CN116774233A - Laser radar system, electronic equipment and vehicle - Google Patents

Abstract

This application relates to a lidar system, electronic equipment and vehicle. The system includes: a transmitting module, a receiving module and a control module. The transmitting module includes a transmitter and a transmitting lens, and the receiving module includes a receiving lens and a receiver; The transmitter includes multiple light-emitting units, each of which is used to send out a detection signal; the transmitting lens collimates the detection signal and sends it out; the receiving lens transmits the echo signal returned by the received target to reflect the detection signal to the receiver. receiver; the receiver includes multiple receiving units, each receiving unit is used to receive echo signals, the optical path between each receiving unit and the receiving lens is equal to the focal length of the receiving lens; the optical path between some or all of the light-emitting units and the transmitting lens The optical path is not equal to the focal length of the emitting lens. When the number of light-emitting units is limited, the number of pixels of the receiver can be maximized to optimize the angular resolution of the system.

Description

Lidar systems, electronic equipment and vehicles

Technical field

This application relates to the field of radar technology, and in particular to a laser radar system, electronic equipment and vehicles.

Background technique

Vehicle-mounted lidar is mainly divided into three categories according to whether it contains a scanning device: non-solid state, hybrid solid state and all-solid state. Non-solid state mainly refers to the early traditional mechanical LiDAR (Light detection and ranging, LiDAR), which obtains a three-dimensional point cloud image through the vertical arrangement of multiple laser beams combined with mechanical 360° rotation. Hybrid solid-state mainly includes Micro-electro-mechanical system (MEMS) LiDAR. The main difference from mechanical LiDAR is that MEMS micro-mirrors are used to integrate all mechanical components into a single chip and then are produced using semiconductor processes. All-solid-state refers to the entire LiDAR system without scanning devices, which mainly includes optical phased array LiDAR and Flash LiDAR. Among them, Flash LiDAR means that laser pulses are emitted to the full field of view, and the receiving end uses an area array detector arranged in a focal plane to collect the returned laser pulse signals, and uses the time-of-flight method to obtain a three-dimensional point cloud image. However, in related technologies, the resolution of the all-solid-state Flash LiDAR system is limited by the number of light-emitting units in the emitter. How to improve the angular resolution of the system when the number of light-emitting units in the emitter is limited is an urgent problem to be solved. technical problem.

Contents of the invention

In view of this, a lidar system, electronic equipment and vehicle are proposed to solve the problem in the existing technology that the angular resolution of the system is difficult to improve when the number of light-emitting units in the transmitter is limited. .

In a first aspect, embodiments of the present application provide a lidar system. The system includes: a transmitting module, a receiving module and a control module. The transmitting module includes a transmitter and a transmitting lens. The receiving module includes a receiving lens. and a receiver; the transmitter includes a plurality of light-emitting units, each light-emitting unit is used to emit a detection signal under the control of the control module; the emitting lens is used to collimate the detection signal and then emit ; The receiving lens is used to transmit the received echo signal to the receiver, the echo signal is the signal returned by the target reflecting the detection signal; the receiver includes multiple receiving units , each receiving unit is used to receive the echo signal; wherein the optical path between part or all of the light-emitting unit and the transmitting lens is not equal to the focal length of the transmitting lens, and each receiving unit The optical path between the unit and the receiving lens is equal to the focal length of the receiving lens, and the lighting type of the system is flood lighting or mixed lighting. Through the first aspect, a lidar system whose lighting type is flood lighting or mixed lighting is provided. When the number of light-emitting units is limited, the number of pixels of the receiver is maximized to optimize the angular resolution of the system. , to meet the needs for lighting types in corresponding detection scenarios. For example, because the angular resolution under flood lighting is uniform, there will be no obvious black areas within the field of view, making flood lighting suitable for detection scenarios with high resolution requirements and relatively short detection distances. Hybrid lighting combines the long detection range of dot matrix lighting with the uniform angular resolution of flood lighting and no obvious black areas within the field of view, making hybrid lighting suitable for detection scenarios with relatively low resolution requirements and relatively long detection distances. Down.

According to the first aspect, in a possible implementation, the emission module further includes: an optical path adjustment member, the optical path adjustment member includes flat glass and/or a light uniformity device, each of the light-emitting units and The distance between the emitting lenses is equal to the focal length of the emitting lenses; wherein the lighting type of the system is flood lighting, and the optical path adjustment member is located between the emitter and the emitting lenses, so that The optical path between each light-emitting unit and the emitting lens is greater than the focal length of the emitting lens to achieve flood lighting of the system; or the lighting type of the system is mixed lighting, and the optical path adjustment member is located between part of the light-emitting units and the emission lens, so that the optical path between part of the light-emitting units and the emission lens is greater than the focal length of the emission lens, and the remaining light-emitting units and the emission lens The optical path between them is equal to the focal length of the emitting lens, achieving mixed illumination of the system. Through the above method, the optical path adjustment member is used to realize flood illumination or mixed illumination of the lidar system.

According to the first aspect, in a possible implementation, the lighting type of the system is flood lighting, and the distance between each of the light-emitting units and the emission lens is smaller than the focal length of the emission lens, achieving Flood lighting of the system. Through the above method, the distance between the light-emitting unit and the emitting lens can be changed so that the optical path between the light-emitting unit and the emitting lens is smaller than the focal length of the emitting lens, thereby realizing flood lighting of the system.

According to the first aspect, in a possible implementation, the lighting type of the system is flood lighting, and the distance between each of the light-emitting units and the emitting lens is greater than the focal length of the emitting lens, achieving Flood lighting of the system. Through the above method, the distance between the light-emitting unit and the emitting lens can be changed so that the optical path between the light-emitting unit and the emitting lens is greater than the focal length of the emitting lens, thereby realizing flood lighting of the system.

According to the first aspect, in a possible implementation, the lighting type of the system is mixed lighting, and the emission module further includes an electronically controlled atomizing glass device, and the electronically controlled atomizing glass device is located on the emitting between the transmitter and the emission lens, the distance between the emitter and the emission lens is less than or equal to the focal length of the emission lens, wherein the control module is also used to control the electronically controlled atomization Partial areas of the glass device are powered so that the optical path between the light-emitting unit and the emitting lens corresponding to the power-off area of the electronically controlled atomization glass device is increased to be greater than or equal to the emitting lens. The focal length, the optical path between the light-emitting unit corresponding to the energized area of the electronically controlled atomization glass device and the emitting lens is maintained equal to or less than the focal length of the emitting lens, thereby achieving mixed illumination of the system. Through the above method, the mixed lighting of the system is realized by using the electronically controlled atomized glass device that can control the power supply in different zones.

According to the first aspect, in a possible implementation, the control module is also used to control the turning on time and lighting time of each of the light-emitting units according to the detection scene, and to control the turning on of each of the receiving units. time and exposure time. Through the above method, since flood lighting and mixed lighting (including flood lighting areas) are homogenized emitted energy, a certain detection distance will be sacrificed under the same field of view, and the turning on of each light-emitting unit is controlled according to the detection scene. Time and illumination time, as well as controlling the turn-on time and exposure time of the receiving unit, can be dynamically configured to compensate for the detection performance of a specific area.

According to the first aspect, in a possible implementation, the detection scene is used to indicate a first light-emitting unit among the plurality of light-emitting units that needs to be turned on, and a first turn-on corresponding to each of the first light-emitting units. time and the first light-emitting time; wherein, controlling the turn-on time and light-emitting time of each light-emitting unit according to the detection scene, and controlling the turn-on time and exposure time of each receiving unit include: according to the detection scene indication The first light-emitting unit, the first turn-on time and the first light-emitting time determine a first receiving unit corresponding to each first light-emitting unit and a first receiving unit corresponding to each first receiving unit. A turn-on time and a first exposure time; controlling each of the first light-emitting units to turn on according to the corresponding first turn-on time and continuing to emit light for the first light-emitting time, and controlling each of the first receiving units to turn on according to the corresponding first turn-on time. time is turned on and a continuous exposure is performed for at least the first exposure time. In this way, in the detection scene, the first light-emitting unit that needs to be turned on and the first turn-on time and the first light-emitting time corresponding to each first light-emitting unit are limited, so that "each light-emitting unit" can be controlled based on the detection scene. Precise control of the turn-on time and light-emitting time, and the turn-on time and exposure time of each receiving unit enables dynamic configuration based on the detection scene.

According to the first aspect, in a possible implementation, the receiving module further includes an optical filter, the optical filter is used to filter the echo signal before transmitting the echo signal to the receiver. The wave signal is filtered. The interference signal in the echo signal can be removed, and the adverse impact of the interference light on subsequent detection of information such as the distance to the target based on the echo signal can be reduced.

According to the first aspect, in a possible implementation, the receiving lens and the transmitting lens include any one of the following: a standard lens, a wide-angle lens, and a fisheye lens. This can ensure that the f-tanθ or f-θ distortion of the lens is small, so that the system's horizontal (vertical) field of view can be expanded to close to 180°.

According to the first aspect, in a possible implementation, the number of light-emitting units in the system is less than or equal to the number of receiving units in the system. In this way, the angular resolution of the system is no longer limited by the number of light-emitting units, and a smaller number of light-emitting units can be used to maintain a greater angular resolution of the system.

