuit structure of a driving circuit of an optical transmitter array according to an embodiment of the present application.
  • FIG. 7 shows a schematic diagram of waveforms of the trigger signal of the driving circuit with the number of pulses as the signal characteristic in an embodiment of the present application.
  • 8A to 8D are schematic diagrams showing waveforms of trigger signals of different groups of light emitters in an embodiment of the present application, with pulse time interval as the signal characteristic.
  • FIG. 9 shows a schematic waveform diagram of a trigger signal of a detection channel with a pulse width as a signal characteristic in an embodiment of the present application.
  • first, second, etc. are used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, the first interface and the second interface are described. Also, as used herein, the singular forms “a,” “an,” and “the” are intended to include the plural forms as well, unless the context dictates otherwise. It should be further understood that the terms “comprising”, “comprising” indicate the presence of stated features, steps, operations, elements, components, items, kinds, and/or groups, but do not exclude one or more other features, steps, operations, The existence, appearance or addition of elements, assemblies, items, categories, and/or groups.
  • the increasing degree of micro-integration based on the optical transmitter array and the photodetector array will lead to the multi-beam lidar that uses them for detection work, and it is easy to generate crosstalk between the detection channels during detection.
  • it is possible to reduce crosstalk by means of time-sharing activation due to the requirement of high-wiring (wiring more than 32) lidars, the switching time between detection channels is too short to effectively reduce crosstalk.
  • the present application can provide a light detection device, the light detection device includes an array of light emitters and an array of light receivers, the light emitters and/or light detectors that are far apart in the array can be selected and activated at the same time, which can effectively reduce Detects crosstalk between channels.
  • the light detection device includes an array of light emitters and an array of light receivers, the light emitters and/or light detectors that are far apart in the array can be selected and activated at the same time, which can effectively reduce Detects crosstalk between channels.
  • the light detection device may be implemented as a lidar.
  • the lidar may be, for example, a mechanical lidar with a rotating mechanism. Or, it could be a lidar that doesn't include a turning mechanism.
  • FIG. 1 to FIG. 3 schematic structural diagrams of lidars that may be implemented by the light detection device in various embodiments of the present application are listed.
  • FIG. 1 a schematic structural diagram of a lidar 10 in an embodiment is shown.
  • the lidar 10 includes a transmission module 11 and a light detection module 12 .
  • the transmitting module 11 includes an optical transmitter array 111 , and the optical transmitter array 111 includes a plurality of optical transmitters 1111 .
  • the detection module 12 includes a photodetector array 121 , and the photodetector array 121 includes a plurality of photodetectors 1211 .
  • the light emitting module 11 may further include a drive circuit for the light emitter array 111; the light detection module 12 may further include a circuit (such as an analog-to-digital converter, etc.) for processing echo signals, here Since it is only necessary to show the signal transmission process of the transmission signal and the echo signal, it is not shown and described in the drawings.
  • each optical transmitter 1111 outputs a transmission signal, which is emitted from the laser radar 10 through the transmitting lens 112 (eg, shaping/collimating), and when it encounters an obstacle A, it is reflected to form an echo signal, and the echo signal enters the laser radar. 10 and detected by each photodetector 1211 in the photodetector array 121 after passing through the receiving lens 122 (eg, shaping/converging). It can be understood that the figure schematically shows that an optical transmitter 1111 and a photodetector 1211 form a detection channel, that is, the echo signal formed by the reflection of the emission signal of an optical transmitter is reflected by a photodetector 1211.
  • N detection channels can be formed correspondingly, and each detection channel can correspond to a different field of view.
  • the fields of view between the detection channels may or may not overlap.
  • the number of light emitters 1111 and light detectors 1211 that make up a detection channel is not fixed, and a detection channel may be formed between at least one light emitter 1111 and at least one light detector 1211 .
  • the detection channel is in a working state, so that the detection of the obstacle A can be completed.
  • each light emitter 1111 may be a laser, such as Vertical Cavity Surface Emitting Lasers (VCSELs), Edge Emitting Lasers (EELs), or the like.
  • each photodetector 1211 may be implemented by, for example, an avalanche photodiode (Avalanche Photo Diode, APD) or a silicon photomultiplier (Silicon PhotoMultiplier, SiPM).
  • the laser can be driven to emit light by applying a driving current to the laser; the light can be activated by applying a bias voltage (V bias ) to the photodetector 1211 realized by an avalanche photodiode (Avalanche Photo Diode, APD) or a silicon photomultiplier tube.
  • V bias bias voltage
  • optical path drawn in FIG. 1 is only a schematic representation, and does not actually limit the optical path for transmitting signals and the optical path structure for echo signal transmission inside the light detection device.
  • FIG. 2 a schematic structural diagram of a laser radar in another embodiment of the present application is shown.
  • Figure 2 shows part of the internal structure of the lidar in the lateral plane from a top view.
  • the lateral plane may be a plane perpendicular to the height direction of the light detection device, which may be, for example, a horizontal plane or other planes.
  • the lidar includes: a window 21 , a light transmitting end 22 , a light detecting end 23 , a rotating member 24 , a redirecting member 25 , a transmitting lens 26 , a receiving lens 27 , and the like.
  • the lidar can be, for example, a forward lidar, which is set up as shown in the figure, with the viewing window 21 facing forward for detection.
  • the light transmitting end 22 includes a light transmitter array 221, wherein the light transmitters are used for outputting transmission signals; the light receiving end includes a photodetector array 231, wherein the light detectors are used for detecting echo signals of the transmit signals.
  • the transmitting signal of the light transmitting end 22 will pass through the window 21 when it is sent and the echo signal is received.
  • a flat viewing window 21 may be installed at the viewing window 21 .
  • the window 21 can also be a curved structure.
  • the emitting lens 26 may be disposed at the front of the light emitting end 22 for collimating the emission signal of the light emitting end 22 for transmission.
  • the emission lens 26 may be a lens group, or a plano-convex lens equivalent to the optical effect of the lens group, the convex surface of which faces the light emission end 22 .
  • the receiving lens 27 may be disposed at the front of the light detection end 23 for converging the passing echo signals to the light detection end 23 .
  • the receiving lens 27 may be a lens group, or a plano-convex lens equivalent to the optical effect of the lens group, the plane of which faces the light detection end 23 .
  • the rotating member 24, which is controlled and continuously rotated, is shown in the example of FIG. 2 as a one-dimensional rotation in the transverse plane (schematically in the counterclockwise direction indicated by the arrow in the figure), so that the horizontal view can be realized. Scanning of the field (relative to the vertical field of view). It can be understood that although the above examples are shown as the vertical field of view scanning that is consistent with the height direction of the light detection device by the light emitters arranged in the column direction, the horizontal field of view is realized by the one-dimensional rotation of the rotating member 24 laterally. Scan, but not limited to. In other specific examples, the placement angle of the light detection device can also be changed, for example, it is rotated by 90 degrees compared with that in FIG. 2, so as to realize vertical field of view scanning, for example, by one-dimensional rotation of the rotating member 24. ” becomes a “row” of light emitters for horizontal field-of-view scanning.
  • the rotating member 24 can be sleeved outside the rotating shaft of the motor, so as to rotate along with the rotating shaft when the motor drives the rotating shaft to rotate.
  • the rotating member 24 includes at least one reflecting surface used by the optical path of the transmitted signal and the optical path of the echo signal. When there is only one reflective surface, the optical path of the transmitted signal and the optical path of the echo signal can share the reflective surface; and when there are multiple reflective surfaces, the optical path of the transmitted signal and the optical path of the echo signal can also share the rotating member
  • the same reflective surface of 24, or different reflective surfaces of the rotating member 24 are used for the transmitting light path and the receiving light path. In the example of FIG.
  • the rotating member 24 is exemplarily shown as a rectangular body, and the two opposite vertical sides 241 and 242 thereof may be reflective surfaces.
  • a reflective surface 241 deflects the emission signal and hits the window 21, and then the emission signal passes through the window 21 and is sent to the environment outside the light detection device, Detect; if the transmitted signal encounters an obstacle to form an echo signal, the echo signal will reach the reflection surface 241 through the window 21, and after being deflected by the reflection surface 241, it will reach the photodetector along the optical path of the echo signal.
  • the redirecting member 25 is located in the optical path of the transmitted signal and the optical path of the echo signal, is configured to output the transmitted signal to the rotating member 24, and is formed with a passage portion through which the echo signal passes.
  • the redirection means that the direction of the input optical signal can be changed by processing the optical signal through optical reflection, refraction, transmission, etc., and the transmission direction of the output optical signal can be re-determined.
  • the redirecting member 25 can be realized by a reflecting mirror, which can have a reflecting surface 251 .
  • the reflecting surface 251 is used to reflect the transmitting signal sent by the light transmitting end 22 to the rotating member 24, and when the rotating member 24 is located at the position shown in FIG. 2, the reflecting surface 251 may be The transmission signal is received, deflected to the window 21, and then emitted to the outside.
  • the passing parts are shown as gaps 28 located on both sides of the redirecting member 25 , and the gaps 28 may be formed between the redirecting member 25 and the inner wall of the housing of the light detection device or with the gaps provided in the housing. between other parts (such as brackets, etc.).
  • the echo signal in the optical path of the echo signal, the echo signal is reflected by a reflective surface 1 of the rotating member 24 and transmitted to the redirecting member 25 , passing through the gap 28 beside the redirecting member 25 to pass through. Received by the light detection terminal 23 .
  • both the transmitted signal and the echo signal will pass through the optical path between the window 21 and the rotating member 24 , that is, the optical path of the transmitted signal and the optical path of the echo signal are between the window 21 and the rotating member 24 .
  • the overlapping may mean that the optical paths are coaxial, that is, the two optical path segments have overlapping optical axes, as indicated by M in the figure. It can be understood that both the transmitted signal and the echo signal will pass through the overlapping optical path in the optical detection device, and such a coaxial optical path structure can avoid the paraxial optical path (the optical path of the transmitted signal and the optical path of the echo signal do not overlap at all) structure. The problem of close blind spot. Further, under the reflection effect of the reflective surface 251 of the redirecting member 25, the optical path of the transmitted signal and the optical path of the echo signal also overlap (coaxially) in the optical path section with the optical axis N.
  • the rotating member 24 can rotate continuously to transmit transmitted signals and receive echo signals at different times, and can also rotate reciprocally to transmit transmitted signals and receive echo signals at different times.
  • the rotation speed of the rotating member 24, the number of reflective surfaces, and the light-emitting switching speed of the adjacent light emitters will affect the frame rate of the lidar point cloud detection, and various factors need to be coordinated to achieve the preset frame rate. detection.
  • the detection frame rate is fixed, if the number of reflective surfaces is larger, the required rotation speed can be smaller.
  • the rotational speed of the rotating member 24 and the number of reflecting surfaces can be set according to actual detection requirements.
  • the number of reflective surfaces is also related to the structure of the rotating member 24 and can be at least two, such as 2, 3, 4 or more.
  • the rotating member 24 may be a prism.
  • the cross-section of the rotating member 24 can be axisymmetric or center-symmetric, so as to achieve uniform time optical signal transmission and reception.
  • the two opposite surfaces thereof can be reflective surfaces.
  • the rotating member 24 is a prism with a square cross section, and all four sides thereof can be reflective surfaces.
  • FIG. 3 a schematic structural diagram of the shape change of the rotating member in FIG. 2 is shown.
  • the rotating member 34 shown is a prism with an equilateral triangular cross-section, and all three sides thereof can be reflecting surfaces. There are sides that are not used for optical signal transmission. It should be noted that, in other examples, the rotating member may also be implemented as a prism with a more polygonal cross-section, which is not limited to the above examples.
  • FIG. 4A a schematic diagram of the front-view arrangement structure of the light emitter array in an embodiment of the present application is shown.
  • the light emitter array 41 is provided on a circuit board 42 (PCB).
  • the light emitter array 41 may include N columns of light emitters staggered from each other, and each column of light emitters extends along the first direction to form a scan of the field of view in the first direction, N>1.
  • the first directional field of view may be a vertical field of view of the light detection device.
  • the fields of view of adjacent light emitters in a column may not overlap with each other.
