WO2019091004A1

WO2019091004A1 - Solid-state planar array laser radar device and detection method

Info

Publication number: WO2019091004A1
Application number: PCT/CN2018/075408
Authority: WO
Inventors: 郑凯; 梁炳寅; 疏达; 李�远
Original assignee: 北醒（北京）光子科技有限公司
Priority date: 2017-11-07
Filing date: 2018-02-06
Publication date: 2019-05-16

Abstract

A solid-state planar array laser radar device and a detection method for the solid-state laser radar device. The solid-state planar array laser radar device comprises a transmitting module and a receiving module keeping a fixed positional relationship with the transmitting module. The transmitting module comprises an array laser device, the array laser device comprises multiple single laser light sources disposed in an array manner, and the single laser light sources emit laser according to a set order and a set interval. The receiving module comprises a planar array photoelectric sensor, and the planar array photoelectric sensor comprises pixels disposed in an array manner. The planar array photoelectric sensor controls part or all of the pixels to receive laser emitted from the corresponding single laser light sources. The solid-state planar array laser radar device does not have any mechanical rotating parts, improves the stability of the laser radar device, and is suitable for mass production.

Description

Solid-state area array laser radar device and detection method

This application is required to be submitted to the Chinese Patent Office on November 7, 2017, the application number is 201711082437.4, the Chinese patent application titled "A Solid-State Area Laser Lidar Device" and submitted to the China Patent Office on November 7, 2017. The priority of the Chinese Patent Application No. 201711082430.2, the entire disclosure of which is incorporated herein by reference.

Technical field

The present application relates to the field of laser radar measurement technology, and in particular to a solid-state area array laser radar device and a solid-state array laser radar detection method.

Background technique

The optical scanning distance measuring device is a device for performing non-contact scanning ranging by using a collimated beam and a method of time of flight (TOF), triangulation, and the like. At present, a conventional optical scanning distance measuring device includes a light emitting module, an optical lens, and a chip that receives and processes signals. The light emitting module emits a light beam, and the optical lens is located on the optical path of the light emitting module, and the collimated light beam is emitted to the surface of the object to be measured. After encountering the obstacle, the light beam is reflected onto the receiving chip, and the receiving chip is transmitted between the receiving and receiving. The time, phase difference, and known speed of light can be used to determine the distance of the measured object to the device. Such a device installs components such as a light-emitting module, an optical lens, a light-receiving module, and the like for distance measurement on a continuously rotatable platform to perform scanning of a collimated beam, and a 360-degree environmental distance signal can be obtained by rotating the motor. The rotating part and the fixed part are powered by the conductive slip ring and transmit data; or can be fixedly mounted on the moving upper machine, and the obstacles of the corresponding measuring area are detected as the upper machine advances, retreats or turns, the above two modes Currently widely used in robot environment scanning, planning paths, obstacle avoidance navigation, security detection and so on.

The existing optical scanning distance measuring device adopts components such as mechanical rotation or mechanical mirror, which is not conducive to mass production of the scanning distance measuring device.

Summary of the invention

The present application discloses a solid-area area array laser radar, which does not have any mechanical rotating parts, improves the stability of the laser radar, and is suitable for mass production. In particular, a long range solid area array ranging apparatus and method are provided.

Specifically, the purpose of the present application is to provide a solid-state area array laser radar device, which solves the structure of a conventional laser radar with mechanical rotation and an encoder by a fixed position setting of a transmitting module and a receiving module, and has a complicated structure and space occupation. Large, complicated assembly process; the laser laser light source is arranged in a set sequence and interval by a single laser light source, and the area array photoelectric sensor controls part or all of the pixels to receive the laser light corresponding to a single laser light source, expanding the laser radar The detection area of the device realizes long-range large area array laser ranging, and provides an environment detecting device capable of long-term long-distance coverage, large-scale stability, better accuracy, and higher efficiency.