In the second aspect, embodiments of the present application provide a lidar system. The system includes: a transmitting module, a receiving module and a control module. The transmitting module includes a transmitter and a transmitting lens. The receiving module includes a receiving lens. and a receiver; the transmitter includes a plurality of light-emitting units, each light-emitting unit is used to emit a detection signal under the control of the control module; the emitting lens is used to collimate the detection signal and then emit ; The receiving lens is used to transmit the received echo signal to the receiver, the echo signal is the signal returned by the target reflecting the detection signal; the receiver includes multiple receiving units , each receiving unit is used to receive the echo signal, and the optical path between each receiving unit and the receiving lens is equal to the focal length of the receiving lens; the control module is used to adjust the current The illumination type for detection is adjusted to adjust the optical path between part or all of the light-emitting unit and the emission lens, wherein the illumination type of the system includes at least two of dot matrix illumination, flood illumination, and mixed illumination. Through the first aspect, a lidar system with adjustable illumination type is provided. When the number of light-emitting units is limited, it can meet the demand for illumination type in corresponding detection scenarios and maximize the performance under flood lighting and mixed lighting. Utilize the number of pixels in the receiver to optimize the angular resolution of the system. For example, because the angular resolution under flood lighting is uniform, there will be no obvious black areas within the field of view, making flood lighting suitable for detection scenarios with high resolution requirements and relatively short detection distances. Hybrid lighting combines the long detection range of dot matrix lighting with the uniform angular resolution of flood lighting and no obvious black areas within the field of view, making hybrid lighting suitable for detection scenarios with relatively low resolution requirements and relatively long detection distances. Down. Because the detection distance under dot matrix illumination is long, dot matrix illumination is suitable for detection scenarios with low resolution requirements and long detection distance.

According to the second aspect, in a possible implementation, the emission module further includes an optical path adjustment member, and the optical path adjustment member includes flat glass and/or a uniform light device; wherein, according to the current illumination for detection type, adjusting the optical path between part or all of the light-emitting unit and the emission lens, including: adjusting the optical path according to the current illumination type for detection and the distance between the emitter and the emission lens The relative positional relationship between the adjustment member and the emitter realizes the adjustment of part or all of the optical path between the light-emitting unit and the emission lens. Through the above method, the optical path adjustment member is used to realize the smooth switching of the lidar system between different lighting types.

According to the second aspect, in a possible implementation, if the illumination type of the system includes the lattice illumination and the flood illumination, the emitting lens is set to a zoom lens, wherein the detection is performed according to the current The lighting type, adjusting the optical path between part or all of the light-emitting unit and the emission lens includes: if the lighting type currently being detected is the flood lighting, adjusting the focal length of the zoom lens so that The optical path between each light-emitting unit and the emission lens under the dot matrix illumination is not equal to the focal length of the zoom lens; or if the current detection illumination type is the dot matrix illumination, adjust the The focal length of the zoom lens is such that the optical path between each light-emitting unit and the emission lens under the lattice illumination is equal to the focal length of the zoom lens. Through the above method, by setting the emission lens as a zoom lens, the lighting type of the lidar system can be smoothly switched between flood lighting and dot matrix lighting.

According to the second aspect, in a possible implementation, if the lighting type of the system also includes the hybrid lighting, the emission module further includes an electronically controlled atomizing glass device, and the electronically controlled atomizing glass device Disposed between the emitter and the emission lens; wherein, the optical path between part or all of the light-emitting unit and the emission lens is adjusted according to the type of illumination currently being detected, including: if the type of illumination currently being detected is If the illumination type is the dot matrix illumination or the flood illumination, the control is to energize all areas of the electronically controlled atomized glass device; or if the illumination type currently being detected is the mixed illumination, the zoom is adjusted The focal length of the lens to the distance between each of the light-emitting units and the emission lens is less than or equal to the focal length of the zoom lens, and the power is controlled to be supplied to a partial area of the electronically controlled atomized glass device so that part of the light-emitting unit The optical path between the unit and the emitting lens is not equal to the focal length of the emitting lens, and the optical path between the remaining light-emitting units and the emitting lens is equal to the focal length of the emitting lens. Through the above method, by setting the electronically controlled atomizing glass device between the emitter and the emitting lens and setting the emitting lens as a zoom lens, the entire area of the electronically controlled atomizing glass device is controlled to be energized under dot matrix lighting and flood lighting. The detection signal can directly reach the emission lens through the electronically controlled atomized glass device, ensuring that the system's lattice lighting and flood lighting can be realized by adjusting the focal length of the emission lens set as a zoom lens. Under mixed lighting, by supplying power to some areas of the electronically controlled atomized glass device, the optical path from the light-emitting unit corresponding to the power-off area of the electronically controlled atomized glass device to the emission lens is increased, corresponding to the electronically controlled atomized glass device. The optical path from the light-emitting unit in the power supply area to the emission lens does not increase. In this way, the system realizes mixed lighting as follows: if the focal length of the zoom lens makes the distance between each light-emitting unit and the emitting lens smaller than the focal length of the zoom lens, then the light-emitting units corresponding to the power-off area of the electronically controlled atomized glass device implement a lattice Illumination, the light-emitting unit corresponding to the power supply area of the electronically controlled fog glass device realizes flood lighting; if the focal length of the zoom lens makes the distance between each light-emitting unit and the emitting lens equal to the focal length of the zoom lens, then it corresponds to the electronically controlled fog The light-emitting unit in the power-off area of the atomized glass device realizes flood lighting, and the light-emitting unit corresponding to the power supply area of the electronically controlled atomized glass device realizes lattice lighting.

According to the second aspect, in a possible implementation, the transmitting module further includes: an electronically controlled atomization glass device disposed between the transmitter and the transmitting lens; wherein, according to the current detection Illumination type, adjusting the optical path between part or all of the light-emitting unit and the emission lens, including: controlling the electronically controlled atomized glass according to the current detection lighting type and the distance between the light-emitting unit and the emission lens The power-on state of the device is used to adjust the optical path between part or all of the light-emitting unit and the emission lens. Through the above method, the electronically controlled atomized glass device that can be controlled in different areas is used to realize the system switching between dot matrix lighting, flood lighting and mixed lighting, so that the system can meet the lighting type needs of different detection scenes, making the system applicable The scope is wider.

According to the second aspect, in a possible implementation, the system further includes: a driving component, wherein the light between part or all of the light-emitting unit and the emission lens is adjusted according to the type of illumination currently being detected. The process includes: controlling the driving component to move the emission lens and/or the emitter according to the current detection lighting type and the distance between the light-emitting unit and the emission lens to adjust part or all of the light-emitting unit and the emission lens. The optical path between the emission lenses. In this way, the lighting type of the system can be switched by moving the emission lens and/or emitter.

According to the second aspect, in a possible implementation, the control module is also used to control the turn-on time and light-emitting time of each of the light-emitting units according to the detection scene, and to control the turn-on time of each of the receiving units. and exposure time. Through the above method, since flood lighting and mixed lighting (including flood lighting areas) are homogenized emitted energy, a certain detection distance will be sacrificed under the same field of view, and the turning on of each light-emitting unit is controlled according to the detection scene. Time and illumination time, as well as controlling the turn-on time and exposure time of the receiving unit, can be dynamically configured to compensate for the detection performance of a specific area.

According to the second aspect, in a possible implementation, the detection scene is used to indicate a first light-emitting unit among the plurality of light-emitting units that needs to be turned on, and a first turn-on corresponding to each of the first light-emitting units. time and the first light-emitting time; wherein, controlling the turn-on time and light-emitting time of each light-emitting unit according to the detection scene, and controlling the turn-on time and exposure time of each receiving unit include: according to the detection scene indication The first light-emitting unit, the first turn-on time and the first light-emitting time determine a first receiving unit corresponding to each first light-emitting unit and a first receiving unit corresponding to each first receiving unit. A turn-on time and a first exposure time; controlling each of the first light-emitting units to turn on according to the corresponding first turn-on time and continuing to emit light for the first light-emitting time, and controlling each of the first receiving units to turn on according to the corresponding first turn-on time. time is turned on and a continuous exposure is performed for at least the first exposure time. In this way, in the detection scene, the first light-emitting unit that needs to be turned on and the first turn-on time and the first light-emitting time corresponding to each first light-emitting unit are limited, so that "each light-emitting unit" can be controlled based on the detection scene. Precise control of the turn-on time and light-emitting time, and the turn-on time and exposure time of each receiving unit enables dynamic configuration based on the detection scene.

According to the second aspect, in a possible implementation, the receiving module further includes an optical filter, the optical filter is used to filter the echo signal before transmitting the echo signal to the receiver. The wave signal is filtered. The interference signal in the echo signal can be removed, and the adverse impact of the interference light on subsequent detection of information such as the distance to the target based on the echo signal can be reduced.

According to the second aspect, in a possible implementation, the receiving lens and the transmitting lens include any one of the following: a standard lens, a wide-angle lens, and a fisheye lens. This can ensure that the f-tanθ or f-θ distortion of the lens is small, so that the system's horizontal (vertical) field of view can be expanded to close to 180°.

According to the second aspect, in a possible implementation, the number of light-emitting units in the system is less than or equal to the number of receiving units in the system. In this way, the angular resolution of the system is no longer limited by the number of light-emitting units, and a smaller number of light-emitting units can be used to maintain a greater angular resolution of the system.

In a third aspect, embodiments of the present application provide an electronic device, including: the lidar system provided in the above-mentioned first aspect, or any one of multiple possible implementations of the first aspect, or the above-mentioned second aspect. A lidar system provided by the aspect, or any one of multiple possible implementations of the second aspect.

In a fourth aspect, embodiments of the present application provide a vehicle, including: the lidar system provided in the above-mentioned first aspect, or any one of multiple possible implementations of the first aspect, or the above-mentioned second aspect. , or the lidar system provided by any one of multiple possible implementations of the second aspect.

These and other aspects of the application will be better understood in the description of the embodiment(s) below.

Description of drawings

The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate exemplary embodiments, features, and aspects of the application and together with the description, serve to explain the principles of the application.

Figure 1 shows a schematic structural diagram of a lidar system according to an embodiment of the present application.

Figure 2 shows a schematic optical path diagram of a lidar system according to an embodiment of the present application.

Figures 3A-3C show a schematic diagram of the uniform light effect of a lidar system according to an embodiment of the present application.

4A-4B respectively show schematic diagrams of a one-dimensional addressable transmitter and a two-dimensional addressable transmitter.

5A-5C show a schematic diagram of the target surface effect of a lidar system according to an embodiment of the present application.

6A-6B respectively show a schematic diagram of the target surface effect of the lidar system according to an embodiment of the present application.

Figure 7 shows a structural block diagram of a lidar system according to an embodiment of the present application.