  • each light emitter corresponds to a vertical field of view
  • the combination of the vertical fields of view of each light emitter in a column corresponds to the vertical field of view of the light emitter column (light emission
  • the field of view of the device row can be obtained in the same way)
  • the combination of the vertical field of view of each light emitter column corresponds to the vertical field of view of the light detection device.
  • the number of light emitters is determined by the vertical field of view of the light detector and the vertical field of view of each light emitter.
  • FIG. 4B is a left partial structural schematic diagram of FIG. 4A .
  • the column of light emitters on the left and the adjacent columns of light emitters on the right are not aligned in the column direction, forming the offset.
  • the first light emitter b1 in the light emitter column on the right is slightly lower than a1, but higher than the second light emitter a2 on the left.
  • the vertical field of view of the lidar is +30° ⁇ -30° (the horizontal direction is 0, the upward tilt is a positive value, and the downward tilt is a negative value), and the vertical angular resolution of the lidar is 0.2°, a1
  • the emitted light is shaped by the lens (group) and then emitted to -30°, that is, a1 corresponds to a vertical field of view of -30°; b1 corresponds to a vertical field of view of -29.8°; a2 corresponds to a vertical field of view of -29.6°.
  • the absolute values of the vertical field angles of a1, b1, and a2 are respectively 30°>29.8°>29.6°.
  • the so-called staggering can also be understood as the non-overlapping of at least a part of the field of view of each laser in the first direction (such as the vertical direction).
  • FIG. 4B It can be seen from FIG. 4B that, viewed from the side, b1 fills the gap between a1 and a2 in the column direction, so that the light emitters in the column direction are distributed more densely, thereby improving the vertical resolution of the light detection device.
  • the vertical fields of view of all light emitters in the column direction hardly overlap, and after splicing, the vertical field of view of the light detection device is formed.
  • a cloth can be thought of as a one-dimensional arrangement in the vertical direction (1D solid-state).
  • adjacent rows of light emitters may also be staggered in the row direction, which will not be described here.
  • the light emitter array 41 arranged in a linear array shown in FIG. 4A reduces the number of light emitters and lowers the cost compared to, for example, a square array.
  • the staggered arrangement of adjacent light emitter columns in a linear array has a smaller size and achieves higher resolution than aligned multi-column lasers.
  • a plurality of detection channels are formed between the light emitter array 41 and the light detector array.
  • the plurality of light emitters in the light emitter array 41 are activated to emit light.
  • a plurality of photodetectors in the photodetector array are activated for detection, and they constitute a plurality of detection channels.
  • crosstalk may be formed between the detection channels working together.
  • each row or column of light emitters can be divided into a plurality of banks of light emitters, and each bank of light emitters includes a plurality of light emitters, respectively Corresponds to multiple detection channels.
  • the light emitters are selected from each light emitter group to emit light, so as to avoid the situation that several light emitters in the same group work at the same time. In this way, sufficient isolation space can be ensured between the optical transmitters of different detection channels activated in the same signal transmission process, that is, the space occupied by the inactive optical transmitters between the activated two optical transmitters space, thereby reducing crosstalk.
  • the photodetector array can also be divided into multiple photodetector groups, and photodetectors are selected from different photodetector groups to activate respectively during a signal transmission process, and the same signal transmission process can also be formed. Isolation space between photodetectors of different detection channels that are activated to work, thereby reducing crosstalk.
  • the above-mentioned grouping of the optical transmitter array 41 and respectively selecting the optical transmitters to activate in a signal transmission process, and grouping the photodetector arrays and respectively selecting the optical transmitters to activate in a signal transmission process may be one or the other. implemented together. When implemented together, the crosstalk between multiple detection channels (especially adjacent detection channels) working together in a signal transmission process can be more effectively reduced.
  • the light detection device includes a control module (eg, FPGA, SoC or other ASIC implementation), which can be used to control the light emission of each emitter in the light emitter array.
  • a control module eg, FPGA, SoC or other ASIC implementation
  • the above method of grouping the light emitter arrays 41 is actually to select and control a plurality of predetermined light emitters to emit light at the same time (also described as “together” in the text) through the control module, so as to eliminate the The fields of view of the predetermined plurality of light emitters that emit light at the same time overlap with each other, so that there is no difference between the fields of view of the predetermined plurality of light emitters that emit light simultaneously within the detection distance of the light detection device. overlapping.
  • the plurality of light emitters of the light emitter group may be integrated on at least one chip through a semiconductor process.
  • the optical transmitter is a laser
  • the chip is a laser chip.
  • the entire light emitting part can be integrated on a chip through a semiconductor process, the light emitters are grouped through circuit connections, and the firing sequence is controlled, which can further reduce costs and improve processing efficiency.
  • FIG. 4C a schematic structural diagram of the division of light emitter groups according to the example structure of FIG. 4A is shown.
  • every 8 light emitters continuously arranged in the column direction is a unit, and two units in a column, namely 16 light emitters, are one light emitter group, forming a total of 8 light emitter groups, That is, Bank0 to Bank7.
  • Figure 4D in the transmission and reception of an optical signal, one optical transmitter in each bank can be selected for activation, and then 8 optical transmitters emit light at the same time during a signal transmission process. Indicated by the black squares of the other squares.
  • one unit of 8 light emitters that are continuously arranged in the column direction in the figure may be a bank, or three or more units in a column may be a bank, or discretely arranged such as different rows, different
  • the number of light emitters with indefinite positions is a Bank, etc., which is not limited to the illustration.
  • adjacent rows of light emitters or groups of light emitters in a column of light emitters may also be staggered in the extension direction.
  • one unit is one Bank in the figure
  • the adjacent columns of Banks are arranged in a staggered manner in the column direction. This example is similar to the previous staggered arrangement of light emitters in adjacent columns or rows of light emitters for the purpose of increasing resolution.
  • each light emitter in each light emitter group and/or each light detector in each light detector group is activated by a different signaling process; that is, each light emitter group Only one phototransmitter is activated during one signal transmission, and/or only one photodetector per photodetector group is activated during one signal transmission.
  • a1 in Bank0 is activated
  • b1 in Bank1 is activated
  • other banks each select an optical transmitter to activate
  • a2 in Bank0 is activated
  • b3 in Bank1 is activated, etc., and other banks each select another light emitter to activate.
  • a1 and a2 will not emit light together in a signal transmission process
  • b1 and b3 are also the same.
  • each photodetector in each photodetector group may also be activated in turn during different signal transmission processes.
  • photodetectors i2 and a1 in the photodetector group Bank9 constitute a corresponding detection channel
  • i1 and a2 constitute a detection channel
  • j1 and b1 in Bank10 constitute a detection channel
  • j2 and b2 constitute a detection channel.
  • each bank has 16 light emitters, for a total of 128 light emitters. If one light emitter and one light detector form a detection channel, there are a total of 128 detection channels, that is, "128 lines". In each signal transmission process, 8 of the 128 detection channels work together, and all detection channels are traversed through 16 signal transmission processes.
  • Each light transmitter can use, for example, a VCSEL laser, and when the vertical field of view of the lidar reaches 25°, a very high vertical resolution of about 0.2° can be achieved.
  • the light emitter array exemplified in FIGS. 4A , 4B and 4C is in the form of a linear array.
  • the size of the number of light emitters in the column direction and row direction corresponds to the size in the column direction and row direction.
  • the figure exemplarily shows that the size of the light emitter array in the column direction is significantly larger than the size in the row direction, that is, the size ratio of the column direction
  • the ratio of the size in the upward direction is 3 times or 5 times or more. It will be understood by those skilled in the art that, similarly, in other examples, it is also possible that the dimension in the row direction of the light emitter array is significantly larger than the dimension in the column direction.
  • the dimensions in the two dimensions are significantly different, and the ratio between the dimensions in the two dimensions is greater than 3, or greater than 5.
  • the length or short of the dimensions in the above-mentioned dimensional directions corresponds to the number of light emitters, and it is also related to the size of the field of view and resolution in the corresponding dimensional direction, which can be selected according to the requirements of the field of view and resolution. Dimensions in the dimensional direction.
  • the size ratio set above is not only applicable to the two-dimensional light emitter array, but also to the one-dimensional light emitter array, the difference is that the size ratio of the two-dimensional light emitter array may be N:M, The size ratio of the one-dimensional light emitter array is N:1.
  • the light detection device can be implemented as a lidar applied on a traveling vehicle (eg, a vehicle).
  • a traveling vehicle eg, a vehicle
  • one detection result for example, a point cloud image
  • this point cloud image covers the entire horizontal and vertical fields of view.
  • obstacles may be people or vehicles on the road, which are very important for autonomous driving.
  • the field of view of the detection channel in the middle will cover more people or vehicles on the road; the detection channel closer to the edge is farther away from the obstacles on the road. It can be understood that the light emitters in the middle region of the light emitter array belong to the middle detection channel, and the light emitters in the edge region of the light emitter array belong to the edge detection channel.
  • the lidar in addition to the distance measurement (such as 150m), can emit additional light to measure the distance (for example, 150m). For example, the light of 3m), the results of distance measurement and near measurement are combined together to obtain the detection result.
  • the near-measuring action and the distance-measuring action can be implemented through different flight time windows, respectively.
  • t is from The flight time of the optical transmitter sending the transmitting signal to receiving the echo signal
  • d is the obstacle distance
  • c the speed of light
  • 2 times d represents the round-trip distance between the transmitted signal and the echo signal.
  • the distances for distance measurement and near-measurement are complementary, for example, the distance for far-measurement is set outside 3 meters, and the distance for near-measurement is set within 3 meters. In other embodiments, there may be a small overlap between the distance measurement and the proximity measurement. For example, the distance measurement is designed to be 3 meters away, the proximity measurement is within 5 meters, and the distance measurement and the proximity measurement have an overlapping detection of 2 meters. distance.
  • the distance corresponding to the distance measuring action can be 100 meters to 150 meters, or 150 meters to 200 meters, or 200 meters to 250 meters; the distance corresponding to the near measuring action can be 3 meters to 5 meters, 5 meters ⁇ 10 meters, etc. Because the lasers emitted by different optical transmitters are emitted at different angles, in the case of long distances, the distance between different emitted laser beams will become larger, so when measuring distance, it is necessary to use denser optical transmitters to ensure the point density of clouds. For proximity measurements, the density and number of light emitters can be reduced accordingly.
  • some or all of the repeated detection channels can be used between the near-measuring action and the distance-measuring action.
  • the light emitters in the middle area in the first direction of the light emitter array are used for distance measuring 250 meters and short distance measuring. Use when the distance is 3 meters.
  • the frequency of actions in each detection and the resources of the detection channel can be tilted towards the distance measurement action, for example, a proximity measurement action is performed after every 4 distance measurement actions. Wait.
  • the number of light emitters used is small, and the corresponding number of detection channels is correspondingly reduced. For example, it is limited to select only the channels close to the central area in the 8 Banks for close-range measurement.
  • the part with ⁇ 128 can be selected, such as 40 light emitters. If each light emitter corresponds to a detection channel, it constitutes 40 light emitters. Detection channel, 40 detection channels are polled in turn for proximity detection.
  • multiple banks in the middle area select a channel of optical transmitters to work together;
  • a signal transmission process of the proximity action among the multiple banks in the middle area, only one channel in one bank is selected to work.
  • the corresponding expected detection distance is longer, that is, the expected detection time window is larger.
  • the optical transmitter provides a ranging time window of 150 meters and is expected to detect up to 150 meters.
  • the above-mentioned activation manners of the light emitters are just some examples, and do not limit their implementation possibilities.
  • multiple light emitters such as on the same row
  • the multiple light emitting units do not emit light at the same time (such as polling light), which can increase their respective lifetimes and reliability.
  • each light emitter in the array can be individually controlled; thus, each light emitter can be selected to perform polling light emission, or can be used together Glow, or any other combination.
  • the individual light emitters in the light emitter array can be operated in any order, interval, signal characteristics (such as wavelength, pulse width, pulse number, pulse peak value, and inter-pulse time interval, one or more combinations), etc. Polling for flexible e-scanning.
  • the signal characteristics between the optical signals transmitted in each detection channel working in the same signal transmission process are not identical.
  • the optical signal transmitted in each detection channel includes the emission signal and the corresponding echo signal.
  • the light detection device may also include a control module (for example, FPGA, SoC or other ASIC implementation), which may be used to determine the detection channel to which the signal belongs according to the signal characteristics.