To this end, the application uses the following technical solutions:

A solid-state area array laser radar comprising: a transmitting module and a receiving module in a fixed positional relationship with the transmitting module, the transmitting module comprising an array laser, the array laser comprising a plurality of single laser light sources arranged in a display, the single The laser light source emits laser light according to a set sequence and interval, the receiving module includes an area array photoelectric sensor, the area array photoelectric sensor includes pixels arranged to display, and the area array photoelectric sensor controls part or all of the pixels to receive a corresponding single laser light source. The laser that is emitted.

Preferably, the method further includes a main control module connected to the transmitting module and the receiving module, the main control module comprising a plurality of pins corresponding to the single laser light source.

Preferably, the array laser emits at least one single laser light source, the emission unit transmits according to a set transmission order and a transmission interval, and the area array photosensor adopts at least one pixel as a receiving area, and the receiving The area is received sequentially according to the set receiving order and the receiving interval.

Preferably, a plurality of single laser light sources are arranged in a line, the array lasers are in a single laser light source as a unit of emission; the pixels of the area array photosensors are arranged in a matrix, and the arrayed photosensors are in pixels per row or column A receiving area that is perpendicular to a single laser source.

Preferably, the plurality of single laser light sources are arranged in a horizontal straight line, and the arrayed photosensors are received regions in each vertical column, and the transmission interval of the single laser light source is greater than or equal to the interval at which the receiving region receives the reading.

Preferably, an emitting lens is further disposed in a laser emitting direction of the array laser, and a receiving lens is further disposed in a receiving direction of the area array photosensor.

Preferably, the area array photosensor has 1*262 single laser sources covering a range of 50°*25°; the area array photosensor has 262*144 pixels, each pixel covering a field of 0.17°*0.17° angle.

Preferably, when one or more pixels of the area array photosensor are operated, a part of the pixels that have not entered the working state act as a buffer to buffer the electrical signals of the working pixels.

A method for detecting a solid-state laser radar device, wherein the array laser in the transmitting module works in a time-sharing manner, and the area array photoelectric sensor in the receiving module works in a time-sharing manner;

Step 1: The main control module sends a signal to the transmitting module, and one of the array lasers in the transmitting module works to emit the detecting light;

Step 2: At the same time as step 1, the main control module sends a signal to the receiving module, and the array photoelectric sensor performs the work corresponding to the column corresponding to the single laser light source working in the first step;

Step 3: the column of the area array photosensor operates to receive the probe light reflected by the measured object, and convert the light into electrical signal information;

Step 4: The signal processing module reads the electrical signal information received by the column of the area array photoelectric sensor, and the signal processing module compares the time difference between the probe light emitted by the transmitting module and the reflected back received by the column in the receiving module. Calculating the distance value based on the pulse time of flight method;

Step 5, repeating steps 1 to 4, wherein each time the step 1 is repeated, the main control module controls different single laser light sources in the array laser to operate; until all the single laser light sources in the array laser in the reflective module have been operated at least once, Complete one-point point cloud distance data detection of the solid-state Lidar device.

Preferably, the emission field of view angle of the single laser source operating in step one has at least a coincident portion with the angle of view of the field of view of the column of the array mode photosensors in step two.

Preferably, in step 3, the electrical signal information is stored in the buffer unit, and the column pixels that do not work in the area array photosensor of the receiving module serve as a buffer unit.

Preferably, the photoelectric sensor performs four detection samplings when receiving the detection light reflected back by the measured object, and based on the four detection sampling data, the time corresponding to the pulse centroid of the received detection light is calculated, and the calibration is performed. The time at which the receiving module receives the probe light reflected back by the measured object.

Preferably, the two columns operating in time series in the area array photosensor are two adjacent columns or two columns that are not adjacent.

Preferably, the two individual laser sources operating in time series in the array laser are two adjacent, or two adjacent ones.

