CN111929691A - Laser radar and control method thereof - Google Patents
Laser radar and control method thereof Download PDFInfo
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- CN111929691A CN111929691A CN202011029179.5A CN202011029179A CN111929691A CN 111929691 A CN111929691 A CN 111929691A CN 202011029179 A CN202011029179 A CN 202011029179A CN 111929691 A CN111929691 A CN 111929691A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
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- Radar, Positioning & Navigation (AREA)
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- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention discloses a laser radar and a control method of the laser radar. The laser radar according to an embodiment of the present invention includes: an emitting module emitting a laser beam to the outside; a receiving module which receives the laser beam emitted from the emitting module and returned after being reflected by an object outside the laser radar, and includes a first receiver and a second receiver which simultaneously receive the returned laser beam and respectively output current; and the processing module is used for determining the distance between the object and the laser radar by using the output current of the first receiver or determining the distance between the object and the laser radar by using the output current of the second receiver according to the comparison result of the output current of the first receiver when the returned laser beam is received and a preset value.
Description
Technical Field
The invention relates to the field of optics, in particular to a laser radar and a control method of the laser radar.
Background
In the field of autonomous driving, autonomous vehicles may detect surrounding objects by means of a device such as a laser radar (LIDAR). The lidar transmits a laser beam as a detection signal to a surrounding three-dimensional space, and causes the laser beam to be reflected as an echo signal and return after being irradiated to an object in the surrounding space, and the lidar compares the received echo signal with the transmitted detection signal, thereby obtaining related information such as distance, speed, and the like about the surrounding object.
The laser radar as described above comprises a transmitting module and a receiving module. The emitting module generates and emits laser beams, and the laser beams which are irradiated on surrounding objects and reflected back are received by the receiving module. Since the speed of light is known, the distance of the lidar relative to surrounding objects can be measured by the propagation time of the laser.
However, the distance between the surrounding objects detectable by the laser radar is not infinite, and the effective detection distance of the laser radar of the conventional autonomous vehicle is about 200 m. Among the factors that limit the effective detection range of the lidar is the receive module.
Disclosure of Invention
The invention provides a laser radar capable of realizing a long effective detection distance.
The laser radar according to an embodiment of the present invention includes: an emitting module emitting a laser beam to the outside; a receiving module which receives the laser beam emitted from the emitting module and returned after being reflected by an object outside the laser radar, and includes a first receiver and a second receiver which simultaneously receive the returned laser beam and respectively output current; and the processing module is used for determining the distance between the object and the laser radar by using the output current of the first receiver or determining the distance between the object and the laser radar by using the output current of the second receiver according to the comparison result of the output current of the first receiver when the returned laser beam is received and a preset value.
And when the output current of the first receiver when receiving the returned laser beam is greater than or equal to the preset value, the distance between the object and the laser radar may be determined using the output current of the first receiver.
And when the output current of the first receiver when receiving the returned laser beam is smaller than the preset value, the distance between the object and the laser radar can be determined by using the output current of the second receiver.
And, the processing module may determine the distance between the object and the lidar by: and determining the receiving time of the laser beam by using the output current of the first receiver or the output current of the second receiver, and multiplying the difference between the receiving time of the laser beam and the emitting time of the laser beam by the speed of light.
Also, the first receiver may be more suitable for detecting objects at a short distance than the second receiver, and the second receiver may be more suitable for detecting objects at a long distance than the first receiver.
And, may further include: and the judging module is used for judging whether the output current of the first receiver when the returned laser beam is received is greater than or equal to the preset value.
Also, the first receiver may be an APD receiver and the second receiver may be an SPAD receiver.
The control method of the laser radar according to an embodiment of the invention comprises the following steps: the method comprises the steps that a first receiver and a second receiver are used for simultaneously receiving laser beams to respectively output current, wherein the laser beams are emitted from an emitting module of the laser radar and are incident to the first receiver and the second receiver after being reflected by an object outside the laser radar; and according to the comparison result of the output current of the first receiver when the returned laser beam is received and a preset value, determining the distance between the object and the laser radar by using the output current of the first receiver or determining the distance between the object and the laser radar by using the output current of the second receiver.