  • the photodetector converts the received optical signal into an electrical signal, which can be transmitted to the control module after certain signal processing (such as filtering, analog-to-digital conversion, etc.); the control module can determine whether the signal characteristics of the echo signal are Match with the signal characteristics of the emission signal of the optical transmitter of the corresponding detection channel, and use the echo signal in the corresponding detection channel to calculate the detection result, such as calculating the distance of the target.
  • the control module may be implemented by, for example, a Micro Control Unit (MCU), a Programmable Gate Array (FPGA), or a System on a Chip (SoC).
  • MCU Micro Control Unit
  • FPGA Programmable Gate Array
  • SoC System on a Chip
  • each light emitter is activated by a drive signal of a drive circuit, which may be generated by the drive circuit of the light emitter.
  • the drive signal may include one or more pulsed electrical signals (eg, periodic pulsed signals), and the emission signal of the optical transmitter also includes one or more pulsed optical signals accordingly.
  • the dimension of the signal characteristic may include one or more combinations of wavelength, pulse width, pulse number, pulse peak value, and inter-pulse time interval.
  • the signal characteristics of the optical transmitters in the same bank can be set to be the same, so that each bank has the same signal characteristics.
  • Each has its own and mutually different signal characteristics.
  • the wavelengths of the signals emitted by each optical transmitter group are not exactly the same, and further, the optical wavelengths of the signals emitted by the optical transmitters operating in the same signal transmission process are different.
  • BANK0, BANK1, BANK2, and BANK3 each have one optical transmitter to transmit signals during the same signal transmission process, and BANK0 is set as multiple optical transmitters that emit optical signals of wavelength ⁇ 0, and the corresponding BANK1 to BANK3 are respectively set as An optical transmitter that emits optical signals with wavelengths of ⁇ 1 to ⁇ 3, ⁇ 0 ⁇ 1 ⁇ 2 ⁇ 3. Therefore, in each signal transmission process, one optical transmitter is selected from each of the four banks to emit an optical signal, and the wavelengths of the signals emitted by the four optical transmitters that transmit signals together in any signal transmission process are all different.
  • a photodetector group corresponding to the phototransmitter group is provided, and a filter unit may be provided upstream of the optical path of each photodetector in each photodetector group, and each of the filter units may It is configured so that only the echo signals of the wavelength corresponding to this detection channel can pass through, so as to filter out the echo signals of other detection channels and the interference of ambient light.
  • the light emitter array is divided into n light emitter groups.
  • the optical wavelengths of the signals emitted by each optical transmitter group are different, which are ⁇ 1 to ⁇ n, respectively.
  • it is suitable to transmit a maximum of n transmit signals together.
  • the plurality of optical transmitters that emit together can emit signal beams of different wavelengths.
  • each optical transmitter group selects an optical transmitter to transmit a signal for detection.
  • the target object reflects to form an echo signal.
  • the wavelength of each echo signal is the same as that of the corresponding incident emission signal, which is also ⁇ 1 to ⁇ n.
  • the n echo signals are returned to the photodetector through the window, and sent to the photodetector array through the receiving lens.
  • n photodetector groups can be provided corresponding to n phototransmitter groups, and a filter unit can be provided in front of each photodetector in each photodetector group, and each of the filter units can be It is configured so that only the echo signals of the wavelength corresponding to this detection channel can pass through, and one photodetector selected from one photodetector group is activated in the transmission of an optical signal, so that n echo signals can be respectively transmitted by n
  • the echo signals of other wavelengths are not detected by the two photodetectors respectively, thereby reducing the interference.
  • each transmit signal may contain multiple pulses, and the ratio of these pulse widths may be configured to be different, such as 2:3:1:...., as the signal of the transmit signal Features (can be encoded to obtain signal feature encodings).
  • the pulse width ratios of the transmitted signals of different detection channels working together are different. As an example, it can be achieved by different ratios of the pulse widths of different banks. For example, as shown in FIG. 5B , the multiple continuous pulses included in the emission signal of each optical transmitter in BANK0 are 1:2:1:.... Pulse width ratio, the multiple pulses included in the emission signal of each optical transmitter in BANK1 adopt a pulse width ratio of 1:2:3:...
  • the pulse width ratios of the emission signals of the optical transmitters selected from different banks are different from each other, so that the pulse width ratios of the echo signals respectively generated are also different.
  • the pulse width ratio of the echo signal is the same as the pulse width ratio of the transmission signal of the detection channel, it can be determined whether the echo signal belongs to the echo of the detection channel.
  • the pulse width ratio of the echo signal is different from the pulse width ratio of the transmitted signal of the detection channel, it is filtered out as an interference signal. Therefore, different pulse widths are used as signal characteristics to distinguish the attribution of echo signals of different detection channels.
  • the inter-pulse time interval ratios of the transmitted signals of different detection channels working together are different. As an example, this can be achieved by different ratios of time intervals between pulses of different BANK transmission signals.
  • the pulse time interval ratio of the multiple continuous pulses included in the transmit signal of the optical transmitter in BANK0 is 2:3:1:...
  • the multiple pulses contained in the transmit signal of the optical transmitter in BANK1 The pulse time interval ratio of consecutive pulses is 2:2:3.... Therefore, the pulse time interval ratio of the echo signals generated by each is also different.
  • the echo signals of different detection channels can be distinguished. attribution.
  • the transmitted signals of different detection channels working together contain different numbers of pulses.
  • the number of pulses contained in the transmit signals of the optical transmitters of different banks is different, so the number of pulses of the echo signals generated by each of them is also different. Consistent, in order to distinguish the attribution of echo signals of different detection channels.
  • the emission signals of different detection channels working together contain different peak intensity ratios of multiple pulses. .
  • this is achieved by different ratios of pulse peak intensities of multiple pulses included in the emission signals of the optical transmitters of different banks.
  • the pulse peak ratio of multiple pulses included in the emission signal of the optical transmitter in BANK0 is X:Y:Z:...
  • the pulse peak value of one or more pulses included in the emission signal of the optical transmitter in BANK1 Both are W:X:Y.... Therefore, the pulse peak ratios of the echo signals generated by each are also different.
  • the above signal characteristics can also be combined to generate signal characteristics of optical signals of different detection channels.
  • the above ratios such as the pulse width ratio, the inter-pulse time interval ratio, and the pulse peak intensity ratio
  • the integer ratios are only indicative, and in practical applications, the above ratios can be any value.
  • the light detection device may be a lidar, and any laser may be polled, freely selected, or any combination thereof.
  • the laser (which can be addressed by addressing the laser) can achieve a high degree of freedom of detection and scanning, so as to achieve at least various purposes.
  • the free selection of detection targets and regions can be realized.
  • the light detection device when it is a lidar, it can be mounted on, for example, a traveling vehicle (such as an intelligent driving vehicle, etc.) and travel along with it for detection.
  • a traveling vehicle such as an intelligent driving vehicle, etc.
  • free addressing For example, in the implementation of encrypted scanning of specific objects or regions of interest.
  • probe channel crosstalk can be reduced. Since the specific light-emitting or scanning area can be freely selected, a laser with as large a physical distance as possible can be selected to emit light in the same signal transmission process as shown in the embodiment of Figure 4D during detection, which greatly reduces the crosstalk of the detection channel. For lidar products, it can achieve better signal-to-noise ratio and detection effect.
  • the number of detections required to collect point cloud data can also be reduced, so that the overall power consumption of the light detection device is reduced. Because of the technical trend of increasing the amount of wire harnesses, the larger the amount of wire harnesses, the more energy is consumed, which will cause additional heat dissipation and reliability problems.
  • each light emitter in the light emitter array may be activated by a drive control signal of the drive circuit.
  • the signal characteristic of the emission signal of each light emitter may be determined by the signal characteristic of the driving control signal.
  • FIG. 6 a schematic diagram of a circuit structure of a driving circuit of an optical transmitter array according to an embodiment of the present application is shown.
  • the drive circuit includes:
  • the multiplexer MUX includes: an input terminal and a plurality of output terminals; the input terminal is used for inputting the driving signal Trigger used to control the driving module to activate the light emitter; The input terminal is connected to output the driving signal.
  • the number of driving modules is exemplarily shown as 16 corresponding to the detection channels 0-15, which are identified as driving modules 0-15.
  • the figure exemplarily shows the structure of the drive module 0, and other drive modules may have the same structure.
  • the optical transmitters of the 16 detection channels are identified as LD0 to LD15.
  • the driving module includes: NMOS tube M1, PMOS tube M2, resistor R1, high voltage diode D1, zener diode D2, and energy storage capacitor C.
  • a power supply line is provided, connected to the power supply voltage HVDD, a line control unit K (which can be realized by a switch) is connected in series in the power supply line, the input end of the line control unit is connected to HVDD, and the output end of the line control unit outputs HVDD1; the output of the line control unit K
  • the terminals are respectively connected to the positive pole of R1, D1, the negative pole of D2 and the source of M2; the other end of the resistor R1 is connected to the drain of M1, and the gate of M1 is connected to an output terminal of the multiplexer MUX to be controlled by the Trigger.
  • D1, D2, R1 are connected in parallel, the negative electrode of D1 and the positive electrode of D2 are connected to the drain of M1 and the gate of M2; the drain of M2 is connected to one end of the light emitter, and the other end of the light emitter is grounded.
  • One end of the capacitor C is connected to the power supply line, and the other end is grounded.
  • the source of M1 can be used to input control signals, 8-bit digital signals, etc.
  • the source of M1 can be connected to the output terminal of a temporary digital-to-analog converter (IDAC), and the control signal can be input to the input terminal of the temporary digital-to-analog converter to Converted to an analog voltage, applied to the M1 source.
  • IDAC temporary digital-to-analog converter
  • Vgs is controlled corresponding to the level of the analog voltage, and the switching states of M1 and M2 are further controlled.
  • the source of M1 can also be directly connected to a low potential, such as ground.
  • the Trigger selects the detection channel 0 through the multiplexer, that is, the gate drive module 0.
  • the corresponding line control unit K disconnects the power of HVDD; if the source of M1 is at a low potential, the Trigger controls M1 to turn on, and pulls down the gate voltage of M2 to turn on M2.
  • C starts to discharge to maintain HVDD1, and accordingly a driving current is generated at the drain of M2 to flow through the light emitter LD0 to drive it to emit light.
  • the charging of the capacitor is slow relative to the switching of the operating state of the light emitter.
  • a capacitor C with a larger capacitance can be used, so that each time the light is emitted, the capacitor only needs to release a small part of the stored electricity to drive the light emission device glows. In this way, even if the capacitor cannot be charged back to the consumed power within the interval ⁇ t between the two light-emitting, the laser can still be driven to emit light again with the remaining power.
  • the capacitance of the capacitor C can be set to obtain discharges that can satisfy a preset number of times, for example, the discharge amount required for one drive to emit light accounts for less than 10% of the total stored power of the capacitor C.
  • the multi-pulse signal of the driving signal Trigger can control the emission signal of the optical transmitter to be in the form of a corresponding multi-pulse signal, that is, the signal characteristic of the Trigger is related to, eg, consistent with, the signal characteristic of the emission signal.
  • the signal characteristics of the triggers of different detection channels can be different, it is possible to achieve different emission signals of different detection channels, and the emission signal and the echo signal have the same signal characteristics, which also realizes the light in different detection channels.
  • the signal characteristics of the signals are different, so that the detection channel to which the echo signal belongs can be identified according to the signal characteristics, and the crosstalk between the detection channels is reduced.
  • the light transmitter is driven by Trigger1 to generate pulse signal pulse1; after the interval ⁇ t, the laser is driven again by Trigger2 to generate pulse pulse2.
  • the number of pulses of the multiple channels that emit light together can be different, that is, the light emitters of different channels are driven by different numbers of Trigger signals, so as to emit light emission signals of different numbers of pulses respectively.
  • the pulse time interval between the plurality of pulse signals included in the optical transmitter signal is determined by the time interval of the Trigger signal. Therefore, different timing codes can be used for the trigger signals corresponding to the multiple light emitters that emit light together.
  • the optical pulse time interval is exemplarily obtained according to the time interval between the rising edges of adjacent trigger pulses, and the corresponding time axis (not shown) is from right to left, indicating the time from the past to the present .
  • FIGS. 8A to 8D the possible pulse encoding forms of the driving signals Trigger of BANK1 to BANK4 corresponding to different detection channels are shown.