The utility model has the advantages that the fixed position of the transmitting module and the receiving module is substituted for the structure of the traditional mechanical rotation and the encoder, the structure is simple, the space occupation is small, and the assembly process is greatly simplified. A plurality of single laser light sources emit laser light according to a set sequence and interval, which increases the emission range of the transmitting module, solves the problem of crosstalk between individual laser light sources, and improves the rational use of the power of the array laser, thereby reducing the power consumption of the array laser. The pressure of heat dissipation. The area array photosensor controls part or all of the pixels to receive the structure corresponding to the laser light emitted by the single laser source, and expands the detection area of the laser radar device by completely solid-state structure setting and expanding the field of view of the receiving module. The long-range large-area laser ranging provides a wide range of environmental detection devices with long-term and long-distance coverage, better stability, better accuracy and higher efficiency.

DRAWINGS

Figure 1 is a schematic block diagram of the structure of a solid-state array laser radar;

Figure 2 is a schematic diagram of the workflow of a solid-state array laser radar.

Detailed ways

The technical solutions of the present application will be further described below with reference to the accompanying drawings and specific embodiments.

It should be noted that the embodiments in the present application and the features in the embodiments may be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings.

The technical solutions in the embodiments of the present application are described below in conjunction with the accompanying drawings in the embodiments of the present application.

It should be noted that the terms "first", "second" and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or order. It should be understood that the data so used may be interchanged where appropriate to facilitate the embodiments of the present application described herein. In addition, the terms "comprises" and "comprises" and "the" and "the" are intended to cover a non-exclusive inclusion, for example, a process, method, system, product, or device that comprises a series of steps or units is not necessarily limited to Those steps or units may include other steps or units not explicitly listed or inherent to such processes, methods, products or devices.

The present application provides a solid-state array laser radar comprising: a transmitting module and a receiving module in a fixed positional relationship with the transmitting module, the transmitting module comprising an array laser, the array laser comprising a plurality of single laser light sources arranged and arranged a single laser light source emits laser light according to a set sequence and interval, the receiving module includes an area array photoelectric sensor, the area array photoelectric sensor includes pixels arranged to display, and the area array photoelectric sensor controls a part of pixels to receive a corresponding single laser light source. The laser that is emitted.

By the fixed position setting of the transmitting module and the receiving module, the traditional mechanical rotation and encoder structure is replaced, the structure is simple, the space occupation is small, and the assembly process is greatly simplified; multiple single laser light sources are emitted according to the set sequence and interval. The setting of the laser increases the emission range of the transmitting module, solves the problem of crosstalk between the individual laser sources, improves the rational utilization of the power of the array laser, and reduces the pressure of heat dissipation; the area array photoelectric sensor control part Or all pixels receive the structure corresponding to the laser light emitted by a single laser light source, and the detection area of the laser radar device is extended by the completely solid structure setting and the expansion of the field of view of the receiving module, thereby realizing the long-range large area array laser measurement. The distance provides a wide range of environmental detection devices with long-term and long-distance coverage, better stability, better accuracy and higher efficiency.

In order to obtain a larger field of view that meets the demand, the test process reduces the occupation of a CPU (Central Processing Unit), which is based on at least one single laser source, and the emission unit is set according to the setting. The transmission sequence and the transmission interval are transmitted one by one.

The emission unit may be a single laser source, and the emission order of the plurality of single laser sources in the array laser may be from left to right or from right to left, top to bottom or bottom to top, row by row or column by column. Alternatively, the firing order of the individual laser sources may be successive transmissions of equidistantly spaced laser sources, or successive transmissions of unequal spaced laser sources, or even any combination of the above several transmission sequences. The setting of a single laser light source as the emission unit reduces the power requirement of the array laser, achieves the purpose of low-power remote transmission, and solves the problem that multiple light sources simultaneously emit crosstalk during the working process of the receiving module.

The emission unit may also be two or more single laser light sources, preferably the two or more single laser light sources have a set interval, and the number of single shots of the two or more single laser light sources may be Adjusted according to the distance of the range, the above-mentioned emission unit is a setting of two or more single laser light sources with a set interval, which solves the problem that the power load of the transmitting module is large, and also takes into account the longer range. The problem is that the solid-area array laser radar has different measurement ranges by adjusting the single laser source, and the measurement is accurate within each measurement.