When the output current of the first receiver when the returned laser beam is received is greater than or equal to a preset value, the distance between the object and the laser radar can be determined by using the output current of the first receiver; when the output current of the first receiver when receiving the returned laser beam is smaller than a preset value, the distance between the object and the laser radar can be determined using the output current of the second receiver.
Also, the first receiver may be more suitable for detecting objects at a short distance than the second receiver, and the second receiver may be more suitable for detecting objects at a long distance than the first receiver.
And, may further include: and judging whether the output current of the first receiver when the returned laser beam is received is greater than or equal to the preset value.
And, the distance between the object and the lidar may be determined by: and determining the receiving time of the laser beam by using the output current of the first receiver or the output current of the second receiver, and multiplying the difference between the receiving time of the laser beam and the emitting time of the laser beam by the speed of light.
A laser radar according to another embodiment of the present invention includes: an emitting module emitting a laser beam to the outside; a receiving module which receives the laser beam emitted from the emitting module and returned after being reflected by an object outside the laser radar, and includes a first receiver and a second receiver which simultaneously receive the returned laser beam and respectively output current; an amplifier converting an output current of the first receiver and an output current of the second receiver into an output voltage of the first receiver and an output voltage of the second receiver, respectively; and the processing module is used for determining the distance between the object and the laser radar by using the output voltage of the first receiver or determining the distance between the object and the laser radar by using the output voltage of the second receiver according to the comparison result of the output voltage of the first receiver when the returned laser beam is received and a preset value.
A control method of a laser radar according to another embodiment of the present invention includes: the method comprises the steps that a first receiver and a second receiver are used for simultaneously receiving laser beams to respectively output current, wherein the laser beams are emitted from an emitting module of the laser radar and are incident to the first receiver and the second receiver after being reflected by an object outside the laser radar; converting an output current of the first receiver and an output current of the second receiver into an output voltage of the first receiver and an output voltage of the second receiver, respectively; and according to the comparison result of the output voltage of the first receiver when the returned laser beam is received and a preset value, determining the distance between the object and the laser radar by using the output voltage of the first receiver or determining the distance between the object and the laser radar by using the output voltage of the second receiver.
According to an embodiment of the present invention, by providing the first receiver and the second receiver, the effective detection range of the laser radar can be increased compared to the case of receiving with one receiver. And, by calculating the distance between the laser radar and the object using the output current or the output voltage of different receivers according to the determination result, the separation distance of the surrounding object can be detected quickly and sensitively.
Drawings
Fig. 1 is a schematic diagram showing a laser radar according to a first embodiment of the present invention.
Fig. 2 is a flowchart illustrating a control method of the laser radar according to the first embodiment of the present invention.
Fig. 3 is a schematic diagram showing a laser radar according to a second embodiment of the present invention.
Fig. 4 is a flowchart illustrating a control method of a laser radar according to a second embodiment of the present invention.
Detailed Description
The technical solutions of the embodiments of the present invention will be described in detail below with reference to the accompanying drawings of the embodiments of the present invention. It is to be understood that the following disclosed embodiments are merely exemplary of the invention, and are not intended to be exhaustive or all exemplary embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the following examples, belong to the scope of protection of the present invention.
[ first embodiment ] A method for manufacturing a semiconductor device
Fig. 1 is a schematic diagram showing a laser radar according to a first embodiment of the present invention.
As shown in fig. 1, the lidar of the present embodiment includes a housing 500, a transmitting module 100, a receiving module 200, a determining module 300, and a processing module 400.
The housing 500 accommodates the transmission module 100 and the reception module 200 to be protected from external moisture, dust, etc. The housing 500 has a transmission portion through which the emitted and returned laser beams are transmitted.
The number of the transmission modules 100 and the reception modules 200, respectively, accommodated in the housing 500 is not limited. There may be 1 transmitting module 100 and 1 receiving module 200. N transmitting modules 100 and m receiving modules 200 may be provided. It is also possible to provide 1 transmitting module 100 and n receiving modules 200. N transmitting modules 100 and 1 receiving module 200 may also be provided. Wherein n and m are integers greater than 1, and n and m may be the same or different from each other and may be 2, 4, 16, 32, 64, etc., respectively. Also, the transmitting module 100 and the receiving module 200 may be arranged in a single point, a linear array structure, or an area array structure, respectively.