  • the trigger for each detection channel is exemplarily shown to contain 3 pulses.
  • the Trigger of BANK1 includes three pulse signals, Trigger3 0 , Trigger2 0 , and Trigger1 0 , the pulse time interval between Trigger3 0 and Trigger2 0 is ⁇ t2 0 , and the pulse time interval between Trigger2 0 and Trigger1 0 is ⁇ t1 0 .
  • the Trigger of BANK4 includes three pulse signals, Trigger3 3 , Trigger2 3 , and Trigger1 3 , the pulse time interval of Trigger3 3 and Trigger2 3 is ⁇ t2 3 ⁇ t2 0 , and the pulse time interval of Trigger2 2 and Trigger1 2 is ⁇ t1 3 ⁇ t1 0 .
  • the pulse time interval ratios of the optical emission signals of the four detection channels encoded into their respective multi-pulses are not exactly the same, which can be different in ⁇ t1, different in ⁇ t2, one of ⁇ t1 and ⁇ t2, or ⁇ t1 and ⁇ t2. ⁇ t2 are not equally likely.
  • the pulse width ratios of multiple pulse signals in the triggers of different detection channels may be different.
  • the pulse width of the pulse signal included in the transmission signal varies with the pulse width of the Trigger signal, and the pulse width of the Trigger signal may be positively correlated with the pulse width of the transmission signal. Therefore, by changing the pulse width of the Trigger signal, the multi-pulses emitted by the laser can have pulse width coding, as shown in Figure 9.
  • FIG. 9 schematically shows a waveform diagram of the Trigger of a detection channel, and the pulse width ratio among the three pulse signals Trigger1 , Trigger2 and Trigger3 included in the detection channel can be set.
  • the echo signal may have changes such as pulse broadening, in the echo signal reflected by the same target, the pulse widths of multiple pulse signals should change in equal proportions, so it can be adjusted according to the multiple echo signals.
  • the pulse width ratio between the pulse signals is used to determine whether it is a valid echo.
  • the principle is similar to that of pulse width encoding.
  • the optical transmitter emits a transmission signal of multiple pulses whose intensity is proportional to a certain ratio, and the signal intensity of multiple pulses emitted by multiple lasers that emit light together. If the ratio is different, it is judged whether it is an effective echo by judging the multi-pulse intensity ratio of the echo.
  • the combination of the above signal characteristics of different dimensions can be performed, for example, some detection channels send double pulses, some channels send three pulses, and several detection channels that send double pulses perform timing coding, pulse width coding, and intensity between double pulses. Several detection channels that send three pulses also perform timing encoding, pulse width encoding, intensity encoding, etc. between three pulses, so that the combined signal characteristics corresponding to multiple channels working together are different.
  • control module in the light detection device may also
  • the signal transmission process of "transmission signal transmission - echo signal reception” is carried out continuously for more than two times, and the time of flight value (Time Of Flying, TOF) is calculated for multiple (for example, two) measurements.
  • TOF Time Of Flying

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Abstract

一种光探测装置和探测方法，该装置包括：光发射器阵列（111）、光探测器阵列（121）及控制模块。光发射器阵列（111），包括多个光发射器（1111）；光发射器（1111）被配置成输出发射信号；光探测器阵列（121），包括多个光探测器（1211）；光探测器（1211）被配置成探测发射信号遇到障碍物后被反射的回波信号；其中，光发射器阵列（111）及光探测器阵列（121）构成多个探测通道，每个探测通道包括至少一个光发射器（1111）以及至少一个光探测器（1211）。在发送发射信号至探测对应的回波信号的一次信号传送过程中，控制模块选择预定的多个光发射器（1111）同时发光，同时发光的多个光发射器（1111）的视场在探测距离内没有重叠，有效降低探测通道间的串扰。

Description

光探测装置及探测方法
相关申请交叉引用
本专利申请要求于2021年04月30日提交的、申请号为202110489107.7、发明名称为“光探测装置及探测方法”的中国专利申请的优先权，同时要求2021年05月31日提交的、申请号为202110606696.2、发明名称为“光探测装置及探测方法”的中国专利申请的优先权，上述申请的全文以引用的方式并入本文中。
技术领域
本申请涉及光学测距技术领域，尤其涉及光探测装置及探测方法。
背景技术
激光雷达，是通过出射激光并接收激光到达目标物表面并返回的回波信号来实现对外部探测的设备。因此，激光雷达会包括光发射模块和光探测模块。
目前，激光雷达的光发射模块会包括激光器阵列，其中包括多个激光器；相应的，光探测模块会包括光探测器阵列，其中包括多个光探测器。至少一个激光器和至少一个光探测器之间形成一个探测通道，每个探测通道分别对应于一个视场(Field Of View，FOV)，也可以称为视场角。通常，所称的多线激光雷达中的线束量即对应着探测通道的数量。
然而，基于系统小型化的需求，激光器阵列和光探测器阵列的布局空间会变得非常有限，会使激光器的布局以及光探测器的布局紧密。在激光雷达进行扫描时，如果各个激光器并行工作，各个光探测器也是并行工作，如此就极易导致探测通道之间形成串扰。例如，某个探测通道A接收到探测通道B视场内所得到的某个探测点C的回波信号，而这个探测点C可能是在探测通道A的视场以外的，如此会造成探测结果(例如点云图中)中在原本没有C的位置出现C，这样的情形被称为“鬼影”现象。
即使通过一些分时发光和探测的控制，但是由于激光雷达的应用场景如自动驾驶中需要高频高速地探测，因此仍然难以有效降低串扰影响。
尤其，在高线束量激光雷达称为行业主流产品发展趋势，如32线以上(例如32线、 64线、128线、256线甚至更高线数)的激光雷达，串扰问题会成为其产品发展的极大阻碍。
发明内容
鉴于以上所述现有技术的缺点，本申请提供光探测装置及探测方法，解决现有技术的问题。
为实现上述目标及其他相关目标，本申请第一方面提供一种光探测装置，包括：光发射器阵列，包括多个光发射器；所述光发射器被配置成输出发射信号；光探测器阵列，包括多个光探测器；所述光探测器被配置成探测所述发射信号遇到障碍物后被反射的回波信号；其中，所述光发射器阵列及光探测器阵列构成多个探测通道，每个探测通道包括至少一个光发射器以及至少一个光探测器；控制模块；在发送发射信号至探测对应的回波信号的一次信号传送过程中，所述控制模块选择预定的多个光发射器同时发光，所述同时发光的多个光发射器的视场在探测距离内没有重叠。
在第一方面的一些实施例中，所述光发射器阵列为一维阵列或二维阵列；其中，当光发射器阵列为二维阵列时，其两个维度方向上的尺寸之间的比例大于3，或者大于5。
在第一方面的一些实施例中，所述光发射器阵列中被激活的多个光发射器分别同所述光探测器阵列中被激活的多个光探测器之间形成处于工作状态的多个探测通道；所述光发射器阵列包括多个光发射器组和/或光探测器阵列包括多个光探测器组；所述被激活的各个光发射器分别属于不同的光发射器组和/或所述被激活的各个光探测器分别属于不同的光探测器组。
在第一方面的一些实施例中，每个光发射器组中的各个光发射器和/或每个光探测器组中的各个光探测器在多次信号传送过程中轮流被激活。
在第一方面的一些实施例中，在同一光发射器组的两个光发射器之间具有第一隔离范围；和/或，在同一信号传送过程中相邻两个光探测器组中被激活的光探测器之间形成第二隔离范围。
在第一方面的一些实施例中，每个光发射器组包括预设数量的光发射器，所述光发射器组的多个光发射器集成于至少一个芯片上。
在第一方面的一些实施例中，所述光发射器组的多个光发射器耦接于至少一选择单元，所述选择单元根据外部信号进行光发射器的选择。