The area array photosensor has at least one pixel as a receiving area, and the receiving area is sequentially received according to a set receiving order and a receiving interval. In a specific implementation, the solid-state array laser radar is in a row or a column corresponding to a single laser light source in order to obtain a faster test rate and a wider test range, in order to further quickly and accurately determine the test. As a result, the orientation of the corresponding obstacle is perpendicular to the line of the single laser source.

In the array laser, a plurality of single laser light sources are arranged in a horizontal line. The area array photosensor is exemplified by each vertical column as a receiving area, and the array laser includes 1*262 single laser light sources. The sensor comprises 144*262 pixels capable of outputting a current signal corresponding to the laser, and 262 individual laser sources of the array laser correspond to 262 columns of pixels of the array photosensor, the array laser A total of 262 horizontal laser beams are emitted from left to right. Correspondingly, the pixels of the same column of the area array photosensor receive an electrical signal returned by the corresponding single laser light source and reflected by the detected area, and the main control module responds to the calculation output of the electrical signal. Ranging results. Preferably, the transmission interval of the single laser light source is greater than or equal to the interval of the receiving area from the received optical signal to the read electrical signal to ensure normal operation of the area array photosensor signal input and output.

Of course, when applicable, a single laser light source may correspond to two or more columns of pixels to obtain more accurate obstacle information. In order to obtain a longer detection distance, a single laser light source may be corresponding to one column. , two or more columns of pixels. The number of individual laser sources and pixels includes, but is not limited to, 1*262 and 144*262.

When a plurality of single laser light sources are arranged in a vertical line, the area array photosensors are arranged in each row, every two rows or each of the multiple receiving regions, and the specific operation is referred to the above embodiment in which a plurality of single laser light sources are arranged in a horizontal line. ,No longer.

When the array laser includes N rows * M columns of a single laser light source, the area array photosensor includes H rows * W columns of pixels that can output current signals corresponding to the incident laser, wherein N, M, H And W are positive integers greater than one. The individual laser sources of each row correspond to different dimensions of the area array photosensors to increase the measurement angle and measurement accuracy of the solid state laser measuring device in the vertical direction. The remaining plurality of single laser light sources are arranged in a horizontal linear arrangement and/or a plurality of single laser light sources are arranged in a vertical line, and will not be described again.

Among them, the single laser light source in the array laser has a transmission power of 300W. A person skilled in the art can specifically select the size of the transmission power of a single laser light source as needed.

Further, the array laser has 1*262 single laser light sources covering a range of 50°*25°, and an emission power source per 0.19° in an average horizontal direction, and a horizontal divergence angle of each single laser light source is 0.17°; the array laser passes The control circuit individually controls the emission timing of each individual laser source. The pulse width of the array laser is 5 ns (FWHM), and the laser frequency of the array laser is preferably 905 nm.

The area array photosensor has 262*144 pixels, each of which covers an angle of view of 0.17°*0.17°. The area array photosensor is preferably a CCD. The sampling rate of the CCD is 250 MHz, that is, 4 ns is sampled once. The area array photosensor has a quantum efficiency of up to 70% in the 905 nm band. This efficient quantum efficiency is achieved using ESPROS' OHC15L technology. At the same time, the sensitivity of the area array photosensor is 20e-. The area array photosensor has a charge capacity of up to 10^6e-.

Preferably, the performance of the sub-area photosensors in the working area is such that when the working area receives the optical signal, the non-working area pixels are in an idle state, in order to increase the efficiency of photoelectric signal conversion of the working area pixels, and improve the entire area array. The utilization of the photoelectric sensor, when one or more pixels of the area array photosensor are operated, a part of the pixels that have not entered the working state act as a buffer to buffer the electrical signals of the working pixels.

A single laser source emits with a 5 ns transmit pulse. The area array photosensor will have a certain degree of time dimension broadening during the receiving process, and will be performed by a CCD (Charge-coupled Device) during the solution process. Subsampling is acquired, and a more accurate distance is obtained by calculating the centroid of the pulse.

