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CN-121995392-A - Solid-state laser radar and detection method using same

CN121995392ACN 121995392 ACN121995392 ACN 121995392ACN-121995392-A

Abstract

A solid-state laser radar comprises a plurality of transmitting modules, a receiving module and a detecting module, wherein each transmitting module comprises at least one light emitting unit, the light emitting units comprise a plurality of lasers and are configured to emit detection light beams simultaneously, the receiving module comprises at least one detecting unit, the detecting unit comprises a plurality of photoelectric detectors and is configured to receive echoes of the detection light beams reflected by a target object, the plurality of transmitting modules are arranged around the receiving module, the light emitting units of the plurality of transmitting modules are located on the same plane, and one detecting unit is configured to receive echoes of the detection light beams emitted by the light emitting units of the plurality of transmitting modules and reflected by the target object. According to the invention, for the set range of the angle of view, the length of the line light-emitting units which emit light simultaneously is greatly reduced by arranging the plurality of emitting modules, so that the non-uniformity of the light-emitting units is greatly reduced, the range finding error of the solid-state laser radar in the set range of the angle of view is reduced, and the range finding performance is improved.

Inventors

  • LIU HAO
  • ZHU XUEZHOU
  • XU SEN
  • LIU XUGANG
  • XIANG SHAOQING

Assignees

  • 上海禾赛科技有限公司

Dates

Publication Date
20260508
Application Date
20210408

Claims (14)

  1. 1. A solid-state lidar comprising: a first emission module comprising a first VCSEL array extending in a first direction and a second direction, the second direction being perpendicular to the first direction, A second transmitting module including a second VCSEL array extending along the first direction and the second direction, and A receiving module comprising a SPAD array extending along the first direction and the second direction, Wherein the first transmitting module and the second transmitting module are arranged at two sides of the receiving module along the first direction, The SPAD array includes a first SPAD sub-array and a second SPAD sub-array, the first SPAD sub-array and the second SPAD sub-array extend along the first direction and the second direction, the first SPAD sub-array and the second SPAD sub-array are positioned at different positions in the first direction, the first SPAD sub-array and the second SPAD sub-array are aligned in the second direction, the first SPAD sub-array is configured to receive echoes of probe light emitted by the first VCSEL array reflected by an object, and the second SPAD sub-array is configured to receive echoes of probe light emitted by the second VCSEL array reflected by the object.
  2. 2. The solid state lidar of claim 1, wherein the fields of view of the first and second emission modules have a first overlap region that corresponds to a center region of a field angle range of the solid state lidar in the first direction.
  3. 3. The solid state lidar of claim 1, wherein the first VCSEL array and the second VCSEL array are on the same plane.
  4. 4. The solid state lidar of claim 1, wherein the first VCSEL array and the second VCSEL array comprise the same number of VCSELs.
  5. 5. The solid state lidar of claim 1, wherein the first VCSEL array comprises a first set of VCSELs extending along the first direction, the second VCSEL array comprises a second set of VCSELs extending along the first direction, the first SPAD sub-array comprises a first set of SPADs extending along the first direction, the second SPAD sub-array comprises a second set of SPADs extending along the first direction, the first set of SPADs and the second set of SPADs are aligned in the second direction, the first set of SPADs is configured to receive echoes of probe light emitted by the first set of VCSELs reflected by an object, and the second set of SPADs is configured to receive echoes of probe light emitted by the second set of VCSELs reflected by an object.
  6. 6. The solid state lidar of claim 5, wherein the first VCSEL group and the second VCSEL group are aligned in the second direction.
  7. 7. The solid state lidar of claim 6, wherein the first VCSEL group and the second VCSEL group are configured to emit light in parallel.
  8. 8. The solid state lidar of claim 5, wherein the first VCSEL array comprises a plurality of first VCSEL groups arranged along the second direction, and the second VCSEL array comprises a plurality of second VCSEL groups arranged along the second direction.
  9. 9. The solid state lidar of claim 8, wherein the plurality of first VCSEL groups and the plurality of second VCSEL groups are aligned one to one in the second direction.
  10. 10. The solid state lidar of claim 5, wherein the field of view of the first VCSEL group and the field of view of the second VCSEL group have an overlap region corresponding to a center region of the field of view angular range of the solid state lidar in the first direction.
  11. 11. The solid state lidar of claim 1, wherein the first emission module further comprises a first emission optical component, the first VCSEL array is located at a focal plane of the first emission optical component, and the second emission module further comprises a second emission optical component, the second VCSEL array is located at a focal plane of the second emission optical component.
  12. 12. The solid state lidar of claim 11, wherein the first emission optical component is the same as the second emission optical component.
  13. 13. The solid state lidar of claim 1, wherein the first emission module further comprises a plurality of first electrodes, one first electrode electrically connected to a VCSEL in a first VCSEL group, the first electrode configured to load a drive signal to the VCSELs in the first VCSEL group.
  14. 14. The solid-state lidar of claim 13, wherein the first electrode comprises a pad for loading the drive signal.