Detailed ways

Various exemplary embodiments, features, and aspects of the present application will be described in detail below with reference to the accompanying drawings. The same reference numbers in the drawings identify functionally identical or similar elements. Although various aspects of the embodiments are illustrated in the drawings, the drawings are not necessarily drawn to scale unless otherwise indicated.

The word "exemplary" as used herein means "serving as an example, example, or illustrative." Any embodiment described herein as "exemplary" is not necessarily to be construed as superior or superior to other embodiments.

In addition, in order to better explain the present application, numerous specific details are given in the following detailed description. It will be understood by those skilled in the art that the present application may be practiced without certain specific details. In some instances, methods, means, components and circuits that are well known to those skilled in the art are not described in detail in order to highlight the subject matter of the present application.

In related technologies, in order to meet the increasingly higher angular resolution requirements of lidar systems, FlashLiDAR can usually improve the system's vertical-cavity surface-emitting laser (VCSEL) and single-photon avalanche photodiode (Single- photon avalanche diode (SPAD), but there are technical performance and cost limitations that prevent the number of array units from being increased without limit. Taking one-dimensional addressable VCSEL as an example, due to the length limit of its effective area (for example, less than 5 mm), if the number of array units is too large to exceed the length limit, the uniformity of the luminous power will be significantly reduced. Moreover, since the blind-filling scenes of vehicle-mounted lidar often require a lateral field of view (FOV) of 180°, the lateral FOV of a flash LiDAR single-optical unit in related technologies generally does not exceed 60°, which requires a lot of Only optical-mechanical splicing can meet the needs. There are other lidar systems that have technical problems with reliability that cannot meet vehicle requirements. How to provide a method that can improve the angular resolution of the system, improve the reliability of the system, and expand the field of view when the number of light-emitting units in the emitter is limited is a technical problem that needs to be solved urgently.

In order to solve the above technical problems, this application provides a lidar system that can improve the angular resolution of the system, improve the reliability of the system, and expand the field of view when the number of light-emitting units in the transmitter is limited. Field angle. Moreover, in order to adapt to the requirements for the use of lidar systems in different products, the lidar system provided by this application is further explained below through several lidar system examples.

Figure 1 shows a schematic structural diagram of a lidar system according to an embodiment of the present application. As shown in Figure 1, the lidar system includes: a transmitting module 1, a receiving module 2 and a control module 3. The transmitting module 1 can include a transmitter 11 and a transmitting lens 12, and the receiving module 2 can include a receiving lens 22. and receiver 21.

The emitter 11 may include a plurality of light-emitting units 111, and the plurality of light-emitting units 111 may be arranged in an array as shown in FIG. 1 . Each light-emitting unit 11 is used to emit a detection signal for target detection under the control of the control module 3 . The emission lens 12 is located in the light-emitting direction of the emitter 11 and is used to collimate the detection signal and then send it out, so that the collimated detection signal S1 can be sent to the target M. The receiving lens 22 is used to transmit the received echo signal S2 to the receiver 21. The echo signal is the signal returned by the target M reflecting the detection signal S1. The receiver 21 may include multiple receiving units 211, and the multiple receiving units 211 may be arranged in an array. Each receiving unit 211 is used to receive the echo signal S2, and the optical path between each receiving unit 211 and the receiving lens 22 is equal to the focal length of the receiving lens 22. The echo signal S2 can be used for subsequent detection and analysis of the distance, speed, acceleration and other information of the target M.

Wherein, if the lighting type of the system is fixed and is flood lighting or mixed lighting, the optical path between part or all of the light-emitting unit 111 and the emitting lens 12 is not equal to the focal length of the emitting lens 12. The optical path between the receiving unit 211 and the receiving lens 22 is equal to the focal length of the receiving lens 22. If the illumination type of the system is fixed and is dot matrix illumination, the light emitting unit 111 and the transmitting lens The optical path between 12 is equal to the focal length of the emission lens 12 .

In this embodiment, the optical path between the light-emitting unit and the emitting lens may refer to the distance traveled by the detection signal emitted by the light-emitting unit from being emitted to propagating to the emitting lens, which is converted into the distance traveled by the detection signal propagating in vacuum. The path traveled, or the optical path between the light-emitting unit and the emitting lens, can also be considered as the product of the path traveled by the detection signal and the refractive index of the medium in the path during the process from when the detection signal is emitted to propagating to the emitting lens.

In this embodiment, the transmitter 11 and the receiver 21 can be set according to the actual needs of the lidar system. For example, the transmitter 11 can be a VCSEL array, etc., and each VCSEL in the VCSEL array is a light-emitting unit 111. The receiver 21 may be a SPAD array, etc., and each SPAD in the SPAD array is a receiving unit 211.

In this embodiment, if the lighting type is the flood lighting, the optical path between each of the light-emitting units 111 and the emitting lens 12 is not equal to (that is, can be both smaller than or both larger than) the Describe the focal length of the emission lens 12. If the lighting type is the hybrid lighting, the optical path between part of the light-emitting units 111 and the emission lens 12 is equal to the focal length of the emission lens (to achieve dot matrix illumination), and the remaining light-emitting units 11 and The optical path between the emitting lenses 12 is not equal to the focal length of the emitting lenses 12 (to achieve flood illumination), so as to achieve mixed illumination consisting of dot matrix illumination and flood illumination.

In the embodiment of this application, the lighting type of the lidar system can be fixedly set to flood lighting or mixed lighting. The system can maximize the use of the number of pixels of the receiver to optimize the system when the number of light-emitting units is limited. The angular resolution meets the lighting type requirements in corresponding detection scenarios. For example, because the angular resolution under flood lighting is uniform, there will be no obvious black areas within the field of view, making flood lighting suitable for detection scenarios with high resolution requirements and relatively short detection distances. Hybrid lighting combines the long detection range of dot matrix lighting with the uniform angular resolution of flood lighting and no obvious black areas within the field of view, making hybrid lighting suitable for detection scenarios with relatively low resolution requirements and relatively long detection distances. Down.

In this embodiment, in order to implement a lidar system in which the illumination type is flood illumination or mixed illumination, it can be implemented by any of the following fixed type methods 1 to 3. In order to explain more clearly the implementation of fixed type methods 1-3 in this application, Figure 2 shows a schematic optical path diagram of a lidar system according to an embodiment of this application. As shown in FIG. 2 , it is assumed that the optical path between each light-emitting unit 111 in the transmitter 11 and the emission lens 12 is equal to the focal length of the emission lens 12 under the current setting. If no other settings are made and the optical path between each light-emitting unit 111 and the emitting lens 12 is kept equal to the focal length of the emitting lens 12, the lidar system can achieve lattice illumination as shown in Figure 2, that is, at this time The lighting type of the lidar system is dot matrix lighting.

Fixed type method 1: directly change the distance between the transmitter 11 and the transmitting lens 12.

When the lighting type of the lidar system is flood lighting, it can be achieved in the following ways:

The distance between the emitter 11 and the emission lens 12 is shortened so that the optical path between each light-emitting unit 111 and the emission lens 12 is smaller than the focal length of the emission lens 12 , thereby achieving flood illumination of the system. Among them, in the entire lidar system, the emitting lens 12 can be moved along the optical axis in a direction closer to the emitter 11, the emitter 11 can be moved along the optical axis in a direction closer to the emitting lens 12, or the emitting lens 12 can be moved along the optical axis simultaneously. Lens 12 and transmitter 11 bring the two into close proximity.

Increase the distance between the emitter 11 and the emission lens 12 so that the optical path between each light-emitting unit 111 and the emission lens 12 is greater than the focal length of the emission lens 12, thereby achieving flood lighting of the system. Among them, in the entire lidar system, the emitting lens 12 can be moved along the optical axis in a direction away from the emitter 11, the emitter 11 can be moved along the optical axis in a direction away from the emitting lens 12, or the emitting lens 12 can be moved along the optical axis simultaneously. Lens 12 and transmitter 11 are positioned apart from each other.

Through the above fixed type method 1, a floodlighting lidar system can be set up by adjusting the distance between the emitter 11 and the emission lens 12, which is simple to implement and low in cost.

In this embodiment, due to the difference in the optical path length and focal length between the emitter 11 and the emission lens 12 (the method of making the optical path length and focal length between the emitter 11 and the emission lens 12 different includes the present application Any method provided (not described here), the uniform light effect of target surface 1 in the lidar system also has differences. 3A-3C are schematic diagrams of the uniform light effect of a lidar system according to an embodiment of the present application. This application takes as an example that the optical path between each light-emitting unit in the emitter 11 and the emission lens 12 is actually smaller than the focal length of the emission lens 12 under floodlight illumination, and illustrates the difference in light uniformity effect with reference to Figures 3A-3C. Under the premise that the optical path between the emitter 11 and the emission lens 12 is actually smaller than the focal length of the emission lens 12, as shown in Figure 3A, the defocus distance (that is, the distance between the focal plane of the emitter 11 and the emission lens 12 ) is too small, there will still be gaps between the diffuse spots on the target surface 1, that is, there will be a detection black area on the receiver 21. If the defocus distance is too large as shown in Figure 3C, although there is no gap between the diffuse spots on the target surface 1, there will be too much energy loss outside the effective field of view (the area shown by the target surface wireframe), which is not conducive to the receiver. High probability detection of 21. Therefore, in practical applications, the defocus distance can be set according to the product parameters of the transmitter lens 12 and the transmitter 11, and the optimal defocus distance shown in Figure 3B can be set comparatively to achieve the target surface 1 There are no gaps between the diffuse spots and the energy loss outside the effective field of view is small, which results in a high probability of detection by the receiver under the same conditions.

In this embodiment, when the optical path between the emitter 11 and the emission lens 12 is actually greater than the focal length of the emission lens 12 , dot matrix illumination will be formed somewhere in the near field, and flood illumination will be formed at other distances. . When the optical path between the emitter 11 and the emitting lens 12 is actually smaller than the focal length of the emitting lens 12, flood lighting will occur everywhere.