The emitting module 100 is used to emit a laser beam to the outside. The laser beam may be a pulsed laser beam. The wavelength of the laser beam is not particularly limited, and may be selected, for example, from the wavelength range of 900 to 1600 nm.
The receiving module 200 of the present invention will be described in detail below.
The receiving module 200 receives a laser beam emitted from the emitting module 100 and returned after being reflected by an object (i.e., an object to be measured) outside the laser radar.
According to the first embodiment of the present invention, the receiving module 200 includes a first receiver 210 and a second receiver 220. The first receiver 210 and the second receiver 220 simultaneously receive the laser beam reflected from the object. The first receiver 210 and the second receiver 220 receive the laser beam and generate output currents, respectively. The specific manner in which the receiver receives the laser beam to generate the output current is not limited, and may be selected from known manners.
Also, the first receiver 210 and the second receiver 220 may be different from each other.
For example, the first receiver 210 may be a receiver that is more suitable for detecting objects at close range than the second receiver 220. The second receiver 220 may be a receiver that is more suitable for detecting distant objects than the first receiver 210.
The short and long boundary distances may be different according to specific types, parameters, structures, and the like of the first receiver 210 and the second receiver 220, and are not particularly limited. For example, the boundary distance may be 200m, so that a distance of 200m or less may be referred to as a short distance, and a distance greater than 200m may be referred to as a long distance. The boundary distance may be 100m, and a distance of 100m or less may be referred to as a short distance, and a distance greater than 100m may be referred to as a long distance. The boundary distance may be variously changed according to the first and second receivers 210 and 220 or a designer's choice.
Existing single receivers cannot achieve efficient detection over a long detection range (e.g., over 400 m). Therefore, by providing the first receiver 210 suitable for short-range detection and the second receiver 220 suitable for long-range detection, a long effective detection distance can be achieved, for example, an effective detection distance of 400m or more can be achieved, or an effective detection distance of 500m or more can be achieved.
The first receiver 210 may be, for example, an APD receiver and the second receiver 220 may be, for example, an SPAD receiver.
An Avalanche Photodiode (APD) is a P-N junction type photo detector diode, which amplifies a photoelectric signal by utilizing an avalanche multiplication effect of carriers to improve detection sensitivity, and after a reverse bias voltage is applied to a P-N junction of a photodiode made of silicon or germanium, incident light is absorbed by the P-N junction to form a photocurrent. APDs are operated in a photoelectric conversion mode, and therefore have limited optical intensity and distance to be detected. Specifically, the intensity of the current signal obtained thereby is related to the intensity of the incident light signal, and the higher the intensity of the incident light signal, the greater the intensity of the current signal (output current) obtained thereby. However, as the detection distance increases, the light intensity of the incident light signal gradually attenuates, which results in attenuation of the current signal obtained by the APD receiver, and when the intensity of the electrical signal obtained by the APD receiver is equivalent to the noise signal level of the detector, the APD receiver cannot obtain a detection signal with a sufficient signal-to-noise ratio, so that the laser radar may fail. Therefore, lidar with only APD receivers are suitable for relatively close range detection.
Regarding long-distance detection, single photon detection is considered as the limit of photoelectric detection technology, is an emerging detection technology developed in recent years, and compared with other developed and mature photoelectric detection technologies, the single photon detection can be weaker in light and can reach the photon magnitude (10)-19W) level of energy. Single Photon Avalanche Diodes (SPAD), a Single Photon Avalanche diode, is a Single Photon detection device using geiger mode. The geiger mode is a mode in which the APD operates at a bias voltage briefly above its avalanche breakdown voltage. Thus, the sensitivity of detection of SPAD is higher compared to APD, but SPAD suffers from dead time effects and a larger maximum number of received photons, and SPAD performance degrades when the propagation distance is closer or the illumination intensity is larger. Therefore, lidar having only SPAD receivers is more suitable for relatively long range detection.
It should be noted that the first receiver 210 is not limited to an APD receiver, and the second receiver 220 is not limited to an SPAD receiver, but may satisfy the following configuration: the first receiver 210 is better suited for short range detection than the second receiver 220, and the second receiver 220 is better suited for long range detection than the first receiver 210.
The receiving module 200 may further include a third receiver or an nth receiver other than the first receiver 210 and the second receiver 220. The preferred detection distances of the first through nth receivers may be sequentially increased.