在第一方面的一些实施例中，所述光发射器阵列包括相互错开的N列光发射器，每一 列光发射器沿第一方向延伸，N＞1；和/或，所述光探测器阵列包括相互错开的M列光探测器，每一列光探测器沿所述第一方向延伸，M＞1。
在第一方面的一些实施例中，在同一信号传送过程中，各个探测通道中传输的光信号之间的信号特征不完全相同。
在第一方面的一些实施例中，所述的光探测装置包括：控制模块，用于判断光探测器探测的回波信号的信号特征是否与所属探测通道的光发射器的发射信号的信号特征相匹配，并在匹配时将该回波信号用于所属探测通道计算目标物距离。
在第一方面的一些实施例中，所述光发射器发射的发射信号包括一或多个脉冲信号；所述信号特征的维度包括：波长、脉冲宽度、脉冲数量、脉冲峰值及脉冲间时间间隔中的一种或多种组合。
在第一方面的一些实施例中，在脉冲宽度维度方向上的信号特征包括：基于多个脉冲间的脉宽比例，判断回波信号的信号特征是否与发射信号的信号特征匹配。
在第一方面的一些实施例中，在信号强度维度方向上的信号特征包括：基于多个脉冲间的强度比例，判断回波信号的信号特征是否与发射信号的信号特征匹配。
在第一方面的一些实施例中，同一信号传送过程中工作的不同探测通道中光发射器的发射信号之间波长不同；各所述工作的不同探测通道的光探测器的前部设有滤光单元，所述滤光单元仅使本探测通道对应波长的回波信号通过。
在第一方面的一些实施例中，所述控制模块，用于控制光发射器阵列和光接收器阵列对一个探测通道在一次信号传送过程中连续进行多次探测以得到飞行时间值，并根据多次探测的飞行时间值进行比较，以在比较相符时确定所述通道的探测结果有效；否则，舍弃探测结果。
在第一方面的一些实施例中，所述光探测装置包括激光雷达。
为实现上述目标及其他相关目标，本申请第二方面提供一种如第一方面任一项所述的光探测装置进行光探测的方法，包括：激活所述光发射器阵列中的多个光发射器发送发射信号；激活所述光探测器阵列中的多个光探测器；其中，所述被激活的多个光发射器分别同被激活的多个光探测器之间形成处于工作状态的多个探测通道；所述被激活的各个光发射器分别属于不同的光发射器组和/或所述被激活的各个光探测器分别属于不同的光探测器组。
综上，本申请提供的光探测装置和探测方法，所述光探测装置中的光发射器阵列及光探测器阵列之间构成多个探测通道，每个探测通道包括至少一个光发射器以及至少一 个光探测器；在一个实施例中，一个探测通道可以由一个光发射器和一个光探测器组成；在其他的实施例中，一个探测通道可以由一个光发射器和几个光探测器组成；另外，多种探测通道的构成也可以使用在同一个实施例中。在发送发射信号至探测对应的回波信号的一次信号传送过程中，选择预定的多个光发射器同时发光，所述同时发光的多个光发射器的视场在探测距离内没有重叠，使得同时工作的探测通道之间有足够的空间间隔，以有效降低串扰。
附图说明
图1至图3展示本申请多种实施例中光探测装置可能实现的激光雷达的结构示意图。
图4A展示本申请一实施例中光发射器阵列正视的排布结构示意图。
图4B展示为图4A的左视局部结构示意图。
图4C展示根据图4A的示例结构进行光发射器组的划分的结构示意图。
图4D展示根据图4C划分的每个光发射器组进一次多个探测通道发光的示意图。
图5A展示本申请一实施例中以波长为信号特征进行探测的原理示意图。
图5B展示本申请一实施例中以脉冲宽度为信号特征的波形示意图。
图5C展示本申请一实施例中以脉冲间时间间隔为信号特征的波形示意图。
图6展示本申请一实施例中光发射器阵列的驱动电路的电路结构示意图。
图7展示本申请一实施例中驱动电路的触发信号以脉冲数量为信号特征的波形示意图。
图8A至图8D展示本申请一实施例中不同光发射器组的触发信号以脉冲时间间隔为信号特征不同的波形示意图。
图9展示了本申请一实施例中的一个探测通道的触发信号以脉冲宽度为信号特征的波形示意图。
具体实施方式
以下通过特定的具体实例说明本申请的实施方式，本领域技术人员可由本说明书所揭露的内容轻易地了解本申请的其他优点与功效。本申请还可以通过另外不同的具体实施方式加以实施或应用系统，本说明书中的各项细节也可以基于不同观点与应用系统，在没有背离本申请的精神下进行各种修饰或改变。需说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。
下面以附图为参考，针对本申请的实施例进行详细说明，以便本申请所属技术领域的技术人员能够容易地实施。本申请可以以多种不同形态体现，并不限定于此处说明的实施例。
为了明确说明本申请，省略与说明无关的器件，对于通篇说明书中相同或类似的构成要素，赋予了相同的参照符号。
在通篇说明书中，当说某器件与另一器件“连接”时，这不仅包括“直接连接”的情形，也包括在其中间把其它元件置于其间而“间接连接”的情形。另外，当说某种器件“包括”某种构成要素时，只要没有特别相反的记载，则并非将其它构成要素排除在外，而是意味着可以还包括其它构成要素。
当说某器件在另一器件“之上”时，这可以是直接在另一器件之上，但也可以在其之间伴随着其它器件。当对照地说某器件“直接”在另一器件“之上”时，其之间不伴随其它器件。
虽然在一些实例中术语第一、第二等在本文中用来描述各种元件，但是这些元件不应当被这些术语限制。这些术语仅用来将一个元件与另一个元件进行区分。例如，第一接口及第二接口等描述。再者，如同在本文中所使用的，单数形式“一”、“一个”和“该”旨在也包括复数形式，除非上下文中有相反的指示。应当进一步理解，术语“包含”、“包括”表明存在所述的特征、步骤、操作、元件、组件、项目、种类、和/或组，但不排除一个或多个其他特征、步骤、操作、元件、组件、项目、种类、和/或组的存在、出现或添加。此处使用的术语“或”和“和/或”被解释为包括性的，或意味着任一个或任何组合。因此，“A、B或C”或者“A、B和/或C”意味着“以下任一个：A；B；C；A和B；A和C；B和C；A、B和C”。仅当元件、功能、步骤或操作的组合在某些方式下内在地互相排斥时，才会出现该定义的例外。
此处使用的专业术语只用于言及特定实施例，并非意在限定本申请。此处使用的单数形态，只要语句未明确表示出与之相反的意义，那么还包括复数形态。在说明书中使用的“包括”的意义是把特定特性、区域、整数、步骤、作业、要素及/或成份具体化，并非排除其它特性、区域、整数、步骤、作业、要素及/或成份的存在或附加。
表示“下”、“上”等相对空间的术语可以为了更容易地说明在附图中图示的一器件相对于另一器件的关系而使用。这种术语是指，不仅是在附图中所指的意义，还包括使用中的装置的其它意义或作业。例如，如果翻转附图中的装置，曾说明为在其它器件“下”的某器件则说明为在其它器件“上”。因此，所谓“下”的示例性术语，全部包括上与下方。装置 可以旋转90°或其它角度，代表相对空间的术语也据此来解释。
虽然未不同地定义，但包括此处使用的技术术语及科学术语，所有术语均具有与本申请所属技术领域的技术人员一般理解的意义相同的意义。普通使用的字典中定义的术语追加解释为具有与相关技术文献和当前提示的内容相符的意义，只要未进行定义，不得过度解释为理想的或非常公式性的意义。
如之前所述，基于光发射器阵列和光探测器阵列的微型集成化程度的不断上升，会导致使用它们进行探测工作的多线束的激光雷达在探测时，探测通道之间很容易产生串扰。尽管可以通过分时激活的方式来减少串扰，但是基于高线束(线束大于32)激光雷达的需求，在探测通道之间切换工作时间过短，难以有效降低串扰。
鉴于此，本申请可以提供光探测装置，所述光探测装置包括光发射器阵列和光接收器阵列，可以选择阵列中间隔较远的光发射器和/或光探测器并同时激活，能有效降低探测通道之间的串扰。此外，也可以直接对探测通道依次轮巡。
所述光探测装置可以实现为激光雷达。进一步可选的，所述激光雷达可以例如为具有转动机构的机械式激光雷达。或者，也可能是不包含转动机构的激光雷达。
如图1至图3所示，列举了本申请多种实施例中光探测装置可能实现的激光雷达的结构示意图。
如图1所示，展示一种实施例中激光雷达10的结构示意图。
在此示例中，激光雷达10包括发射模块11和光探测模块12。其中，发射模块11包括光发射器阵列111，所述光发射器阵列111包括多个光发射器1111。所述探测模块12包括光探测器阵列121，所述光探测器阵列121包括多个光探测器1211。在具体实例中，所述光发射模块11还可以包括对光发射器阵列111的驱动电路；所述光探测模块12还可以包括处理回波信号的电路(例如模数转换器等)，此处由于仅需展示发射信号和回波信号的信号传送过程，故不在图示中展示及展开描述。
在图1中，各个光发射器1111输出发射信号，经发射透镜112(如整形/准直)后射出激光雷达10，当遇到障碍物A后反射形成回波信号，回波信号进入激光雷达10并经接收透镜122(如整形/汇聚)后被光探测器阵列121中的各个光探测器1211探测到。可以理解的是，图示中示意性地展示了一个光发射器1111和一个光探测器1211组成一个探测通道，即一个光发发射器的发射信号反射形成的回波信号被一个光探测器1211探测到，若有N对光发射器1111和光探测器1211则可以对应形成N个探测通道，每个探测通道可对应不同的视场。可选的，探测通道之间的视场可以是重叠的或者不重叠的。
当然这只是一种示例，在其它实施例中，组成探测通道的光发射器1111和光探测器1211的数量并不固定，至少一个光发射器1111可以与至少一个光探测器1211之间形成探测通道。当属于一个探测通道的光发射器1111和光接收器被分别激活工作时，该探测通道处于工作状态，从而能完成对障碍物A的探测。
在一些实施例中，各个光发射器1111可以是激光器，例如为垂直腔表面发射激光器(Vertical Cavity Surface Emitting Lasers，VCSEL)，或边缘发射激光器(Edge Emitting Laser，EEL)等。相应的，各个光探测器1211可以是例如雪崩光电二极管(Avalanche Photo Diode，APD)或硅光电倍增管(Silicon PhotoMultiplier，SiPM)等实现。其中，可以通过激光器施加驱动电流的方式来驱动激光器发光；通过对雪崩光电二极管(Avalanche Photo Diode，APD)或硅光电倍增管实现的光探测器1211施加偏置电压(V bias)，来激活光探测器1211探测光信号。
需说明的是，图1中所绘制的光路只是一种示意表示，实际上并不限制在光探测装置内部发射信号的光路和回波信号传输的光路结构。
如图2所示，展示本申请另一种实施例中激光雷达的结构示意图。
图2中以俯视视角展示激光雷达在横向平面中的部分内部结构。为清楚起见，图示未展示光探测装置的壳体。所述横向平面可以是与光探测装置的高度方向垂直的平面，其可例如为水平面或其他平面。
所述激光雷达包括：视窗21、光发射端22、光探测端23、旋转件24、重定向件25、发射透镜26及接收透镜27等。所述激光雷达可以例如为前向激光雷达，如图中所示意地设置，视窗21朝向前方已进行探测。
所述光发射端22包括光发射器阵列221，其中的光发射器用于输出发射信号；所述光接收端包括光探测器阵列231，其中的光探测器用于探测发射信号的回波信号。
光发射端22的发射信号发出以及回波信号接收时均会通过所述视窗21。示例性地，所述视窗21处可以安装有平面的视窗21。在其他实施例中，该视窗21也可以为曲面结构。
所述发射透镜26可以设置在光发射端22的前部，以用于将光发射端22的发射信号准直后传输。示例性地，所述发射透镜26可以为透镜组，或者为等效于透镜组光学效果的平凸透镜，其凸面朝向光发射端22。接收透镜27可以设置在光探测端23的前部，以用于将经过的回波信号汇聚向光探测端23。示例性地，所述接收透镜27可以为透镜组，或者为等效于透镜组光学效果的平凸透镜，其平面朝向光探测端23。
所述旋转件24，受控而连续地转动，在图2示例中展示为在横向平面内的一维旋转(图中示意性地按箭头所指的逆时针方向)，从而可以实现对水平视场(相对于垂直视场方向)的扫描。可以理解的是，虽然上述示例中展示为由列向设置的光发射器来实现与光探测装置的高度方向一致的垂直视场扫描，而由旋转件24横向的一维转动来实现水平视场扫描，但并非以此为限。在其它具体实例中，也可以改变光探测装置的摆放角度，例如相比于图2中转动90度，以实现例如通过旋转件24的一维转动来进行垂直视场扫描，而由“列”变为“行”的光发射器来进行水平视场扫描。