Fixed type method 2: add an optical path adjustment member between part or all of the light-emitting unit 111 and the emission lens 12 according to the lighting type of the system.

When the lighting type of the lidar system is flood lighting, and the optical path between each light-emitting unit 111 in the transmitter 11 and the transmitting lens 12 is equal to the focal length of the transmitting lens 12 as shown in Figure 2, the transmitting module 1 Optical path adjustments may also be included. Wherein, the optical path adjustment member is located between the emitter and the emission lens (for example, at The optical path is greater than the focal length of the emitting lens 12 to achieve flood illumination of the system.

When the illumination type of the lidar system is mixed illumination, and the optical path between each light-emitting unit 111 in the transmitter 11 and the transmitting lens 12 is equal to the focal length of the transmitting lens 12 as shown in Figure 2, the transmitting module 1 can also Includes optical path adjustment. Wherein, the optical path adjustment member is located between part of the light-emitting unit 111 and the emission lens 12 , so that the optical path between part of the light-emitting unit 111 and the emission lens 12 is greater than that of the emission lens 12 The focal length and the optical path between the rest of the light-emitting unit 111 and the emitting lens 12 are equal to the focal length of the emitting lens 12 to achieve mixed illumination of the system. For example, in a hybrid illumination lidar system, the optical path adjustment member may be provided only on the upper half of the transmitter 11 as shown in FIG. 2 . So that the optical path between each light-emitting unit 111 located in the upper half of the emitter 11 and the emitting lens 12 is greater than the focal length of the emitting lens 12 to achieve flood lighting; each light-emitting unit 111 located in the lower half of the emitter 11 and The optical path between the emitting lenses 12 (because there is no optical path condition in the optical path) is equal to the focal length of the emitting lens 12, realizing lattice lighting. As a whole, the system realizes mixed lighting consisting of lattice lighting and flood lighting. . It can be understood that those skilled in the art can set the position of the optical path adjustment member according to actual needs to adjust the ratio of dot matrix lighting and flood lighting in mixed lighting, and the relative positional relationship between the two.

In some embodiments, different areas of the optical path adjustment member can also be set to increase the optical path to different degrees, and then the entire optical path adjustment member can be placed between the emitter 11 and the emission lens 12 . Among them, if the distance between some of the light-emitting units 111 and the emission lens 12 is less than the focal length of the emission lens 12, and the distance between the remaining light-emitting units 111 and the emission lens 12 is equal to or greater than the focal length of the emission lens 12, then the alignment of the optical path adjustment member The optical path between each light-emitting unit 111 and the emitting lens 12 corresponding to the area with a small increase in the optical path is equal to the focal length of the emitting lens 12 to achieve dot matrix illumination; the optical path adjustment member corresponds to the area with a large increase in the optical path. The optical path between each light-emitting unit 111 and the emitting lens 12 is greater than the focal length of the emitting lens 12, thereby achieving flood lighting. If the distance between the light-emitting unit 111 and the emitting lens 12 is less than the focal length of the emitting lens 12, then the optical path length between each light-emitting unit 111 and the emitting lens 12 corresponding to the area of the optical path adjustment member with a small increase in the optical path is Less than the focal length of the emitting lens 12, flood lighting is achieved; the optical path between each light-emitting unit 111 and the emitting lens 12 corresponding to the area where the optical path increase is large is equal to the focal length of the emitting lens 12, achieving point Array lighting.

In this embodiment, the optical path adjustment member may be an optical device that can transmit the detection signal and increase the optical path between the light emitting unit 111 and the emission lens 12. For example, the optical path adjustment member may include flat glass and/or Or even light devices, etc. The uniform light device may be a microlens array, etc., which is not limited in this application.

Through the above fixed type method 2, simply using the optical path adjustment member can set up a lidar system with the lighting type being mixed lighting or flood lighting.

Fixed type method 3: If the lighting type of the system is mixed lighting, add an electronically controlled fogging glass device between the emitter 11 and the emission lens 12 .

When the lighting type of the system is mixed lighting, the emission module 1 may also include an electronically controlled atomizing glass device located between the emitter 11 and the emission lens 12 , the distance between each light-emitting unit 111 and the emission lens 12 is less than or equal to the focal length of the emission lens 12 . Among them, the electronically controlled atomization glass device allows the detection signal emitted by the light-emitting unit 111 to be directly transmitted and incident on the emission lens 12 when powered on, without changing the optical path between the light-emitting unit 111 and the emission lens 12 . The detection signal emitted by the light-emitting unit 111 received by the electronically controlled atomized glass device when the power is off scatters the uniform light and then is incident on the emission lens 12, so that the detection signal is scattered and uniformly illuminated by the light-emitting unit 111 of the electronically controlled atomized glass device. The optical path to the emitting lens 12 is increased.

Wherein, the control module 3 is also used to control power supply to a partial area of the electronically controlled atomized glass device, so that the light-emitting unit 111 corresponding to the power-off area of the electronically controlled atomized glass device is connected to the power-off area of the electronically controlled atomized glass device. The optical path between the emission lenses 12 is increased to be greater than or equal to the focal length of the emission lens 12, and the distance between the light-emitting unit 111 corresponding to the energized area of the electronically controlled atomized glass device and the emission lens 12 The optical path between them is maintained equal to or less than the focal length of the emitting lens 12 to achieve mixed illumination of the system.

For example, as shown in Figure 2, the distance between each light-emitting unit 111 and the emission lens 12 is equal to the focal length of the emission lens 12, and the electronically controlled atomization glass device can be located at the position of X in Figure 2 . Then, the optical path between the light-emitting unit 111 and the emitting lens 12 corresponding to the power-off area of the electronically controlled atomized glass device is increased to be larger than the focal length of the emitting lens 12 and can be flood-illuminated. The optical path between the light-emitting unit 111 and the emission lens 12 corresponding to the energized area of the fog control glass device is maintained equal to the focal length of the emission lens 12, enabling lattice illumination to achieve mixed illumination of the system.

Or, if the distance between each light-emitting unit 111 and the emission lens 12 is smaller than the focal length of the emission lens 12 . Then, the optical path between the light-emitting unit 111 and the emitting lens 12 corresponding to the power-off area of the electronically controlled atomized glass device is increased to be equal to the focal length of the emitting lens 12, which enables lattice illumination, and the electric The light path between the light-emitting unit 111 and the emission lens 12 corresponding to the energized area of the fog control glass device remains smaller than the focal length of the emission lens 12, allowing flood illumination to achieve mixed lighting of the system.

Among them, the electronically controlled atomized glass device can be controlled by partition to control the power-on state. The division of the controllable area of the electronically controlled atomized glass device can be set according to actual needs to control the areas of dot matrix lighting and floodlighting in mixed lighting. Make settings.

Through the above-mentioned fixed type method 3, the hybrid lighting of the system is realized by using the electronically controlled atomized glass device that can control the power supply in different areas.

In this implementation, the optical path between the light-emitting unit and the emission lens is changed through an optical path adjustable member, an electronically controlled atomized glass device, or by directly changing the distance between the emitter and the emission lens. This makes the system under dot matrix lighting, as shown in Figure 2, each light-emitting unit is in the focal plane configuration area; the system is under flood lighting, as shown in Figure 2, each light-emitting unit is in the non-focal plane configuration area; the system is under mixed lighting , as shown in Figure 2, the rest of the non-focal plane configuration area of each light-emitting unit is in the focal plane configuration area.

In a possible implementation, the emitting lens 12 and the receiving lens 22 may include any one of the following: a standard lens, a wide-angle lens, and a fisheye lens. This can ensure that the f-tanθ or f-θ distortion of the lens is small, so that the system's horizontal (vertical) field of view can be expanded to close to 180°. In a possible implementation, the transmitting lens 12 and/or the receiving lens 22 in the system can use a lens with an all-glass structure, which can improve the reliability of the system and reduce the reliability risk of vehicle regulations.

In this embodiment, since flood lighting is a homogenized emission energy, a certain detection distance will be sacrificed under the same field of view. In order to compensate for the detection performance of a specific area, dynamic configuration is implemented. The implementation of dynamic configuration includes: The control module 3 is also used to control the turn-on time and light-emitting time of each light-emitting unit 111 according to the detection scene, and to control the turn-on time and exposure time of each receiving unit 211.

In a possible implementation, the detection scene may be used to indicate a first light-emitting unit among the plurality of light-emitting units that needs to be turned on, and a first turn-on time and a first light-emitting unit corresponding to each of the first light-emitting units. Luminous time; wherein, controlling the turn-on time and light-emitting time of each of the light-emitting units according to the detection scene, and controlling the turn-on time and exposure time of each of the receiving units may include: the first time indicated by the detection scene. A light-emitting unit, the first turn-on time and the first light-emitting time determine the first receiving unit corresponding to each first light-emitting unit and the first turn-on time corresponding to each first receiving unit. and a first exposure time; control each of the first light-emitting units to turn on and continue to emit light according to the corresponding first turn-on time, and control each of the first receiving units to turn on and continue to emit light according to the corresponding first turn-on time. Continuous exposure is performed for at least the first exposure time. In this way, in the detection scene, the first light-emitting unit that needs to be turned on and the first turn-on time and the first light-emitting time corresponding to each first light-emitting unit are limited, so that "each light-emitting unit" can be controlled based on the detection scene. Precise control of the turn-on time and light-emitting time, and the turn-on time and exposure time of each receiving unit enables dynamic configuration based on the detection scene.

In this implementation, in order to ensure that the light-emitting unit transmits the detection signal and the receiving unit receives the echo signal in a timely and accurate manner, the first turn-on time and the first exposure time of each first receiving unit must be consistent with the corresponding first light-emitting unit. The first turn-on time and the first light-emitting time match, that is, each first receiving unit needs to be turned on synchronously with the corresponding first light-emitting unit at the latest. For example, the first turn-on time of the first receiving unit can be matched with the corresponding first light-emitting unit. The first turn-on time of a light-emitting unit is the same, or the first turn-on time of the first receiving unit may be earlier than the first turn-on time of the corresponding first light-emitting unit. Furthermore, the exposure time of each first receiving unit is at least equal to the first lighting time of the corresponding first lighting unit. For example, the first exposure time of the first receiving unit may be the same as the first lighting time of the corresponding first lighting unit. Or the first exposure time of the first receiving unit may be greater than the first light emitting time of the corresponding first light emitting unit.