Because the array laser includes multiple single laser sources, whether it is a control circuit connected to a single laser source or a power source for a single laser source, it will be a huge structure, in order to further simplify the structure and improve the utilization of the circuit, A single laser source shares part of the circuit components. The solid-state array laser radar further includes a main control module connected to the transmitting module and the receiving module, the main control module includes a plurality of pins corresponding to a single laser light source, and the plurality of transmitting power sources include at least one a group control circuit, each set of said control circuit comprising a plurality of parallel control sub-circuits and a current limiting resistor and a storage capacitor respectively connected in series with the control sub-circuit, said control sub-circuit comprising a series-connected MOSFET (Metal-Oxide -Semiconductor Field-Effect Transistor, metal oxide semiconductor field effect transistor) drive and MOSFET, each MOSFET is connected in series with the corresponding transmit power supply. A plurality of control sub-circuits share a current limiting resistor and a storage capacitor, which reduces the configuration of the electrical components while maintaining the operating efficiency of the transmitting power source, simplifies the circuit, and maintains stable operation of the array laser.

Because both the MOSFET drive and the MOSFET require a large voltage, in order to properly distribute the power supply and reduce the amount of power and space occupied, each of the control circuits includes a driving power supply in series with each MOSFET drive in the group, and within the group. Each MOSFET is connected in series with a MOSFET power supply.

In order to improve the light collimation of the single laser source, an emission lens is further disposed in the laser emission direction of the array laser. In order to improve the convergence and collimation of the incident light, the receiving direction of the area array photosensor is also set. There is a receiving lens. In one of the embodiments, the receiving lens has a diameter of 20 mm. Optionally, the receiving lens is a lens of F#0.8.

In summary, the fixed position of the transmitting module and the receiving module replaces the traditional mechanical rotation and encoder structure, the structure is simple, the space occupation is small, and the assembly process is greatly simplified; at least part of the single laser light source is set according to The arrangement of the lasers in the sequence and interval increases the emission range of the transmitting module, solves the problem of crosstalk between individual laser sources, and improves the rational utilization of the power of a single laser source, reducing the pressure of heat dissipation; The area array photoelectric sensor controls part or all of the pixels to receive the laser light corresponding to the single laser light source, and expands the detection area of the laser radar device through the completely solid structure setting and the expansion of the field of view of the receiving module, realizing the far Large-area laser ranging provides a wide range of environmental detection devices with long-term, long-range coverage, better stability, better accuracy, and higher efficiency.

The application also discloses a working method of a solid area array laser radar device.

In the specific working process, the array laser in the transmitting module works in a time-sharing manner. The main control module sends a signal to the driving circuit in the transmitting module. Each measurement in the time-sharing operation only performs the opening of one single laser light source of the transmitting module. After all the single laser light sources of the array laser are turned on, the solid state The area array laser radar completes the complete detection of one frame of data. In one of the embodiments, in the 1*262 array laser, each of the laser sources in the array laser operates separately in time, only one of the individual laser sources is turned on at a time, and then the next source is turned on and the distance is made. probe. After each single laser source performs an opening process, 262 detection processes are completed, and 262 distance information calculated by the signal processing module is combined into a point cloud distance data to complete one frame of data detection of the solid area array laser radar. process. Wherein, the working of the two light sources before and after the timing may be two adjacent single laser sources in the array laser, or may not be two adjacent single laser sources.

In the receiving module, it is a 262*144 area array photoelectric sensor, which uses time or column time-sharing operation. In one of the embodiments, the area array photosensor operates in a time division manner as a unit and corresponds to a corresponding array laser operation timing. For example, when the first single laser source of the array laser is operating, the main control module controls the operation of the column 1 photosensor unit corresponding to the array photosensor in the receiving module.