Description

Solid-state laser radar and detection method using same The scheme is the division of Chinese patent application with the application number 202110378462.7, and the title of the solid-state laser radar and the detection method using the solid-state laser radar is submitted by 4/8/2021. Technical Field The invention relates to the technical field of laser detection, in particular to a solid-state laser radar and a detection method using the same. Background The laser radar can acquire information such as distance, speed and the like of a target with high precision and high accuracy or realize target imaging, and has important roles in the fields of mapping, navigation and the like. Generally, lidars can be divided into two main categories, mechanical lidars and solid-state lidars. The mechanical laser radar adopts a mechanical rotating component as an implementation mode of light beam scanning, can realize large-angle scanning, but is difficult to assemble and low in scanning frequency. Solid-state lidar, current implementations are micro-electro-mechanical systems, area array solid-state radar and optical phased array technology. The light source of the area array solid-state laser radar is usually a high-density Vertical Cavity Surface Emitting Laser (VCSEL) array, and multiple lasers are connected in parallel to form a light emitting unit, and are driven to emit light. The light emitting unit has a long length, a narrow width and a high aspect ratio, so that under the conditions of high-current and high-frequency driving, the resistance and parasitic inductance on the driving line generate voltage drop, and the driving currents of the lasers are gradually reduced along the propagation direction of the driving signals, and the light emitting brightness is also gradually reduced. Further, the intensity distribution of the detection light in the extending direction of the light emitting unit is uneven in the view field range of the laser radar, so that the remote measurement capability and the detection accuracy of the solid-state laser radar are affected. The matters in the background section are only those known to the public and do not, of course, represent prior art in the field. Disclosure of Invention In view of at least one of the drawbacks of the prior art, the present invention provides a solid-state lidar comprising: a plurality of emission modules, each of the emission modules including at least one light emitting unit including a plurality of lasers configured to simultaneously emit probe light beams; a receiving module comprising at least one detection unit, the detection unit comprising a plurality of photodetectors configured to receive echoes of the detection beam reflected by a target object; the plurality of transmitting modules are arranged around the receiving module, the light emitting units of the plurality of transmitting modules are located on the same plane, and one detecting unit is configured to receive echoes of detection light beams emitted by the light emitting units of the plurality of transmitting modules and reflected by a target object. According to an aspect of the present invention, wherein the plurality of lasers of the light emitting unit are arranged in a stripe shape, the emitting module includes a plurality of light emitting units arranged in a direction perpendicular to the stripe-shaped extending direction. According to one aspect of the present invention, the transmitting modules are disposed at both sides of the receiving module, and the number of transmitting modules at both sides of the receiving module is the same or different. According to one aspect of the present invention, each of the emission modules includes a plurality of light emitting units having the same number, and the light emitting units corresponding to the same detection unit are located on the same line. According to an aspect of the present invention, the fields of view corresponding to the plurality of light emitting units located on the same straight line partially overlap. According to one aspect of the invention, the solid-state lidar comprises two transmitting modules, which are located on both sides of the receiving module. According to one aspect of the invention, wherein the light emitting unit comprises a VCSEL array and the detection unit comprises a SPAD array. According to one aspect of the invention, a blind compensating laser is arranged on one side, far from the receiving module, of the strip-shaped extending direction of the light emitting unit, the detection ranges of the blind compensating laser and the light emitting unit are different, and echoes of detection light emitted by the blind compensating laser reflected by a target object can be received by a detection unit corresponding to the light emitting unit. According to one aspect of the invention, the emission module further comprises an electrode unit electrically connected with the plurality of lasers of the light emit