In this implementation, when the detection scene indicates a first light-emitting unit and a first turn-on time and a first light-emitting time corresponding to each first light-emitting unit, the control module can be based on the first light-emitting unit and The first turn-on time and the first light-emitting time corresponding to each first light-emitting unit are determined to determine the first turn-on time and first exposure time of the first receiving unit corresponding to each first light-emitting unit. For example, the first turn-on time and the first exposure time corresponding to the first light-emitting unit can be determined. The first start time of a light-emitting unit is set as the first turn-on time of the corresponding first receiving unit, and the first light-emitting time of the first light-emitting unit is set as the first exposure time of the corresponding first receiving unit.

In this implementation, the first turn-on time and/or the first light-emitting time of different first light-emitting units may be the same or different. The first turn-on time and/or first light-emitting time of each first light-emitting unit may be adjusted according to actual needs. The first lighting time is set, and this application does not limit this.

In this implementation, detection scenarios can include long-distance detection, high-resolution short-range detection, selected field of view angle detection, detection detection, etc. Different detection scenarios can be adapted to different actual usage requirements.

4A-4B respectively show schematic diagrams of a one-dimensional addressable transmitter and a two-dimensional addressable transmitter. 5A-5C show a schematic diagram of the target surface effect of a lidar system according to an embodiment of the present application.

As shown in FIG. 4A and FIG. 4B , one-dimensional and two-dimensional addressable transmitters are used as examples to illustrate the dynamic configuration implementation method of the present application. One-dimensional addressable emitters can scan horizontally (or vertically). A single partition can contain only one column (or one row) or multiple columns (or multiple rows). The emitter array can be arranged in a matrix. arrangement or honeycomb arrangement or other arrangement. As shown in Figure 4A, the emitter scans in the horizontal direction. Each partition contains only one column, a total of m columns, and is arranged in a rectangular manner. In some embodiments, the turning on mode of the receiver may correspond to the turning on mode of the transmitter. For example, the transmitter turns on the i-th column in the m partitions, and the receiver also turns on the i-th column in the m partitions. And the exposure time is the same as the emission time of the emitter. Similarly, Figure 4B shows the emitter scanning in the horizontal direction. Each partition contains only 2×3 and is arranged in a rectangular manner. In some embodiments, the turning on mode of the receiver may correspond to the turning on mode of the transmitter. For example, the transmitter turns on the i-th partition among multiple partitions, and the receiver also turns on the i-th partition among the plurality of partitions. partition, and the exposure time is the same as the emitter's luminous time.

The following describes the implementation of dynamic configuration of the lidar system in detail. In the related art, the m areas of the one-dimensional addressable transmitter all emit light sequentially, and the light-emitting time t is consistent. However, this configuration is often affected by the illumination of the transmitting lens, resulting in uneven reception energy in the center partition and edge partition of the receiver, affecting The detection rate. To deal with similar "detection scenarios", the solution to dynamic configuration in the embodiment of the present application is to dynamically configure which luminescent area needs to emit light and the first luminous unit corresponding to the luminous area in the case of uneven energy. A turn-on time and a first light-emitting time. For example, when the system is factory calibrated and it is found that the detection rate in certain areas (the edge partition shown in the target surface effect shown in Figure 5A) is low, the light-emitting units in these areas can be set as the first light-emitting unit. The first light-emitting time of the first light-emitting unit in these areas is correspondingly increased. Of course, in order to ensure a consistent system frame rate, the first light-emitting time of the first light-emitting unit in a zone with stronger energy can also be correspondingly reduced. More generally, m partitions of the transmitter all emit light, but the lighting time of each partition is not necessarily the same, which can be t1, t2,...,tm respectively, so that the energy received by each area of the receiver is as uniform as possible, that is, the system is realized Detection performance is consistent across the entire field of view.

If the detection scene of certain selected field of view angle detection is part of the designed field of view angle (such as the target surface effect 2 in Figure 5B or the target surface effect 3 in Figure 5C), then the emitter can be dynamically configured in the embodiment of the present application. The first turn-on time and the first light-emitting time of the first light-emitting unit that needs to emit light (for example, for target surface effect two, you can only turn on the i-1th partition and the i-th partition corresponding to the required field of view in target surface effect two) Zone), the luminous time of each zone can be increased to m/2 times, enabling long-distance detection at a specific field of view. In some embodiments, less than m areas in the emitter can be controlled to emit light, and the first turn-on time and the first light-emitting time of the first light-emitting unit in the corresponding area can be dynamically configured to optimize the performance of the corresponding area's field of view. . In the same way, two-dimensional addressable transmitters can also be implemented in the same dynamic configuration method to adapt to the needs of different detection scenarios.

In some detection scenarios of long-distance detection, the field of view angle is designed to achieve long-distance detection. In the embodiment of the present application, the first turn-on time and the first light-emitting time of the first light-emitting unit that needs to emit light in the transmitter can be dynamically configured, and By controlling the first light-emitting time of each first light-emitting unit corresponding to the designed field of view to extend, long-distance detection can be achieved. The design field of view can also be part or all of the system's field of view.

In some high-resolution short-range detection detection scenarios that do not require high detection distance, in embodiments of the present application, the first turn-on time and the first light-emitting time of the first light-emitting unit that needs to emit light in the transmitter can be dynamically configured. Furthermore, the first light-emitting time of the first light-emitting unit in the lower energy area is extended to enhance detection accuracy.

6A-6B respectively show a schematic diagram of the target surface effect of the lidar system according to an embodiment of the present application. Among them, FIG. 6B is a schematic diagram of the target surface effect of flood lighting, and FIG. 6A is a schematic diagram of the target surface effect of dot matrix lighting. As shown in Figure 6A, for a lidar system with dot matrix illumination, generally the light spot of each light-emitting unit corresponds to each cluster of the receiver (for example, each cluster contains 6*6 receiver pixels as shown in Figure 6A). , at this time, the angular resolution of the lidar system is related to the number of light spots (also corresponding to the number of clusters). It can be seen in Figure 6A that a single light spot actually corresponds to approximately 12 receiver pixels (that is, the pixels corresponding to the light spot circle in Figure 6A), which means that the 12 receiver pixels can meet the detection rate requirements after being combined. If the dynamic configuration implementation provided in this application is adopted, the single spot energy can also be increased, and the number of receiver pixel combinations can be reduced to achieve the same detection rate. However, although reducing the area covered by the light spot can improve the resolution, the area that cannot be covered by the light spot is a black area (that is, no resolution), which will lead to uneven resolution of the system and affect practical applications. This problem does not exist with the flood lighting shown in Figure 6B. The flood lighting covers each cluster of the receiver and also covers all available pixels of the receiver (Figure 6B shows that the flood lighting covers 4 clusters, 144 receiver pixels), so when using dynamic configuration, you can freely choose the number of merged receiver pixels (the original cluster is equivalent to 6*6 merge), such as 3*3, 2*2 or even no merge, etc., and no matter what Optionally, system resolutions can be uniform. In addition, flood lighting does not require the number of light-emitting units in the emitter array to be consistent with the number of receiver clusters. Usually, due to limited light-emitting units, the number of light-emitting units can be smaller, but it can ensure that the angular resolution will not be reduced. Therefore, in actual use, the lighting type of the system can be set according to the actual detection scene.

Figure 7 shows a structural block diagram of a lidar system according to an embodiment of the present application. As shown in Figure 7, the system may also include a driving circuit 4 and a signal processing and ranging unit 5. Among them, the control module 3 generates a periodic pulse signal and drives the transmitter 11 to emit a narrow pulse laser S1 (that is, a detection signal) through the drive circuit 4. The control module 3 also sends a timing start signal to the signal processing and ranging unit 5. The narrow pulse laser S1 is collimated and homogenized by the transmitting lens 12 and then irradiated to the target M. The diffusely reflected light S2 (ie, the echo signal) of the target M is collected, filtered and transmitted to the receiver 21 by the receiving lens 22, and then passed to the receiver 21. The signal processing and ranging unit 5 obtains information such as the distance of the target M, and sends a termination signal to the control module 3 .

In a possible implementation, the receiving module 2 may also include an optical filter, which is used to filter the echo signal before transmitting the echo signal to the receiver 21 Perform filtering. Then the filter can be set in front of the receiving lens 22 so that the echo signal is first filtered by the filter and then received by the receiving lens 22, or the filter can also be set between the receiving lens 22 and the receiver 21, so that The echo signal is filtered while propagating from the receiving lens 22 to the receiver 21 , so that the echo signal received by the receiver 21 has been filtered by the optical filter. In this way, by setting the optical filter, the interference signal in the echo signal can be removed, and the adverse impact of the interference light on the subsequent detection of information such as the distance of the target based on the echo signal can be reduced.

In a possible implementation, the number of light-emitting units 111 in the system may be less than or equal to the number of receiving units 211 in the system. In this way, the angular resolution of the system is no longer limited by the number of light-emitting units, and a smaller number of light-emitting units can be used to maintain a greater angular resolution of the system.

The embodiment of the present application also provides another lidar system. The difference between this lidar system and the lidar system in the above embodiment is that the lighting type of the lidar system is not a single fixed type, but can be changed in real time. Adjustment. Then, as shown in Figure 1, the lidar system may include: a transmitting module 1, a receiving module 2 and a control module 3. The transmitting module 1 may include a transmitter 11 and a transmitting lens 12, and the receiving module 2 may include a receiving lens. 22 and receiver 21.