The specific working process of one of the preferred embodiments of the solid-state array laser radar is as follows:

At the beginning of the detection, the main control module sends a signal to the transmitting module and the receiving module. Specifically, the main control module sends a signal to a driving circuit in the transmitting module, and the driving circuit drives one of the array lasers in the receiving module to be turned on to emit the detecting light. In a preferred embodiment, the infrared light is emitted at 905 nm. Detect light. The infrared detecting light propagates in the environment and is reflected by the object to be measured. At the same time, the main control module sends a signal to the receiving module, and the receiving module works with the column corresponding to the single laser light source that is turned on to receive the detection light reflected back by the obstacle, and the remaining pixel units do not perform the photoelectric sensing operation. .

In the above, the received field of view angle of each column of the area array photosensors in the receiving module is in one-to-one correspondence with the emission field of view angles of different single laser light sources in the transmitting module. For example, the emission field of view of the Rth single laser source in the array laser in the transmitting module corresponds to the receiving field of view of the column R of the area array photosensor in the receiving module, that is, the above-mentioned emission field angle and The receiving field of view angle has at least a coincident portion. In the working process, the array laser in the transmitting module works in a time-sharing manner, and correspondingly, the area array photoelectric sensor in the receiving module works in a time-sharing manner, thereby realizing one frame detection of the solid-area array laser radar.

The way of time-sharing work, on the one hand, effectively avoids multi-path interference in the horizontal direction. Another additional aspect, the way of time-sharing, can focus on the energy of the system, providing enough energy for a single laser to achieve longer-range scanning detection.

After receiving the probe light reflected back by the obstacle, the receiving module stores the information in a buffer unit in the receiving module. In one embodiment, the column pixels that do not work in the area array photosensor in the receiving module act as a buffer unit, thereby facilitating the utilization of pixels. When designing a higher pixel area array photosensor, the pixel Higher utilization.

The signal processing module reads the cache data of the receiving module. After receiving the probe light reflected by the measured object, each signal photoelectric sensor unit in the receiving module performs reading of the buffer data in the receiving module. In one embodiment, the signal processing module is coupled to an ADC (Analog to Digital Converter), the ADC module converts the buffered data in the receiving module from an analog signal to a digital signal, and the signal processing module reads the ADC. The digital signal converted by the module.

Based on the pulse time-of-flight method, the signal processing module compares the time difference between the probe light emitted by the transmitting module and the one received by the obstacle in the receiving module to obtain the distance value detected by the column. The array laser in the transmitting module and the corresponding receiving module array photoelectric sensor work in a time-sharing manner, and each time the time-division detection is completed, the distance data is calculated. In the process of calculating the distance value by the signal processing module, since the response of the area array photosensor in the receiving module usually has a certain delay time, for example, about 5 nanoseconds, the signal processing module needs to perform the delay time of 5 nanoseconds. Corrected.

Since the pulse emitted by each laser source in the transmitting module has a certain width, for example, the pulse width is 5 ns, and the shape of the 5 ns pulse width of 262 laser light sources is different, the pulse width will have a certain degree in actual working process. Spreading, for example, pulse width broadening is 20 ns. In order to improve the accuracy of the distance detection, the area array photoelectric sensor performs four detection samples when receiving the detection light reflected back by the measured object, and calculates the pulse centroid of the received detection light based on the four detection sampling data. The corresponding time is calibrated to the moment when the receiving module receives the probe light reflected back by the measured object.

Through the above process, the distance data of the detection area corresponding to a column of the array photoelectric sensor is obtained.

After the distance detection of a column of the array photoelectric sensor is completed, the main control module starts the distance detection process of the other column of the array photoelectric sensor, and after 262 distance detection, the distance information of the detection area corresponding to each column of the array photoelectric sensor is obtained. The signal processing module outputs all the distance information into one frame of point cloud data, and completes a complete point cloud distance data detection of the solid area array laser radar.

Wherein, after completing the distance detection of a column of the array photoelectric sensor, the main control module starts the distance detection process of the other column of the array photoelectric sensor, and the two columns of the front and rear working photoelectric sensors in the sequential array may be adjacent columns. It can also be two columns that are not adjacent. In order to avoid interference, the two columns of photosensor units operating in series on the timing are preferably two adjacent rows of photosensor units.

A solid-state area array laser radar device and a detection method capable of achieving a detection range of up to 100 meters are described in detail below.