The first receiver 210 and the second receiver 220 may be arranged small enough and close enough to receive the returning laser beams simultaneously. Alternatively, a beam splitter may be provided in the reception module 200 or the laser radar so that the returned laser beam is split and simultaneously incident on the first receiver 210 and the second receiver 220. Accordingly, the first receiver 210 and the second receiver 220 may be caused to simultaneously receive the returned laser beams, simultaneously detect the incident laser beams, and may output currents corresponding to the incident laser beams, respectively.
The determining module 300 of the first embodiment of the present invention may determine whether the output current of the first receiver 210 when receiving the returned laser beam is greater than or equal to a preset value. When the output current of the first receiver 210 when receiving the returned laser beam is greater than or equal to a preset value, the processing module 400 selects the output current of the first receiver 210 and determines the distance between the surrounding object and the lidar by using the output current of the first receiver 210. When the output current of the first receiver 210 when receiving the returned laser beam is smaller than a preset value, the processing module 400 selects the output current of the second receiver 220 and determines the distance between the object and the lidar by using the output current of the second receiver 220.
The preset value may be set differently according to the specific type, parameters, and structure of the first receiver 210 and the second receiver 220. For example, the preset value may be set as an output current when the first receiver 210 receives a laser beam emitted from the emission module 100 and reflected by an object spaced apart from the boundary distance. For example, the preset value may be set as an output current when the first receiver 210 receives a laser beam reflected from objects spaced apart by 200 m.
Wherein, when the laser beam is not received, the first receiver 210 and the second receiver 220 may still generate output current due to background noise. Therefore, when the determining module 300 determines the magnitude of the output current, it is preferable to eliminate the influence of the background noise, so that the determination result is not influenced by the background noise. And, preferably, the output current of the first receiver 210 when the returned laser beam is received is compared with a preset value.
The judging module 300 and the processing module 400 may be independent structures, or the judging module 300 may be integrated with the processing module 400 or other structures.
The processing module 400 of the present embodiment may determine the distance between the object and the lidar by: and calculating the propagation time of the laser beam through the selected output current, and multiplying the propagation time and the speed of light to calculate the separation distance between the laser radar and the object. Wherein the propagation time of the laser beam can be determined by using a difference between the emission time of the laser beam and the reception time of the laser beam. The time of receiving the laser beam may be determined using the output current of the first receiver or the second receiver.
According to the embodiment of the present invention, by providing the first receiver 210 and the second receiver 220 as described above, the effective detection range of the lidar can be increased compared to the case where only a single receiver is provided.
Also, according to the embodiment of the present invention, the first receiver 210 and the second receiver 220 as described above simultaneously receive the laser beam to generate the output currents, respectively, and select the output currents of different receivers according to the determination result of the determination module 300 to determine the separation distance of the object, so that the separation distance of the object can be rapidly and sensitively detected. That is, compared to the case where the laser beam is incident to different receivers according to the transmission distance of the laser beam, the structure of the laser radar can be simplified without providing a structure for causing the laser beam to be incident to different receivers according to the propagation distance of the laser beam, and the laser radar of the present embodiment can realize faster and sensitive detection without switching the receivers of the incident laser beam according to the transmission distance while receiving the laser beam using the first receiver 210 and the second receiver 220, and thus the structure of the receiving module 200 can be simplified and the detection speed can be increased.
In addition, the laser radar according to the first embodiment of the present invention may further include a beam splitting module (not shown) that may split the laser beam emitted from the one or more emission modules into a plurality of outgoing laser beams.
In addition, the laser radar according to the first embodiment of the present invention may further include a rotating member (not shown). The rotating member may rotate the transmitter module 100 and/or the receiver module 200. The rotation may be a 360 degree rotation.
Alternatively, the laser radar according to the present invention may direct the laser beam to a predetermined spatial area by electro-optical scanning, acousto-optical scanning, phased array, and mems scanning.
Hereinafter, a control method of the laser radar according to the first embodiment of the present invention will be described with reference to fig. 2.
Fig. 2 is a flowchart illustrating a control method of the laser radar according to the first embodiment of the present invention.