The transmitter 11 may include a plurality of light-emitting units 111 , and each light-emitting unit 11 is used to emit a detection signal for target detection under the control of the control module 3 . The emission lens 12 is located in the light-emitting direction of the emitter 11 and is used to collimate the detection signal and then send it out, so that the collimated detection signal S1 can be sent to the target M. The receiving lens 22 is used to transmit the received echo signal S2 to the receiver 21. The echo signal is the signal returned by the target M reflecting the detection signal S1. The receiver 21 may include multiple receiving units 211, each receiving unit 211 is used to receive the echo signal S2, and the optical path between each receiving unit 211 and the receiving lens 22 is equal to the receiving unit 211. The focal length of lens 22.

The control module 3 is used to adjust part or all of the optical path between the light-emitting unit 111 and the emission lens 12 according to the type of illumination currently being detected. Wherein, the lighting type of the system includes at least two of dot matrix lighting, flood lighting, and mixed lighting.

In this embodiment, the control module 3 adjusts part or all of the optical path between the light-emitting unit 111 and the emission lens 12 in an adjustable manner, including one or more of the following.

Type adjustable method one:

In this embodiment, if the illumination type of the system is dot matrix illumination and flood illumination, the emission lens 12 can be set as a zoom lens. The control module 3 can adjust the focal length of the emission lens 12 according to the type of illumination currently being detected, so as to adjust the optical path between each of the light-emitting units 111 and the emission lens 12 .

Among them, if the distance between each light-emitting unit 111 and the emission lens 12 is equal to the first focal length of the emission lens 12 (a certain focal length that the emission lens 12 can adjust when it is a zoom lens), then: When the current detection illumination type is dot matrix illumination, the control module 3 adjusts the focal length of the zoom lens to the first focal length, so that the optical path between each of the light-emitting units 111 and the emission lens 12 is equal to The focal length of the zoom lens is the same, realizing the lattice lighting of the system. When the lighting type currently being detected is flood lighting, the control module 3 adjusts the focal length of the zoom lens to the second focal length so that the optical path between each light-emitting unit 111 and the emission lens 12 Unlike the focal length of a zoom lens, flood lighting of the system is achieved. Among them, since the difference between the optical path between the light-emitting unit 111 and the emission lens 12 and the focal length of the zoom lens is different under flood lighting, the uniform light effect of the system is different, so the second focal length can be determined in advance according to the uniform light effect. The determined focal length value is such that the optical path between the light-emitting unit 111 and the emission lens 12 is greater than or equal to the focal length of the zoom lens.

If the distance between each of the light-emitting units 111 and the emitting lens 12 is greater than the third focal length of the emitting lens 12 (a certain focal length that the emitting lens 12 can adjust to when it is a zoom lens) and the focal length of the zoom lens is When it is the third focal length, the system can realize flood lighting, then: when the current detection lighting type is dot matrix lighting, the control module 3 adjusts the focal length of the zoom lens to the fourth focal length (at this time, the fourth focal length is equal to The distance between the current light-emitting unit 111 and the emission lens 12 ) is such that the optical path between each light-emitting unit 111 and the emission lens 12 is the same as the focal length of the zoom lens, thereby achieving lattice illumination of the system. When the type of lighting currently being detected is flood lighting, the control module 3 adjusts the focal length of the zoom lens to the third focal length to achieve flood lighting of the system.

If the distance between each of the light-emitting units 111 and the emission lens 12 is less than the fifth focal length of the emission lens 12 (a certain focal length that it can adjust when the emission lens 12 is a zoom lens) and the focal length of the zoom lens When it is the fifth focal length, the system can realize flood illumination, then: when the current detection illumination type is dot matrix illumination, the control module 3 adjusts the focal length of the zoom lens to the sixth focal length (at this time, the sixth focal length is equal to The distance between the current light-emitting unit 111 and the emission lens 12) is such that the optical path between each light-emitting unit 111 and the emission lens 12 is the same as the focal length of the zoom lens, thereby achieving lattice illumination of the system. When the type of lighting currently being detected is flood lighting, the control module 3 adjusts the focal length of the zoom lens to the fifth focal length to achieve flood lighting of the system.

In this way, through the type adjustable method 1, setting the emission lens to a zoom lens realizes the smooth switching of the lighting type of the lidar system between flood lighting and lattice lighting.

Type adjustable method two:

In this embodiment, the emission module 1 may further include: an optical path adjustment member. The optical path adjustment member may include flat glass and/or a uniform light device. The uniform light device may be a microlens array, etc., which is not limited in this application. In order to adjust the optical path, the emission module 1 may also include a driving component, and the control module 3 may control the driving component to move the optical path adjustment component into or out between the emitter 11 and the emission lens 12 (for example, where X is located in Figure 2 Location). The control module 3 is also used to adjust the relative positional relationship between the optical path adjustment member and the emitter 11 according to the current detection illumination type and the distance between the emitter 11 and the emission lens 12 , to realize adjustment of part or all of the optical path between the light-emitting unit 111 and the emission lens 12 .

Wherein, if the distance between each light-emitting unit 111 and the emission lens 12 is equal to the focal length of the emission lens 12, then:

If the control module 3 determines that the type of illumination currently being detected is the flood lighting, it controls the above-mentioned driving component to move the optical path adjustment member between the emitter 11 and the emission lens 12 so that each The optical path between the light-emitting unit 111 and the emission lens 12 is greater than the focal length of the emission lens 12. Or

If the control module 3 determines that the type of illumination currently being detected is the mixed illumination, it controls the above-mentioned driving component to move the optical path adjustment member into part of the space between the light-emitting unit 111 and the emitting lens 12, so that part of the The optical path between the light-emitting unit 111 and the emitting lens 12 is greater than the focal length of the emitting lens 12 , and the remaining optical path between the light-emitting unit 111 and the emitting lens 12 is equal to the focal length of the emitting lens 12 ;or

If the control module 3 determines that the type of illumination currently being detected is the dot matrix illumination, it controls the above-mentioned driving component to move the optical path adjustment member out from between the light-emitting unit 111 and the emission lens 12 (or if the current If the optical path adjustment member is not between the light-emitting unit 111 and the emission lens 12, the position of the optical path adjustment member does not need to be adjusted), so that the optical path between each of the light-emitting units 111 and the emission lens 12 is equal to the The focal length of the transmitting lens 12.

Alternatively, if the distance between each light-emitting unit 111 and the emission lens 12 is less than the focal length of the emission lens 12 and there is no optical path adjustment member between the light-emitting unit 111 and the emission lens 12, the system can be implemented Floodlighting, then:

If the control module 3 determines that the currently detected lighting type is the flood lighting, it controls the above-mentioned driving component to move the optical path adjustment member out from between the light-emitting unit 111 and the emission lens 12 (or if If the optical path adjustment member is not in the light emitting unit 111 and the emission lens 12, the position of the optical path adjustment member does not need to be adjusted). or

If the control module 3 determines that the type of illumination currently being detected is the mixed illumination, it controls the above-mentioned driving component to move the optical path adjustment member into part of the space between the light-emitting unit 111 and the emitting lens 12, so that part of the The optical path between the light-emitting unit 111 and the emitting lens 12 is equal to the focal length of the emitting lens 12 , and the remaining optical path between the light-emitting unit 111 and the emitting lens 12 remains smaller than the focal length of the emitting lens 12 . focal length; or

If the control module 3 determines that the type of illumination currently being detected is the dot matrix illumination, it controls the above-mentioned driving component to move the optical path adjustment member between the emitter 11 and the emission lens 12 so that each The optical path between the light-emitting unit 111 and the emission lens 12 is equal to the focal length of the emission lens 12 .

Through the above-mentioned type two adjustable method, the optical path adjustment component is used to realize the smooth switching of the lidar system between different lighting types.

Type adjustable method three:

In this embodiment, if the lighting type of the system includes mixed lighting and the lighting type also includes at least one of lattice lighting and flood lighting, then in the case where the emitting lens 12 is a zoom lens in the system, the emitting module 1 An electronically controlled atomization glass device may also be included, and the electronically controlled atomization glass device is disposed between the emitter 11 and the emission lens 12 .

Among them, if the control module 3 determines that the type of lighting currently being detected is the dot matrix lighting or the flood lighting (for the implementation method of adjusting the focal length of the zoom lens under dot matrix lighting and flood lighting, refer to the above "type adjustable method" 1", which will not be described in detail here), then the control is to energize all areas of the electronically controlled atomized glass device. Alternatively, if the control module 3 determines that the currently detected illumination type is the mixed illumination, it adjusts the focal length of the zoom lens until the distance between each of the light-emitting units 111 and the emission lens 12 is less than or equal to the required distance. The focal length and control of the zoom lens provide power to a partial area of the electronically controlled atomized glass device, so that the optical path between part of the light-emitting unit 111 and the emission lens 12 is not equal to the focal length of the emission lens 12, And the remaining optical path between the light-emitting unit 111 and the emission lens 12 is equal to the focal length of the emission lens 12 .

Through the above type three adjustable method, an electronically controlled atomizing glass device is set between the emitter and the emitting lens and the emitting lens is set as a zoom lens. All the electronically controlled atomizing glass devices are controlled under dot matrix lighting and flood lighting. The area is energized so that the detection signal can directly reach the emission lens through the electronically controlled atomized glass device, ensuring that the lattice lighting and flood lighting of the system can be realized by adjusting the focal length of the emission lens set as a zoom lens. Under mixed lighting, by supplying power to some areas of the electronically controlled atomized glass device, the optical path from the light-emitting unit corresponding to the power-off area of the electronically controlled atomized glass device to the emission lens is increased, corresponding to the electronically controlled atomized glass device. The optical path from the light-emitting unit in the power supply area to the emission lens does not increase. In this way, the system realizes mixed lighting as follows: if the focal length of the zoom lens makes the distance between each light-emitting unit and the emitting lens smaller than the focal length of the zoom lens, then the light-emitting units corresponding to the power-off area of the electronically controlled atomized glass device implement a lattice Illumination, the light-emitting unit corresponding to the power supply area of the electronically controlled fog glass device realizes flood lighting; if the focal length of the zoom lens makes the distance between each light-emitting unit and the emitting lens equal to the focal length of the zoom lens, then it corresponds to the electronically controlled fog The light-emitting unit in the power-off area of the atomized glass device realizes flood lighting, and the light-emitting unit corresponding to the power supply area of the electronically controlled atomized glass device realizes lattice lighting.