In the specific working process, the array laser in the transmitting module works in a time-sharing manner. The main control module sends a signal to the driving circuit in the transmitting module. Each measurement in the time-sharing operation only performs the opening of one single laser light source of the transmitting module. After all the single laser light sources of the array laser are turned on, the solid state The area array laser radar completes the complete detection of one frame of data. In this embodiment, in the 1*262 array laser, each of the laser sources in the array laser operates separately in time, and only one of the individual laser light sources is turned on at a time, and then the next light source is turned on and the distance is detected. After each single laser source performs an opening process, 262 detection processes are completed, and 262 distance information calculated by the signal processing module is combined into a point cloud distance data to complete one frame of data detection of the solid area array laser radar. process. Wherein, the working of the two light sources before and after the timing may be two adjacent single laser sources in the array laser, or may not be two adjacent single laser sources.

In the receiving module, it is a 262*144 area array photoelectric sensor, which uses time or column time-sharing operation. In this embodiment, the area array photosensor operates in a time division of the column and corresponds to the corresponding array laser operation timing. For example, when the first single laser source of the array laser is operating, the main control module controls the operation of the column 1 photosensor unit corresponding to the array photosensor in the receiving module. There are 144 sensor pixel units in each column of the wide sensor unit.

The target angular width azimuth and elevation directions are greater than the equivalent beamwidth of the transmitter, and the equation of the radar equation is calculated according to the following formula:

P _r =P _s T _A ² ρD ² η _t η _r /4R ²

Where P _r is the front-end photoelectric sensor front-end receiving power (W). In one embodiment, the area array photosensor is a CCD area array photosensor.

P _s is the transmission power of a single light source in the array laser, which is 300 W in this embodiment.

T _A is the atmospheric transmittance, which is estimated by 1 in this embodiment.

ρ is the Lambertian target reflection coefficient, which is estimated at 10% in this embodiment. In an alternative embodiment, the Lambertian target reflection coefficient is a higher value.

D is the receiving window diameter (m) of the receiving lens, and is estimated by the 20 mm aperture in this embodiment.

η _t is the efficiency of the transmitting optical system, which is estimated by 0.9 in this embodiment.

η _r is the efficiency of the receiving optical system, which is estimated by 0.9 in this embodiment.

R is the radar detection distance (m), which is estimated at 100 m in this embodiment.

The specific values of the above parameters are brought into the radar equation, and P _r =24.3x 10 ^-8 W is obtained by calculation.

In this embodiment, the area array photosensor has 144 sensor pixel units per column, so the power received by each sensor pixel unit is: P _rr =P _r /144=0.17x 10-8W;

The corresponding received energy is: W _r =P _rr *t=0.17*10 ^-8 *4*10 ^-9 =0.68*10 ^-17 J

Number of corresponding photons: n=5.034*10 ¹⁵ *λ(nm)*W _r =5.034*10 ¹⁵ *905*0.68*10 ^-17 =30.97

The area array photosensor has a quantum efficiency of up to 70% in the 905 nm band. This efficient quantum efficiency is achieved using ESPROS' OHC15L technology. At the same time, the sensitivity of the area array photosensor is 20e-.

The photoelectric conversion efficiency of the photoelectric sensor in the wavelength band of 905 nm is 70%, and the signal intensity finally incident on each sensor pixel unit is 30.97*0.7=21.68e-, which is greater than the sensitivity of the sensor 20e-. That is, the solid-state array photosensor can realize distance detection of 100 meters and can detect objects with a reflectivity of 10%.

The technical principles of the present application have been described above in connection with specific embodiments. The descriptions are only intended to explain the principles of the present application and are not to be construed as limiting the scope of the application. Based on the explanations herein, those skilled in the art can associate other embodiments of the present application without departing from the scope of the present invention.