示例性地，所述旋转件24可以套设在电机的转轴外，以在电机驱动其转轴旋转时，随之旋转。所述旋转件24包括被发射信号的光路和回波信号的光路所使用的至少一个反射面。当所述反射面仅有一个时，发射信号的光路和回波信号的光路可以共用此反射面；而当反射面有多个时，发射信号的光路和回波信号的光路也可以共用旋转件24的同一个反射面，或者发射光路和接收光路使用旋转件24的不同的反射面。在图2示例中，所述旋转件24示例性地展示为矩形体，其相对的两个立侧面241、242可以为反射面。当旋转件24转动至预设位置，比如图中所示的位置，一个反射面241偏折发射信号打到视窗21上，进而发射信号通过视窗21，发到光探测装置之外的环境中，进行探测；若发射信号遇到障碍物形成回波信号，回波信号则会通过视窗21到达反射面241，被反射面241偏折后，沿回波信号的光路到达光探测器。
所述重定向件25，位于发射信号的光路和回波信号的光路中，配置成向旋转件24输出发射信号，并形成有供回波信号通过的通过部。所述重定向指的是可以通过光学的反射、折射、透射等对光信号的处理方式，改变输入的光信号的方向，重新确定输出的光信号的传输方向。在图2示例中，所述重定向件25可以为反射镜实现，其可以具有一个反射面251。在发射信号的光路中，所述反射面251用于将光发射端22发出的发射信号反射到旋转件24上，而当旋转件24位于例如图2中的位置时，其反射面251或可以接收到该发射信号并偏转到视窗21，进而出射至外部。
在图2中，所述通过部展示为位于重定向件25两个旁侧的空隙28，所述空隙28可以形成在重定向件25与光探测装置的壳体内壁之间或与壳体内设置的其它部分(例如支架等)之间。在图2示例的结构中，在回波信号的光路中，回波信号经旋转件24的一个反射面1反射并向所述重定向件25传输，从重定向件25旁侧的空隙28通过而被光探测端23接收到。
在图2中，发射信号和回波信号均会通过视窗21与旋转件24之间的光路段，也就是 说，发射信号的光路和回波信号的光路在所述视窗21和旋转件24之间构成重叠。所述重叠可以指光路同轴，即两个光路段具有重合的光轴线，如图中M所示。可以理解的是，发射信号和回波信号都会从此光探测装置内的重叠光路段通过，这样的同轴光路结构可以避免旁轴光路(发射信号的光路和回波信号的光路完全不重叠)结构带来的近距离盲区的问题。进一步的，在重定向件25的反射面251的反射作用下，发射信号的光路和回波信号的光路也在光轴为N的光路段构成重叠(同轴)。
具体的，所述旋转件24可以连续旋转以在不同时间进行发射信号的发送、回波信号的接收，也可以往复转动以在不同时间进行发射信号的发送、回波信号的接收。可以理解的是，所述旋转件24的转速、反射面的数量、相邻光发射器的发光切换速度会影响到激光雷达点云探测的帧率，各个因素需要配合，以实现预设帧率的探测。当固定探测帧率时，若反射面的数量越大，所需的转速可以越小。由此可知，所述旋转件24的转速和反射面的数量可以根据实际探测需求加以设置。反射面的数量还会与旋转件24的结构相关，可以是至少两个，比如2、3、4面或更多。在具体示例中，所述旋转件24可以是棱柱。旋转件24的横截面可以是轴对称的或中心对称的，以实现均匀时间的光信号发、收。比如，以图2中旋转件24的横截面为矩形的棱柱来说，其相对的两个表面可为反射面。或者，旋转件24为横截面是正方形的棱柱，其4个侧面皆可为反射面。
如图3所示，展示对于图2中旋转件形状变化的结构示意图。在图3中，所展示的旋转件34为横截面是正三角形的棱柱，其3个侧面皆可为反射面，在旋转过程中，三个反射面可以轮流接续地用于光信号的传输，不存在非用于进行光信号传输的侧面。需说明的是，在其它示例中，旋转件也可以实现为横截面为更多边形的棱柱，并非以上述举例为限。
可以理解的是，以上图1至图3只是示意性地展示了几种激光雷达的结构，以便于读者理解本申请方案可能的应用的场景，而非限制只能应用在上述列举的激光雷达上。以下就本申请实现降低探测通道之间串扰的方案进行具体说明。
为清楚说明光发射器列之间错开的结构，请一并参阅图4A和图4B。
如图4A所示，展示本申请一实施例中光发射器阵列正视的排布结构示意图。
光发射器阵列41设于电路板42(PCB)上。所述光发射器阵列41可以包括相互错开的N列光发射器，每一列光发射器沿第一方向延伸，构成对第一方向视场的扫描，N＞1。示例性地，所述第一方向视场可以是光探测装置的垂直视场。可选的，一列中相邻光发射器的视场之间可以彼此互不重叠。具体的，在一个光发射器列中，每个光发射器对 应于一个垂直视场，故一列中的各个光发射器的垂直视场的组合对应该光发射器列的垂直视场(光发射器行的视场可同理获得)，各个光发射器列的垂直视场的组合对应光探测装置的垂直视场。光发射器的数量决定于光探测器的垂直视场和每个光发射器的垂直视场。
图4B展示为图4A的左视局部结构示意图。左侧的光发射器列与右侧的相邻光发射器列之间在列方向上并不对对齐，形成所述错开。进一步具体的，右侧的光发射器列中的首个光发射器b1相对a1略低一些，而相较于左侧第二个光发射器a2高一些。其中，a1对应的垂直视场角的绝对值＞光发射器b1对应的垂直视场角的绝对值＞a2对应的垂直视场角的绝对值。例如，激光雷达的垂直视场为+30°～-30°(以水平方向为0，向上倾斜为正值，向下倾斜为负值)，设激光雷达的垂直角分辨率为0.2°，a1发射的光经透镜(组)整形后向-30°发射，即a1对应-30°垂直视场；b1对应-29.8°垂直视场；a2对应-29.6°垂直视场。a1、b1、a2的垂直视场角绝对值分别为30°＞29.8°＞29.6°。所谓错开，也可以理解为每个激光器在第一方向(比如垂直方向)至少存在部分视场的不重叠。
从图4B可见，从侧面来看，在列方向上b1填补了a1和a2之间的空隙，如此使得列方向上的光发射器分布更加密集，从而可以提升光探测装置的垂直分辨率。例如图4A中光发射器的阵列，在列方向(对应于垂直视场)上所有光发射器的垂直视场几乎没有重叠，并在拼接后构成了光探测装置的垂直视场，这样的排布可以认为是在垂直方向一个维度的排布(1D solid-state)。同理，在其它实施例中，相邻光发射器行也可以在行方向上交错排布，此处不展开说明。
一方面，图4A展示的线阵排列的光发射器阵列41，相比于例如方阵等，减少了光发射器的数量，降低了成本。另一方面，线阵中相邻光发射器列之间相错开的结构，相比于对齐的多列的激光器来讲，尺寸较小而所实现分辨率较高。
如之前实施例所述，光发射器阵列41和光探测器阵列之间形成多个探测通道，在一次光信号的发和收中，光发射器阵列41中的多个光发射器被激活发光，光探测器阵列中的多个光探测器被激活进行探测，它们构成多个探测通道。在此过程中，一同工作的探测通道之间有可能形成串扰。
为了降低探测通道之间的串扰，在一些实施例中，可以将每个光发射器行或列分成多个光发射器组(Bank)，每个光发射器组包括多个光发射器，分别对应于多个探测通道。在一次信号传送过程中，光发射器阵列41工作时，从各个光发射器组中分别选择光发射器以来进行发光，避免在同一组中的几个光发射器同时工作的情况。这样可以保证 同一次信号传送过程被激活工作的不同探测通道的光发射器之间有足够的隔离空间，即被激活的两个光发射器之间的未被激活的各光发射器所占用的空间，从而减少串扰。同理，对于光探测器阵列，也可以划分成多个光探测器组，在一次信号传送过程中从不同各光探测器组中分别选择光探测器进行激活，也能形成同一次信号传送过程被激活工作的不同探测通道的光探测器之间的隔离空间，从而减少串扰。
可选的，上述对光发射器阵列41分组及分别选择光发射器在一信号传送过程激活，以及对光探测器阵列分组及分别选择光发射器在一信号传送过程激活，可以是择一或者一并实施的。当一并实施时，能更有效地降低一次信号传送过程中一同工作的多个探测通道(尤其是相邻探测通道)之间的串扰。
光探测装置中包括控制模块(例如FPGA、SoC或其它ASIC实现)，能用于控制光发射器阵列中各个发射器的发光。本领域技术人员可以理解的是，上述对光发射器阵列41分组的方式实际上是通过控制模块选择控制预定的多个光发射器同时(在文中也被描述为“一同”)发光，以消除同时发光的所述预定的多个光发射器的视场相互之间的重叠，以能够实现在光探测装置的探测距离内同时发光的所述预定的多个光发射器的视场之间没有重叠。
在一些实施例中，所述光发射器组的多个光发射器可以通过半导体工艺集成于至少一个芯片上。比如，所述光发射器为激光器，则所述芯片为激光器芯片。通过在一个芯片上集成多个光发射器，避免单个光发射器分别进行封装造成的光发射器之间间隔较大的问题，可以实现高集成度的光发射器阵列以及相应的光发射器组，有利于减小光探测装置的体积，提高激光雷达的线密度。
在另外的一些实施例中，整个光发射部分可以通过半导体工艺集成在一块芯片上，通过电路连接对光发射器分组，并控制发射顺序，可以进一步减少成本，提高加工效率。
为简化表述，以下仅以对光发射器阵列41进行光发射器组的划分进行举例图示说明。如图4C所示，展示根据图4A的示例结构进行光发射器组的划分的结构示意图。在此示例中，以列方向连续排布的每8个光发射器为一个单位，一列中的两个单位即16个光发射器为一个光发射器组，一共形成8个光发射器组，即Bank0～Bank7。如图4D所示，在一次光信号的发和收中，可以选择每个Bank中的一个光发射器进行激活，则一次信号传送过程有8个光发射器同时进行发光，图中以不同于其它方块的黑色方块所表示。
可见，通过对光发射器分组并分别选择光发射器发光。若每个光发射器组所包含的 光发射器数量越多，则在被激活的光发射器之间的隔离空间越大。
需说明的是，图4C中光发射器组的划分方式只是示例，并不唯一。例如，也可以将图中的列方向连续排布的8个光发射器的一个单位为一个Bank，或者以一列中的3个以上单位为一个Bank，或者以离散排布的例如不同行、不同位置的数量不定的光发射器为一个Bank等，并非以图示为限。
示例性地，相邻光发射器行之间或光发射器列的各光发射器组之间也可以在延伸方向上交错排布。例如，在图中以一个单位为一个Bank的情况下，可见相邻列Bank在列方向上是间隔交错地排布的。此示例与之前相邻光发射器列或行中的光发射器之间的交错排布，在增加分辨率的目的上是相似的。
在一些示例中，每个光发射器组中的各个光发射器和/或每个光探测器组中的各个光探测器被激活的信号传送过程不同；也就是说，每个光发射器组在一次信号传送过程中只有一个光发射器被激活，和/或，每个光探测器组在一次信号传送过程中只有一个光探测器被激活。具体举例来说，在一次信号传送过程中，Bank0中的a1被激活，Bank1中的b1被激活，其它Bank各选择一个光发射器激活；在下一次信号传送过程中，Bank0中的a2被激活，Bank1中的b3被激活等，其它Bank各自选择另一个光发射器激活。以此类推，直至每个Bank中的光发射器均激活过之后，再重新轮流激活。如此，a1和a2不会在一次信号传送过程中一同发光，b1和b3也是相同。
同理，每个光探测器组中的各个光探测器也可以是在不同信号传送过程轮流被激活。例如，光探测器组Bank9中的光探测器i2和a1之间对应构成一个探测通道，i1和a2构成一个探测通道；Bank10中的j1和b1构成一个探测通道，j2和b2构成一个探测通道。当一信号传送过程中a1和b1被激活，i2和j1也被激活，以此类推。
如图4C中展示有8个BANK，每个BANK有16个光发射器，一共128个光发射器。若1个光发射器和1个光探测器构成一个探测通道，则一共有128个探测通道，也就是“128线”。在每个信号传送过程中128个探测通道中的8个一同工作，经16个信号传送过程全部探测通道均遍历。每个光发射器可以采用例如VCSEL激光器，在激光雷达垂直视场角达到25°的情况下，可以实现极高的垂直分辨率约0.2°。
如图4A、图4B、图4C所示例的光发射器阵列，其为线阵形式。列方向、行方向上的光发射器数量的对应于列方向、行方向的尺寸，图中示例性地展示为光发射器阵列的列方向的尺寸显著大于行方向的尺寸，即列方向的尺寸比上行方向的尺寸的比例在3倍或5倍以上。本领域技术人员可以理解的是，同理，在其它示例中，也有可能光发射器阵列 的行方向尺寸显著大于列方向尺寸。也就是说，光发射器阵列为两维阵列时，其两个维度方向上的尺寸之间显著不同，两个维度的尺寸之间的比例大于3，或者大于5。上述维度方向上尺寸的长或短对应于光发射器数量的多或少，也关系到对应维度方向上视场角、分辨率的大小，可以根据视场角、分辨率的需求而加以选择不同维度方向上的尺寸。可以理解的是，以上设置的尺寸比例不仅适用于两维的光发射器阵列，也适用于一维的光发射器阵列，区别在于两维的光发射器阵列的尺寸比例可能是N：M，而一维的光发射器阵列的尺寸比例是N：1。