Type adjustable method four:

In this embodiment, the emission module 1 may also include an electronically controlled atomization glass device located between the emitter 11 and the emission lens 12 (for example, the position of X in Figure 2). The control module 3 is also used to control the power-on state of the electronically controlled atomized glass device according to the current detection lighting type and the distance between the light-emitting unit 111 and the emission lens 12 to adjust part or all of the The optical path between the light emitting unit 111 and the emission lens 12 .

Among them, if the control module 3 determines that the distance between the light-emitting unit 111 and the emission lens 12 is equal to the focal length of the emission lens 12, then:

If it is further determined that the type of illumination currently being detected by the system is the dot matrix illumination, control is provided to provide power to all areas of the electronically controlled atomized glass device; or

If it is further determined that the type of illumination currently being detected by the system is the flood lighting, the control stops supplying power to the electronically controlled atomized glass device, so that the light between each of the light-emitting units and the emitting lens The distance is greater than the focal length of the transmitting lens; or

If it is further determined that the type of illumination currently being detected by the system is mixed lighting, control is provided to supply power to a partial area of the electronically controlled atomizing glass device, so that the area corresponding to the power supply area of the electronically controlled atomizing glass device The optical path between the light-emitting unit and the emission lens is equal to the focal length of the emission lens, and the optical path between the light-emitting unit and the emission lens corresponding to the power-off area of the electronically controlled atomization glass device is greater than The focal length of the transmitting lens.

If the control module 3 determines that the distance between the light-emitting unit 111 and the emission lens 12 is smaller than the focal length of the emission lens 12, then:

If it is further determined that the type of illumination currently being detected by the system is the dot matrix illumination, the power supply to the electronically controlled atomized glass device is controlled to increase the optical path between the light emitting unit 111 and the emitting lens 12 to the emitting lens. 12 has the same focal length; or

If it is further determined that the type of illumination currently being detected by the system is the flood lighting, control is provided to supply power to all areas of the electronically controlled atomized glass device, so that the distance between each light-emitting unit and the emission lens The optical path is maintained smaller than the focal length of the emitting lens to achieve flood lighting; or

If it is further determined that the type of illumination currently being detected by the system is mixed lighting, control is provided to supply power to a partial area of the electronically controlled atomizing glass device, so that the area corresponding to the power supply area of the electronically controlled atomizing glass device The optical path between the light-emitting unit and the emission lens is smaller than the focal length of the emission lens, and the optical path between the light-emitting unit and the emission lens corresponding to the power-off area of the electronically controlled atomization glass device is equal to The focal length of the transmitting lens.

Through the above-mentioned type four adjustable method, the electronically controlled atomized glass device with zone-controlled power is used to realize the system switching between dot matrix lighting, flood lighting and mixed lighting, so that the system can meet the lighting type needs of different detection scenes. This makes the system applicable to a wider range.

Type adjustable method five:

In this embodiment, if the illumination type of the system includes dot matrix illumination and flood illumination, the system may also include a driving component. The control module 3 may detect the illumination type, the light-emitting unit 111 and the emission The distance between the lenses 12 controls the driving component to move the emission lens 12 and/or the emitter 11 to adjust the optical path between each of the light-emitting units and the emission lens to achieve switching between dot matrix lighting and flood lighting. .

Among them, one or both of the emission lens 12 and the emitter 11 can be moved to adjust the distance between them, thereby adjusting the optical path. For example, Control Module 3 can:

The transmitting lens 12 is controlled to be stationary and the transmitter 11 is moved close to the transmitting lens 12 along the optical axis. The transmitter 11 is controlled to be stationary and the transmitting lens 12 is moved close to the transmitter 11 along the optical axis. The transmitting lens 12 and the transmitter 11 are controlled to move along the optical axis simultaneously. The optical axes move in opposite directions to shorten the optical path to less than the focal length.

The emitter 11 is controlled not to move, and the emission lens 12 moves away from the emitter 12 along the optical axis direction. The emission lens 12 is controlled not to move, and the emitter 11 moves away from the emission lens 12 along the optical axis direction. Both the emission lens 12 and the emitter 11 are controlled to move along the optical axis. The optical axis moves in the opposite direction to increase the optical path length to be greater than the focal length.

In this way, through the above-mentioned type five adjustable method, the lighting type of the system can be switched by moving the emission lens and/or the emitter.

It can be understood that the lidar system provided in this application can switch and adjust a single illumination type or multiple illumination types by adjusting the optical path between part or all of the light-emitting units and the emission lens. . Among them, the implementation methods of a single lighting type system include: directly setting the distance between the light-emitting unit and the emitting lens, directly setting the optical path adjustment member, setting up electronically controlled atomization glass devices, etc. Implementation methods of a system that can switch and adjust multiple lighting types include: directly adjusting the distance between the light-emitting unit and the emitting lens, adjusting the relative positional relationship between the light path adjustment member and the light-emitting unit, adjusting the power-on state of the electronically controlled atomized glass device, etc. . In fact, those skilled in the art can set the implementation method of adjusting the optical path between the light-emitting unit and the emission lens according to actual needs, and this application does not limit this.

An embodiment of the present application provides an electronic device, including any one of the above lidar systems. Embodiments of the present application provide a control device, including: a processor and a memory for storing instructions executable by the processor; wherein the processor is configured to implement what the above control module executes when executing the instructions. method.

Embodiments of the present application provide a non-volatile computer-readable storage medium on which computer program instructions are stored. When the computer program instructions are executed by a processor, the method executed by the control module is implemented.

Embodiments of the present application provide a computer program product, including computer readable code, or a non-volatile computer readable storage medium carrying the computer readable code, when the computer readable code is stored in a processor of an electronic device When running, the processor in the electronic device executes the method executed by the control module.

Computer-readable storage media may be tangible devices that can retain and store instructions for use by an instruction execution device. The computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the above. More specific examples (non-exhaustive list) of computer-readable storage media include: portable computer disks, hard disks, random access memory (RAM), read only memory (Read Only Memory, ROM), erasable Programmable Read-Only Memory (Electrically Programmable Read-Only-Memory, EPROM or Flash Memory), Static Random-Access Memory (SRAM), Portable Compact Disc Read-Only Memory (Compact Disc Read-Only Memory, CD- ROM), Digital Video Disc (DVD), memory stick, floppy disk, mechanical encoding device, such as a punched card or a raised structure in a groove with instructions stored thereon, and any suitable combination of the above.

Computer-readable program instructions or code described herein may be downloaded from a computer-readable storage medium to various computing/processing devices, or to an external computer or external storage device over a network, such as the Internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and/or edge servers. A network adapter card or network interface in each computing/processing device receives computer-readable program instructions from the network and forwards the computer-readable program instructions for storage on a computer-readable storage medium in the respective computing/processing device .

The computer program instructions used to perform the operations of this application may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, status setting data, or one or more Source code or object code written in any combination of programming languages, including object-oriented programming languages—such as Smalltalk, C++, etc., and conventional procedural programming languages—such as the “C” language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server implement. In situations involving a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (e.g., using Internet service provider to connect via the Internet). In some embodiments, electronic circuits are customized by utilizing state information of computer-readable program instructions, such as programmable logic circuits, field-programmable gate arrays (Field-ProgrammableGate Arrays, FPGAs) or programmable logic arrays (Programmable Logic Array, PLA), the electronic circuit can execute computer-readable program instructions, thereby implementing various aspects of the application.

Various aspects of the present application are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.

These computer-readable program instructions may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus, thereby producing a machine that, when executed by the processor of the computer or other programmable data processing apparatus, , resulting in an apparatus that implements the functions/actions specified in one or more blocks in the flowchart and/or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium. These instructions cause the computer, programmable data processing device and/or other equipment to work in a specific manner. Therefore, the computer-readable medium storing the instructions includes An article of manufacture that includes instructions that implement aspects of the functions/acts specified in one or more blocks of the flowcharts and/or block diagrams.

Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other equipment, causing a series of operating steps to be performed on the computer, other programmable data processing apparatus, or other equipment to produce a computer-implemented process , thereby causing instructions executed on a computer, other programmable data processing apparatus, or other equipment to implement the functions/actions specified in one or more blocks in the flowcharts and/or block diagrams.

The flowcharts and block diagrams in the figures illustrate the architecture, functionality and operations of possible implementations of apparatuses, systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions that embody one or more logic for implementing the specified Function executable instructions. In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two consecutive blocks may actually execute substantially in parallel, or they may sometimes execute in the reverse order, depending on the functionality involved.

It will also be noted that each block of the block diagram and/or flowchart illustration, and combinations of blocks in the block diagram and/or flowchart illustration, can be implemented by hardware (such as circuits or ASICs) that perform the corresponding function or action. SpecificIntegrated Circuit, application-specific integrated circuit)), or can be implemented with a combination of hardware and software, such as firmware.

Although the present invention has been described herein in conjunction with various embodiments, those skilled in the art, in practicing the claimed invention, will understand and understand by reviewing the drawings, the disclosure, and the appended claims. Other variations of the disclosed embodiments are implemented. In the claims, the word "comprising" does not exclude other components or steps, and "a" or "an" does not exclude a plurality. A single processor or other unit may perform several of the functions recited in the claims. The mere fact that certain measures are recited in mutually different dependent claims does not mean that a combination of these measures cannot be combined to advantageous effects.