Claims

A solid-state area array laser radar, comprising: a transmitting module and a receiving module maintaining a fixed positional relationship with the transmitting module, the transmitting module comprising an array laser, the array laser comprising a plurality of single laser light sources arranged and arranged The single laser source emits laser light in a set sequence and interval, the receiving module includes an area array photosensor, the area array photosensor includes pixels arranged to display, and the area array photosensor controls part or all of pixel reception Corresponds to the laser emitted by a single laser source.
The solid-state area array laser radar according to claim 1, further comprising a main control module connected to the transmitting module and the receiving module, wherein the main control module comprises a plurality of pins corresponding to a single laser light source. .
The solid-state array laser radar according to claim 1, wherein said array laser emits at least one single laser light source, said transmitting unit transmitting according to a set transmission order and a transmission interval, said surface The array photosensor has at least one pixel as a receiving area, and the receiving area is sequentially received according to a set receiving order and a receiving interval.
The solid-state area array laser radar according to claim 3, wherein a plurality of single laser light sources are arranged in a line, the array lasers are arranged in a single laser light source; and the pixels of the area array photosensors are arranged in a matrix. The area array photosensor is a receiving area in each row or column of pixels, and the receiving area is perpendicular to a single laser light source.
The solid-state array laser radar according to claim 4, wherein the plurality of single laser light sources are arranged in a horizontal straight line, and the array photosensors are each receiving region as a receiving region, and the firing interval of the single laser light source Greater than or equal to the interval at which the receiving area receives the read.
The solid-state area array laser radar according to claim 1, wherein a radiation lens is further disposed in a laser emission direction of the array laser, and a receiving lens is further disposed in a receiving direction of the area array photoelectric sensor.
The solid-state area array laser radar according to claim 4, wherein said area array photosensor has 1*262 single laser light sources covering a range of 50°*25°; said area array photosensor has 144*262 Pixels, each covering an angle of view of 0.17°*0.17°.
The solid-state area array laser radar according to any one of claims 1 to 7, wherein when one or more pixels of the area array photosensor are operated, a part of pixels that have not entered a working state are working as a buffer pair. The electrical signal of the pixel is buffered.
A method for detecting a solid-state laser radar device, characterized in that the array laser in the transmitting module works in a time-sharing manner, and the area array photoelectric sensor in the receiving module works in a time-sharing manner;

Step 1: The main control module sends a signal to the transmitting module, and one of the array lasers in the transmitting module works to emit the detecting light;

Step 2: At the same time as step 1, the main control module sends a signal to the receiving module, and the array photoelectric sensor performs the work corresponding to the column corresponding to the single laser light source working in the first step;

Step 3: the column of the area array photosensor operates to receive the probe light reflected by the measured object, and convert the light into electrical signal information;

Step 4: The signal processing module reads the electrical signal information received by the column of the area array photoelectric sensor, and the signal processing module compares the time difference between the probe light emitted by the transmitting module and the reflected back received by the column in the receiving module. Calculating the distance value based on the pulse time of flight method;

Step 5, repeating steps 1 to 4, wherein each time the step 1 is repeated, the main control module controls different single laser light sources in the array laser to operate; until all the single laser light sources in the array laser in the reflective module have been operated at least once, Complete one-point point cloud distance data detection of the solid-state Lidar device.
A method of detecting according to claim 9, wherein the angle of view of the emission field of the single laser source operating in step one has at least a coincident portion with the angle of view of the field of view of the column of the area array photosensors in step two.
The detecting method according to claim 9, wherein in step three, the electrical signal information is stored in a buffer unit, and the column pixels that do not work in the area array photosensor of the receiving module serve as a buffer unit. .
The detecting method according to claim 9, wherein the photosensor performs four detection samplings when receiving the detection light reflected by the measured object, and receives the calculation based on the four detection sampling data. The time corresponding to the pulse centroid of the detected light is calibrated to the time at which the receiving module receives the probe light reflected back by the measured object.
A detecting method according to claim 9, wherein the two columns of the area array photoelectric sensor that operate in time series are two adjacent columns or two columns that are not adjacent.
A detecting method according to claim 9, wherein the two individual laser light sources operating in time series in the array laser are two adjacent ones or two adjacent ones.