在具体应用场景中，光探测装置可以实现为应用在行驶载具(例如车辆)上的激光雷达。通常在激光雷达领域，每1次探测会得到一个探测结果(例如1幅点云图)，这幅点云图涵盖整个水平和垂直视场。
在例如道路行驶场景中，障碍物可能是路面上的人或者车辆，而这些对于无人驾驶非常重要。在激光雷达的各个探测通道中，中间的探测通道的视场会较多地覆盖路面上的人或者车辆；越靠近边缘的探测通道，其离开上述路面的障碍物越远。可以理解的，光发射器阵列中间区域的光发射器属于所述中间的探测通道，光发射器阵列边缘区域的光发射器属于边缘的探测通道。
为了提高近距离障碍物探测的效果，激光雷达在在一次探测(比如对应一个水平视场角下的探测)中，除了测远(例如150m)外，激光雷达可以再额外发光用来测近(例如3m)的光，测远和测近的结果合并在一起得到探测结果。在具体实例中，测近动作和测远动作可以分别通过不同的飞行时间窗口实现，飞行时间窗口指的是一个飞行时间范围，其计算方式如t＝2×d/c，其中，t是从光发射器发出发射信号到接收到回波信号的飞行时间，d为障碍物距离，c为光速，2倍d表示发射信号和回波信号往返的距离。比如，探测150米距离的物体，则限制只接收在150米距离中可能的预设飞行时间范围中得到的回波信号，超过或者低于这个预设飞行时间范围的回波信号被排除在外。
在一个实施例中，测远和测近的距离互补，比如测远的距离设在3米以外，测近的距离设在3米以内。在其他的实施例中，测远和测近的距离可以有小部分的重叠，比如测远设计在3米以外，测近在5米以内，测远和测近有一个2米的重叠的探测距离。
在可能的实例中，测远动作对应的距离可以是100米～150米，或150米～200米，或200米～250米；测近动作对应的距离可以是3米～5米，5米～10米等。因为不同的光发射器发射的激光向不同的角度发出，在远距离的情况下，不同发射激光束的间距会变大，所以在测远动作时，需要使用更密集的光发射器来保证点云的密度。在测近时，光发射 器的密度和数量可以相应减少。
在可能的实例中，测近动作和测远动作之间可以使用部分重复或者全部重复的探测通道，比如光发射器阵列第一方向上中间区域的光发射器用于测远距离250米和测近距离3米时使用。在以测远为主而测近为辅的情形下，可以在每次探测中的动作频次、探测通道的资源上向测远动作倾斜，比如每4次测远动作之后进行1次测近动作等。
在可能的实例中，对近距离测量时，使用的光发射器数量较少，相应的探测通道数也对应减少。比如，限制仅挑选8个Bank中的靠近中心区域的通道进行近距测量使用，可挑选比如＜128的部分如40个光发射器，每个光发射器对应一个探测通道的话，则构成40个探测通道，40个探测通道依次轮询进行测近动作。可选的，测近动作和测远动作在对通道的轮询方式上也有区别。例如，在每个测远动作的一次信号传送过程中，在中间区域的多个BANK(比如图4D中的BANK2、3、4、5)分别选择一个通道的光发射器一同工作；在每个测近动作的一次信号传送过程中，在中间区域的多个BANK中，只选择一个BANK中的一个通道进行工作。
在可能的实例中，所述测远动作所对应的探测距离有多种，比如150米和250米。若被激活的光发射器在光发射器阵列中的位置越靠近中心，则对应的预期探测距离越远，也就是预期提供的探测时间窗口越大。举例来说，图4C中在垂直方向上中部区域中比较靠中间的光发射器提供250米的测距时间窗口(窗口t＝2×d/c)，预计最远可探测250m；相对边缘的光发射器提供150米的测距时间窗口，预计最远可探测150m。
上述关于光发射器的激活方式只是一些示例，并不限制其实施可能。比如在其它示例中，可以配置对应于一个垂直视场的多个光发射器(比如同一行上的)，但是此多个光发射单元不同时发光(比如轮询发光)，可以增加各自的寿命和可靠性。
在一些实施例中，通过配置光发射器阵列及相应驱动电路的驱动方式，可以达到对其中的每个光发射器单独控制；从而，可以选择对各个光发射器进行轮询发光，也可以一同发光，或者其它任何组合方式发光。比如，光发射器阵列中的各个光发射器可以按照任意的顺序、间隔、信号特征(如波长、脉冲宽度、脉冲数量、脉冲峰值及脉冲间时间间隔中的一种或多种组合)等进行轮询，从而实现灵活的电子扫描(e-scanning)。
在一些示例中，为降低探测通道间串扰，在同一次信号传送过程中工作的各个探测通道中传输的光信号之间的信号特征不完全相同。其中，每个探测通道中传输的光信号包括发射信号和相应的回波信号。在光探测装置中还可以包括控制模块(例如FPGA、SoC或其它ASIC实现)，可以用于根据信号特征进行信号所属探测通道的判断。
具体的，光探测器将接收到的光信号转换成电信号，并可以经一定信号处理(例如滤波、模数转换等)后，传递给控制模块；控制模块可以判断回波信号的信号特征是否与所属探测通道光发射器的发射信号的信号特征相匹配，并在匹配时将该回波信号用于所属探测通道以进行探测结果的计算，例如计算目标物的距离等。在具体实例中，所述控制模块可以通过例如微控制单元(MCU)、可编程门阵列(FPGA)、或片上系统(SoC)实现。
在一些示例中，每个光发射器由驱动电路的驱动信号激活，所述驱动信号可以由光发射器的驱动电路产生。可选的，所述驱动信号可以包括一或多个脉冲电信号(例如周期性的脉冲信号)，则所述光发射器的发射信号也相应包括一或多个的脉冲光信号。在相应示例中，所述信号特征的维度可以包括：波长、脉冲宽度、脉冲数量、脉冲峰值及脉冲间时间间隔中的一种或多种组合。
可选的，基于同一BANK内的光发射器可以不在同一信号传送过程中发光的示例，为了简化计算考量，可以将同一个BANK内各光发射器的信号特征设为相同，这样每个BANK拥有各自专属且相互不同的信号特征。
通过实例对各种维度的信号特征进行原理说明。
在采用波长作为信号特征的示例中，每个光发射器组发射信号的波长不完全相同，进一步，在同一信号传送过程中工作的光发射器发射信号的光波长不同。作为示例，BANK0、BANK1、BANK2、BANK3在同一信号发送过程中分别有一个光发射器发射信号，将BANK0设置为发出λ0波长的光信号的多个光发射器，相应的BANK1～BANK3分别设置为发出λ1～λ3波长的光信号的光发射器，λ0≠λ1≠λ2≠λ3。由此，在每个信号发送过程分别从四个BANK中各选择一个光发射器发射光信号，任一信号传送过程中一同发射信号的四个光发射器发出的信号波长均不相同。
进一步，光探测器阵列中，提供与光发射器组相对应的光探测器组，每个光探测器组中的各个光探测器光路上游可以设置滤光单元，每个所述滤光单元可配置为仅可供本探测通道对应的波长的回波信号通过，从而滤除其他探测通道的回波信号以及环境光干扰。
作为另一示例，如图5A所示，设光发射器阵列中划分成n个光发射器组。每个光发射器组发射信号的光波长不同，分别为λ1～λn。由此，在光发射器阵列中，适于一同发射最多n个发射信号。当在n个光发射器组中任意多个光发射器组选择光发射器进行激活时，一同发射的多个光发射器能够发出不同波长的信号光束。当选择n个光发射器组一同 进行激活时，在一次光信号的发和收中，每个光发射器组分别选择一个光发射器发射信号进行探测，发射信号的光束经发射透镜射出，经目标物反射形成回波信号。各回波信号的波长与对应入射的发射信号相同，也为λ1～λn，n个回波信号经视窗回到光探测装置内，经接收透镜向光探测器阵列发送。光探测器阵列中，可以对应n个光发射器组提供n个光探测器组，每个光探测器组中的各光探测器前部可以设置滤光单元，每个所述滤光单元可配置为仅可供本探测通道对应的波长的回波信号通过，而一次光信号的传输中中一个光探测器组中选择一个光探测器被激活，从而使得n个回波信号能分别被n个光探测器所分别探测到，而不会探测到其它波长的回波信号，从而降低了干扰。
在采用脉冲宽度作为信号特征的示例中，每个发射信号可以包含多个脉冲，这些脉冲宽度的比例可以配置成不同，比如2:3:1:....，以作为此发射信号的信号特征(可以进行编码而得到信号特征编码)。在同一信号传送过程中，一同工作的不同探测通道的发射信号的脉冲宽度比例不同。作为示例，可以通过不同BANK的脉冲宽度比例不同来实现，例如图5B所示，BANK0中每个光发射器的发射信号所包含的多个连续脉冲采用1:2:1:....的脉冲宽度比例，BANK1中每个光发射器的发射信号所包含的多个脉冲采用1:2:3:....的脉冲宽度比例；其它各个BANK的脉冲宽度比例也都不相同。则在同一信号传送过程中，选自不同BANK的光发射器的发射信号的脉冲宽度比例互不相同，使得各自分别产生的回波信号的脉冲宽度比例也不同。通过判断回波信号的脉冲宽度比例是否与本探测通道的发射信号的脉冲宽度比例相同，可以判定该回波信号是否属于本探测通道的回波。在回波信号的脉冲宽度比例与本探测通道发射信号脉冲宽度比例不同时，将其作为干扰信号滤除。从而，通过不同的脉冲宽度作为信号特征，来区别不同探测通道的回波信号归属。
在采用脉冲间时间间隔作为信号特征的示例中，在同一信号传送过程中，一同工作的不同探测通道的发射信号的脉冲间时间间隔比例不同。作为示例，可以通过不同BANK发射信号的脉冲间时间间隔比例不同来实现。例如图5C所示，BANK0中光发射器的发射信号所包含的多个连续脉冲的脉冲时间间隔比例为2：3：1：...，BANK1中光发射器的发射信号所包含的多个连续脉冲的脉冲时间间隔比例为2：2：3..。从而各自产生的回波信号的脉冲时间间隔比例也不同，通过判断回波信号的脉冲间时间间隔比例是否与本探测通道发射信号的脉冲间时间间隔比例相符，以区别不同探测通道的回波信号归属。
在采用脉冲数量作为信号特征的示例中，在同一信号传送过程中，一同工作的不同探测通道的发射信号所包含的脉冲数量不同。作为示例，不同BANK的光发射器的发射 信号所包含的脉冲数量不同，从而各自产生的回波信号的脉冲数量也不同，通过判断回波信号的脉冲数量是否与本探测通道发射信号的脉冲数量一致，以区别不同探测通道的回波信号归属。
在采用脉冲峰值(对应光强度峰值或转换为电信号的峰值)作为信号特征的示例中，在同一信号传送过程中，一同工作的不同探测通道的发射信号所包含多个脉冲的峰值强度比例不同。作为示例，通过不同BANK的光发射器的发射信号所包含的多个脉冲的脉冲峰值强度比例不同来实现。例如，BANK0中光发射器的发射信号所包含的多个脉冲的脉冲峰值比例为X：Y：Z：...，BANK1中光发射器的发射信号所包含的一个或多个脉冲的脉冲峰值均为W：X：Y...。从而各自产生的回波信号的脉冲峰值比例也不同，通过判断回波信号的脉冲峰值强度比例是否与本探测通道发射信号的脉冲峰值强度比例一致，以区别不同探测通道的回波信号归属。
另外，也可以对以上信号特征进行组合来产生不同探测通道的光信号的信号特征。
需要说明的是，上述比例，如脉冲宽度比例、脉冲间时间间隔比例、脉冲峰值强度比例，整数比仅为示意，在实际应用中，上述比例可以为任意数值。
可以理解的是，通过信号特征来区分所属的探测通道的各种实施例中的一个或多个的实施例，光探测装置可以是激光雷达，可以轮询、自由选取任意一个激光器或者任意组合的激光器(可以通过对激光器寻址)，实现高自由度的探测扫描，从而达成至少多方面的目的。
一方面，可以实现探测目标、区域的自由选取。具体的，当所述光探测装置为激光雷达，而可搭载在例如行驶载具(例如智能驾驶车辆等)并随之行进进行探测。若根据某次扫描的点云数据识别出特定目标物或者感兴趣的区域，则在下次需要再次扫描时，可以通过自由寻址来选取只开启/扫描这个特定目标物或者感兴趣区域，可应用于例如对特定目标物或者感兴趣区域的加密扫描等实施中。
另一方面，可以减少探测通道串扰。由于可自由选择具体发光或者扫描的区域，在探测时也可以如图4D实施例中选取物理间距尽量大的激光器在同一次信号传送过程发光，极大程度降低探测通道串扰，相比于目前的激光雷达产品而言，能达到更好的信噪比和探测效果。
再一方面，还能降低采集点云数据所需要的探测次数，使得光探测装置整体功耗得到降低。因为在线束量趋增的技术趋势下，线束量越大则对应消耗能量越多，会引起额外的散热及可靠性问题。
在上述示例中，光发射器阵列中的各光发射器可以由驱动电路的驱动控制信号来激活。示例性地，各光发射器的发射信号的信号特征可以由驱动控制信号的信号特征所决定。
如图6所示，展示本申请一实施例中光发射器阵列的驱动电路的电路结构示意图。
所述驱动电路包括：
分别对应属于每个探测通道的光发射器的驱动模块；以及
多路选择器MUX，包括：输入端和多个输出端；输入端供输入用于控制驱动模块激活光发射器的驱动信号Trigger；多个输出端一一对应连接各个驱动模块，以被选择与输入端连通而输出所述驱动信号。