The embodiments of the present application have been described above. The above description is illustrative, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope of the illustrated embodiments. The terminology used herein is chosen to best explain the principles, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims (23)

1. A lidar system, characterized in that the system includes: a transmitting module, a receiving module and a control module, the transmitting module includes a transmitter and a transmitting lens, and the receiving module includes a receiving lens and a receiver; The transmitter includes a plurality of light-emitting units, each light-emitting unit is used to emit a detection signal under the control of the control module; The emission lens is used to collimate the detection signal and then send it out; The receiving lens is used to transmit the received echo signal to the receiver, where the echo signal is the signal returned by the target reflecting the detection signal; The receiver includes a plurality of receiving units, each of which is configured to receive the echo signal; Wherein, the optical path between some or all of the light-emitting units and the transmitting lens is not equal to the focal length of the transmitting lens, and the optical path between each of the receiving units and the receiving lens is equal to the focal length of the receiving lens. Focal length, the lighting type of the system is flood lighting or mixed lighting. 2. The system according to claim 1, characterized in that the emission module further includes: an optical path adjustment member, the optical path adjustment member includes flat glass and/or a uniform light device, and each of the light-emitting units The distance from the emission lens is equal to the focal length of the emission lens; Wherein, the lighting type of the system is flood lighting, and the optical path adjustment member is located between the emitter and the emission lens, so that the optical path between each of the light-emitting units and the emission lens is Greater than the focal length of the emitting lens to achieve flood illumination of the system; or, The lighting type of the system is mixed lighting, and the optical path adjustment member is located between part of the light-emitting units and the emission lens, so that the optical path between part of the light-emitting units and the emission lens is greater than the The focal length of the emitting lens and the optical path between the remaining light-emitting units and the emitting lens are equal to the focal length of the emitting lens to achieve mixed lighting of the system. 3. The system according to claim 1, wherein the lighting type of the system is flood lighting, and the distance between each of the light-emitting units and the emitting lens is smaller than the focal length of the emitting lens, In this way, the optical path between each light-emitting unit and the emitting lens is smaller than the focal length of the emitting lens, thereby realizing flood illumination of the system. 4. The system according to claim 1, wherein the lighting type of the system is flood lighting, and the distance between each of the light-emitting units and the emitting lens is greater than the focal length of the emitting lens, In this way, the optical path between each light-emitting unit and the emitting lens is greater than the focal length of the emitting lens, thereby realizing flood illumination of the system. 5. The system according to claim 1, characterized in that the lighting type of the system is mixed lighting, the emission module further includes an electronically controlled atomizing glass device, the electronically controlled atomizing glass device is located on the between the emitter and the emission lens, the distance between the emitter and the emission lens is less than or equal to the focal length of the emission lens, Wherein, the control module is also used to control power supply to a partial area of the electronically controlled atomized glass device, so that the light-emitting unit corresponding to the power-off area of the electronically controlled atomized glass device is connected to the emitting unit. The optical path between the lenses is increased to be greater than or equal to the focal length of the emitting lens, and the optical path between the light-emitting unit corresponding to the energized area of the electronically controlled atomized glass device and the emitting lens is maintained Equal to or less than the focal length of the emitting lens, the mixed illumination of the system is achieved. 6. The system according to any one of claims 1 to 5, characterized in that the control module is also used to control the turn-on time and lighting time of each light-emitting unit according to the detection scene, and to control each light-emitting unit. The opening time and exposure time of the receiving unit. 7. The system according to claim 6, wherein the detection scene is used to indicate the first light-emitting unit that needs to be turned on among the plurality of light-emitting units, and the first light-emitting unit corresponding to each of the first light-emitting units. Turn-on time and first light-emitting time; Wherein, controlling the turn-on time and light-emitting time of each of the light-emitting units according to the detection scene, and controlling the turn-on time and exposure time of each of the receiving units include: According to the first light-emitting unit, the first turn-on time and the first light-emitting time indicated by the detection scene, the first receiving unit corresponding to each of the first light-emitting units and each of the first light-emitting units are determined. The first opening time and the first exposure time corresponding to the first receiving unit; Control each of the first light-emitting units to turn on according to the corresponding first turn-on time and continue to emit light for the first light-emitting time, and control each of the first receiving units to turn on according to the corresponding first turn-on time and at least perform the first Continuous exposure for exposure time. 8. The system according to any one of claims 1 to 7, characterized in that the receiving module further includes an optical filter, the optical filter is used to transmit the echo signal to the receiving The echo signal is filtered before the detector. 9. The system according to any one of claims 1 to 8, characterized in that the receiving lens and the transmitting lens include any one of the following: a standard lens, a wide-angle lens and a fisheye lens. 10. The system according to any one of claims 1 to 9, characterized in that the number of light-emitting units in the system is less than or equal to the number of receiving units in the system. 11. A lidar system, characterized in that the system includes: a transmitting module, a receiving module and a control module, the transmitting module includes a transmitter and a transmitting lens, and the receiving module includes a receiving lens and a receiver; The transmitter includes a plurality of light-emitting units, each light-emitting unit is used to emit a detection signal under the control of the control module; The emission lens is used to collimate the detection signal and then send it out; The receiving lens is used to transmit the received echo signal to the receiver, where the echo signal is the signal returned by the target reflecting the detection signal; The receiver includes a plurality of receiving units, each receiving unit is used to receive the echo signal, and the optical path between each receiving unit and the receiving lens is equal to the focal length of the receiving lens; The control module is used to adjust the optical path between part or all of the light-emitting unit and the emission lens according to the type of illumination currently being detected, Wherein, the lighting type of the system includes at least two of dot matrix lighting, flood lighting, and mixed lighting. 12. The system according to claim 11, wherein the emission module further includes an optical path adjustment member, and the optical path adjustment member includes flat glass and/or a light uniformity device; Wherein, adjusting the optical path between part or all of the light-emitting unit and the emission lens according to the type of illumination currently being detected includes: According to the type of illumination currently being detected and the distance between the emitter and the emission lens, the relative positional relationship between the optical path adjustment member and the emitter is adjusted to realize part or all of the light-emitting unit and the emitter. Adjustment of the optical path between the emission lenses. 13. The system according to claim 11, wherein if the illumination type of the system includes the dot matrix illumination and the flood illumination, the emitting lens is configured as a zoom lens, Wherein, adjusting the optical path between part or all of the light-emitting unit and the emission lens according to the type of illumination currently being detected includes: If the lighting type currently being detected is the flood lighting, adjust the focal length of the zoom lens so that the optical path between each light-emitting unit and the emission lens under the dot matrix lighting is not equal to the the focal length of the zoom lens; or If the illumination type currently being detected is the dot matrix illumination, adjust the focal length of the zoom lens so that the optical path between each light-emitting unit and the emission lens under the dot matrix illumination is equal to the The focal length of a zoom lens. 14. The system according to claim 13, characterized in that, if the lighting type of the system also includes the hybrid lighting, the emission module further includes an electronically controlled atomized glass device, and the electronically controlled atomized glass device The device is disposed between the transmitter and the transmitting lens; Wherein, adjusting the optical path between part or all of the light-emitting unit and the emission lens according to the type of illumination currently being detected also includes: If the lighting type currently being detected is the dot matrix lighting or the flood lighting, control is performed to energize all areas of the electronically controlled atomized glass device; or If the illumination type currently being detected is the mixed illumination, adjust the focal length of the zoom lens until the distance between each of the light-emitting units and the emission lens is less than or equal to the focal length of the zoom lens and control the Partial areas of the electronically controlled atomized glass device are powered so that the optical path between some of the light-emitting units and the emitting lens is not equal to the focal length of the emitting lens, and the distance between the remaining light-emitting units and the emitting lens is The optical path between is equal to the focal length of the emitting lens. 15. The system according to claim 11, wherein the transmitting module further includes: An electronically controlled atomization glass device is provided between the emitter and the emission lens; Wherein, adjusting the optical path between part or all of the light-emitting unit and the emission lens according to the type of illumination currently being detected includes: According to the current detection lighting type and the distance between the light-emitting unit and the emission lens, the power-on state of the electronically controlled atomization glass device is controlled to adjust the optical path between part or all of the light-emitting unit and the emission lens. . 16. The system according to claim 11, wherein if the lighting type of the system includes the dot matrix lighting and the flood lighting, the system further includes: a driving component, Wherein, adjusting the optical path between part or all of the light-emitting unit and the emission lens according to the type of illumination currently being detected includes: According to the current detection illumination type and the distance between the light-emitting unit and the emission lens, the driving component is controlled to move the emission lens and/or the emitter to adjust part or all of the light-emitting unit and the emission lens the optical path between. 17. The system according to any one of claims 11-16, characterized in that the control module is also used to control the turn-on time and lighting time of each light-emitting unit according to the detection scene, and to control each light-emitting unit. Describe the opening time and exposure time of the receiving unit. 18. The system according to claim 17, wherein the detection scene is used to indicate the first light-emitting unit that needs to be turned on among the plurality of light-emitting units, and the first light-emitting unit corresponding to each of the first light-emitting units. Turn-on time and first light-emitting time; Wherein, controlling the turn-on time and light-emitting time of each of the light-emitting units according to the detection scene, and controlling the turn-on time and exposure time of each of the receiving units include: According to the first light-emitting unit, the first turn-on time and the first light-emitting time indicated by the detection scene, the first receiving unit corresponding to each of the first light-emitting units and each of the first light-emitting units are determined. The first opening time and the first exposure time corresponding to the first receiving unit; Control each of the first light-emitting units to turn on according to the corresponding first turn-on time and continue to emit light for the first light-emitting time, and control each of the first receiving units to turn on according to the corresponding first turn-on time and at least perform the first Continuous exposure for exposure time. 19. The system according to any one of claims 11-18, characterized in that the receiving module further includes an optical filter, the optical filter is used to transmit the echo signal to the receiving The echo signal is filtered before the detector. 20. The system according to any one of claims 11 to 18, characterized in that the receiving lens and the transmitting lens include any one of the following: a standard lens, a wide-angle lens and a fisheye lens. 21. The system according to any one of claims 11-20, characterized in that the number of light-emitting units in the system is less than or equal to the number of receiving units in the system. 22. An electronic device, characterized by comprising: the system according to any one of claims 1-10, or the system according to any one of claims 11-21. 23. A vehicle, characterized by comprising: the system according to any one of claims 1-10, or the system according to any one of claims 11-21.