在图示中，驱动模块数量示例性地展示为对应探测通道0～15的16个，标识为驱动模块0～15。图中示例性地展示了驱动模块0的结构，其它驱动模块可以与其结构相同。16个探测通道的光发射器标识为LD0～LD15。
驱动模块包括：NMOS管M1、PMOS管M2、电阻R1、高压二极管D1、稳压二极管D2、储能电容C。
提供一供电线路，接入供电电压HVDD，供电线路中串接有线路控制单元K(可以是开关实现)，线路控制单元的输入端接入HVDD，其输出端输出HVDD1；线路控制单元K的输出端分别连接R1、D1的正极、D2的负极和M2的源极；电阻R1另一端连接M1的漏极，M1的栅极连至多路选择器MUX的一个输出端，以受控于Trigger而导通或断开；D1、D2、R1并联，D1的负极和D2的正极连接M1的漏极以及M2的栅极；M2的漏极连接到光发射器一端，光发射器另一端接地。电容C一端连接供电线路，另一端接地。
可选的，M1的源极可供输入控制信号，8比特的数字信号等，M1源极可以连接临时数字模拟转换器(IDAC)的输出端，控制信号输入临时数字模拟转换器的输入端以转换为模拟电压，施加到M1源极。通过该控制信号所以对应模拟电压的高低控制Vgs，进而控制M1及M2开关状态。或者，M1的源极也可以直接接入低电位，比如接地。
在非工作状态下，线路控制单元K导通，令HVDD1＝HVDD，M1截止使HVDD作用在M2栅极，M2也截止，光发射器LD0不发光。
在工作状态下，Trigger通过多路选择器选择探测通道0，即选通驱动模块0。当Trigger为高电位时，相应的线路控制单元K断开HVDD的用电；若M1源极为低电位，Trigger控制M1导通，拉低M2的栅极电压使M2导通。C开始放电以维持HVDD1，相应地在M2漏极产生驱动电流流过光发射器LD0，驱动其发光。
当工作状态切换回非工作状态，C继续充电，M1、M2截止，光发射器LD0不发光。
在一些示例中，相对于光发射器的工作状态的切换，电容的充电速度较慢。为了支持光发射器的多脉冲发光(在Trigger为多脉冲信号的驱动下)，可以采用较大电容量的电容C，使得每次发光时，电容仅需放出一小部分储电来驱动光发射器发光。如此，即使两次发光的间隔时间Δt内电容不能充回消耗的电量，也仍然可以用剩余电量再次驱动激光器发光。由于电容的放电电流随电量的降低而减小，为了避免再次发光时电容剩余电量少而造成放电电流(激光器驱动电流)过小。可选的，可以设置电容C的电容量以得到能满足预设次数的放电，比如一次驱动发光所需的放电量占电容C的总储电量的10％以内等。
由此可知，通过驱动信号Trigger的多脉冲信号可以控制光发射器的发射信号为相应的多脉冲信号形式，即Trigger的信号特征与发射信号的信号特征相关，例如一致。进一步的，通过设置不同探测通道的Trigger的信号特征不同，也就可以达成不同探测通道的发射信号的不同，而发射信号和回波信号具有一致的信号特征，也就实现了不同探测通道中光信号的信号特征不同，从而实现可以根据信号特征来辨别回波信号的所属探测通道，降低探测通道之间的串扰。
对应于之前示例中以脉冲数量为信号特征来讲，例如图7所展示的双脉冲的示例。先通过Trigger1驱动光发射器产生脉冲信号pulse1；间隔Δt时间后，再通过Trigger2再次驱动激光器发出脉冲pulse2。一同发光的多个通道脉冲个数可以不同，即对不同通道的光发射器通过不同数量的Trigger信号来驱动，以分别发出不同数量脉冲的光发射信号。
对应于之前示例中以脉冲时间间隔为信号特征来讲，可以参考图7、图8A至图8D。
光发射器信号所包含的多个脉冲信号之间的脉冲时间间隔由Trigger信号的时间间隔决定。故可以对一同发光的多个光发射器对应的Trigger信号采用不同的时序编码。图7和图8A至图8D中示例性地根据相邻Trigger脉冲上升沿间的时间间隔来得到光脉冲时间间隔，对应的时间轴(未图示)为从右向左方向，表示时间从前至今。
以属于不同探测通道的光发射器均发出例如图7的双脉冲的发射信号为例，但是不同探测通道的发射信号的Δt各不相同，以用于区别它们的回波信号。
又或者，如图8A至8D所示，展示分别对应不同探测通道的BANK1～BANK4的驱动信号Trigger可能的脉冲编码形式。在图示中，示例性地展示了每个探测通道的Trigger包含3个脉冲。
具体的，在图8A中，BANK1的Trigger包括Trigger3 0，Trigger2 0，及Trigger1 0三个脉冲信号，Trigger3 0和Trigger2 0的脉冲时间间隔为Δt2 0，Trigger2 0和Trigger1 0的脉冲时间 间隔为Δt1 0。
在图8B中，BANK2的Trigger包括Trigger3 1，Trigger2 1，及Trigger1 1三个脉冲信号，Trigger3 1和Trigger2 1的脉冲时间间隔为Δt2 1＝Δt2 0，Trigger2 0和Trigger1 0的脉冲时间间隔为Δt1 1≠Δt1 0。
在图8C中，BANK3的Trigger包括Trigger3 2，Trigger2 2，及Trigger1 2三个脉冲信号，Trigger3 2和Trigger2 2的脉冲时间间隔为Δt2 1≠Δt2 0，Trigger2 2和Trigger1 2的脉冲时间间隔为Δt1 1＝Δt1 0。
在图8D中，BANK4的Trigger包括Trigger3 3，Trigger2 3，及Trigger1 3三个脉冲信号，Trigger3 3和Trigger2 3的脉冲时间间隔为Δt2 3≠Δt2 0，Trigger2 2和Trigger1 2的脉冲时间间隔为Δt1 3≠Δt1 0。
从而可见，4个探测通道的光发射信号编码成各自的多脉冲的脉冲时间间隔比例间皆不完全相同，可以是Δt1各不相同、Δt2各不相同、Δt1和Δt2之一不同、或Δt1和Δt2均不同等可能。
对应于之前示例中以脉冲宽度为信号特征来讲，不同探测通道的Trigger中多个脉冲信号的脉冲宽度比例可以不同。发射信号所包含脉冲信号的脉冲宽度随Trigger信号的脉冲宽度变化，Trigger信号脉宽可以和发射信号的脉宽正相关。因此，可以通过改变Trigger信号脉宽，使激光器发出的多脉冲具有脉宽编码，如图9所示。图9中示意性地展示了一个探测通道的Trigger的波形示意图，其包含的三个脉冲信号Trigger1、Trigger2、Trigger3间的脉冲宽度比例可加以设置。
需说明的是，虽然回波信号可能存在脉冲展宽等变化，但同一个目标物反射的回波信号中，多个脉冲信号的脉宽应为等比例变化，所以可以根据回波信号的多个脉冲信号间的脉冲宽度比例来，判断其是否为有效回波。
对应于之前示例中以强度编码为信号特征，其原理与脉宽编码类似，光发射器发出强度成一定比例的多个脉冲的发射信号，一同发光的多个激光器发出的多个脉冲的信号强度比例不同，通过判断回波的多脉冲强度比例，判断其是否为有效回波。
此外，可以对应上述不同维度信号特征进行的组合，比如某些探测通道发双脉冲、某些通道发三脉冲，发双脉冲的几个探测通道进行双脉冲间的时序编码、脉宽编码、强度编码等，发三脉冲的几个探测通道也进行三脉冲间的时序编码、脉宽编码、强度编码等，使一同工作的多个通道所对应的组合信号特征各不相同。
另外，为了进一步防范串扰，在一些实施例中，光探测装置中的控制模块，还可以
对于同一个探测通道连续进行两次以上的“发射信号发射-回波信号接收”的信号传送过程，并对多次(例如两次)测量计算得出的飞行时间值(Time Of Flying，TOF)进行比较，在多次测量得出的飞行时间值相符(可以相同或误差低于预设阈值)时，确定该探测通道的探测结果有效；否则，判断该探测通道受到了串扰，舍弃探测结果。
上述实施例仅例示性说明本申请的原理及其功效，而非用于限制本申请。任何熟悉此技术的人士皆可在不违背本申请的精神及范畴下，对上述实施例进行修饰或改变。因此，举凡所属技术领域中具有通常知识者在未脱离本申请所揭示的精神与技术思想下所完成的一切等效修饰或改变，仍应由本申请的权利要求所涵盖。

Claims (17)

  1. 一种光探测装置，其特征在于，包括：
    光发射器阵列，包括多个光发射器；所述光发射器被配置成输出发射信号；
    光探测器阵列，包括多个光探测器；所述光探测器被配置成探测所述发射信号遇到障碍物后被反射的回波信号；其中，所述光发射器阵列及光探测器阵列构成多个探测通道，每个探测通道包括至少一个光发射器以及至少一个光探测器；
    控制模块；在发送发射信号至探测对应的回波信号的一次信号传送过程中，所述控制模块选择预定的多个光发射器同时发光，所述同时发光的多个光发射器的视场在探测距离内没有重叠。
  2. 根据权利要求1所述的光探测装置，其特征在于，所述光发射器阵列为一维阵列或二维阵列；其中，当光发射器阵列为二维阵列时，其两个维度方向上的尺寸之间的比例大于3，或者大于5。
  3. 根据权利要求1所述的光探测装置，其特征在于，所述光发射器阵列中被激活的多个光发射器分别同所述光探测器阵列中被激活的多个光探测器之间形成处于工作状态的多个探测通道；所述光发射器阵列包括多个光发射器组和/或光探测器阵列包括多个光探测器组；所述被激活的各个光发射器分别属于不同的光发射器组和/或所述被激活的各个光探测器分别属于不同的光探测器组。
  4. 根据权利要求1所述的光探测装置，其特征在于，每个光发射器组中的各个光发射器和/或每个光探测器组中的各个光探测器在多次信号传送过程中轮流被激活。
  5. 根据权利要求1所述的光探测装置，其特征在于，在同一光发射器组的两个光发射器之间具有第一隔离范围；和/或，在同一信号传送过程中相邻两个光探测器组中被激活的光探测器之间形成第二隔离范围。
  6. 根据权利要求1所述的光探测装置，其特征在于，每个光发射器组包括预设数量的光发射器，所述光发射器组的多个光发射器集成于至少一个芯片上。
  7. 根据权利要求1所述的光探测装置，其特征在于，所述光发射器组的多个光发射器耦接于至少一选择单元，所述选择单元根据外部信号进行光发射器的选择。
  8. 根据权利要求1所述的光探测装置，其特征在于，所述光发射器阵列包括相互错开的N列光发射器，每一列光发射器沿第一方向延伸，N＞1；和/或，所述光探测器阵列包括相互错开的M列光探测器，每一列光探测器沿所述第一方向延伸，M＞ 1。
  9. 根据权利要求1所述的光探测装置，其特征在于，在同一信号传送过程中，各个探测通道中传输的光信号之间的信号特征不完全相同。
  10. 根据权利要求9所述的光探测装置，其特征在于，所述控制模块，适于判断光探测器探测的回波信号的信号特征是否与所属探测通道的光发射器的发射信号的信号特征相匹配，并在匹配时将该回波信号用于所属探测通道计算目标物距离。
  11. 根据权利要求9所述的光探测装置，其特征在于，所述光发射器发射的发射信号包括一或多个脉冲信号；所述信号特征的维度包括：波长、脉冲宽度、脉冲数量、脉冲峰值及脉冲间时间间隔中的一种或多种组合。
  12. 根据权利要求11所述的光探测装置，其特征在于，在脉冲宽度维度方向上的信号特征包括：基于多个脉冲间的脉宽比例，判断回波信号的信号特征是否与发射信号的信号特征匹配。
  13. 根据权利要求9所述的光探测装置，其特征在于，在信号强度维度方向上的信号特征包括：基于多个脉冲间的强度比例，判断回波信号的信号特征是否与发射信号的信号特征匹配。
  14. 根据权利要求1所述的光探测装置，其特征在于，同一信号传送过程中工作的不同探测通道中光发射器的发射信号之间波长不同；各所述工作的不同探测通道的光探测器的前部设有滤光单元，所述滤光单元仅使本探测通道对应波长的回波信号通过。
  15. 根据权利要求1所述的光探测装置，其特征在于，包括：控制模块，用于控制光发射器阵列和光接收器阵列对一个探测通道在一次信号传送过程中连续进行多次探测以得到飞行时间值，并根据多次探测的飞行时间值进行比较，以在比较相符时确定所述通道的探测结果有效；否则，舍弃探测结果。
  16. 根据权利要求1所述的光探测装置，其特征在于，所述光探测装置包括激光雷达。
  17. 一种如权利要求1至16中任一项所述的光探测装置进行光探测的方法，其特征在于，包括：
    激活所述光发射器阵列中的多个光发射器发送发射信号；
    激活所述光探测器阵列中的多个光探测器；
    其中，所述被激活的多个光发射器分别同被激活的多个光探测器之间形成处于工作状态的多个探测通道；所述被激活的各个光发射器分别属于不同的光发射 器组和/或所述被激活的各个光探测器分别属于不同的光探测器组。
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