Referring to fig. 2, a method of controlling a laser radar according to a first embodiment of the present invention may include:
s100: outputting current by simultaneously receiving laser beams by a first receiver 210 and a second receiver 220, wherein the laser beams are emitted from the emitting module 100 and incident to the first receiver 210 and the second receiver 220 after being reflected by an object outside the laser radar;
s200: judging whether the output current of the first receiver when the returned laser beam is received is greater than or equal to the preset value;
s300: when the judgment result of the S200 is yes, selecting the output current of the first receiver;
s400: when the judgment result of the S200 is negative, selecting the output current of the second receiver;
s500: and determining the distance between the object and the laser radar by using the output current of the selected first receiver or the selected second receiver.
The first receiver 210 is better suited for detecting objects at a short distance than the second receiver 220, and the second receiver 220 is better suited for detecting objects at a long distance than the first receiver 210.
And, the preset value may be set as an output current when the first receiver receives the laser beam reflected from the object spaced apart by a predetermined distance.
Before the step S100, a step of transmitting a laser beam from the transmission module 100 of the laser radar to an object outside the laser radar may be further included.
The distance between the object and the lidar may be determined by: and calculating the propagation time of the laser beam by using the selected output current, and calculating the distance between the laser radar and the object according to the propagation time. Wherein the propagation time of the laser beam can be determined by using a difference between the emission time of the laser beam and the reception time of the laser beam. The time of receiving the laser beam may be determined using the output current of the first receiver or the second receiver.
[ second embodiment ]
Fig. 3 is a schematic diagram showing a laser radar according to a second embodiment of the present invention.
In contrast to the lidar according to the first embodiment, the lidar according to the second embodiment may further comprise an amplifier 600 within the housing 500.
The amplifier 600 may be a trans-impedance amplifier (TIA), that is, the amplifier 600 may convert an output current of the first receiver 210 and/or the second receiver 220 into a voltage using ohm's law and output the voltage as an output voltage.
The laser radar according to the second embodiment of the present invention may include the amplifiers 600 in a number corresponding to the first receiver 210 and the second receiver 220.
Also, an output voltage of the output current of the first receiver 210 converted by the amplifier 600 may be referred to as an output voltage of the first receiver 210, and an output voltage of the output current of the second receiver 220 converted by the amplifier 600 may be referred to as an output voltage of the second receiver 220.
The determining module 300 of the second embodiment of the present invention may determine whether the output voltage of the first receiver 210 when receiving the returned laser beam is greater than or equal to a preset value. When the output voltage of the first receiver 210 when receiving the returned laser beam is greater than or equal to a preset value, the processing module 400 selects the output voltage of the first receiver 210 and determines the distance between the surrounding object and the lidar by using the output voltage of the first receiver 210. When the output voltage of the first receiver 210 when receiving the returned laser beam is less than a preset value, the processing module 400 selects the output voltage of the second receiver 220 and determines the distance between the object and the lidar by using the output voltage of the second receiver 220.
The preset value of the second embodiment may be set differently according to the specific type, parameters, and structure of the first receiver 210 and the second receiver 220. For example, the preset value may be set to an output voltage that the output current when the first receiver 210 receives the laser beam emitted from the emission module 100 and reflected by the object spaced apart by the boundary distance is converted by the amplifier 600. For example, the preset value may be set to an output voltage converted by the amplifier 600 by an output current when the first receiver 210 receives a laser beam reflected from an object spaced apart by 200 m.
The processing module 400 of the present embodiment may determine the distance between the object and the lidar by: and calculating the propagation time of the laser beam through the selected output voltage, and calculating the distance between the laser radar and the object according to the propagation time. Wherein the propagation time of the laser beam can be determined by using a difference between the emission time of the laser beam and the reception time of the laser beam. The time of receiving the laser beam may be determined using the output voltage of the first receiver or the second receiver.
Compared to the way of determining by using the output current of the first receiver 210 and/or the second receiver 220 or determining the distance between the lidar and the object by using the output current according to the first embodiment of the present invention, by performing the determination and calculation by converting the output current into the output voltage by using the amplifier 600, the determination and calculation processes can be made easier due to the amplification/conversion.
Fig. 4 is a flowchart illustrating a control method of a laser radar according to a second embodiment of the present invention.
Referring to fig. 4, a method of controlling a laser radar according to a second embodiment of the present invention may include:
s100: outputting current by simultaneously receiving laser beams by a first receiver 210 and a second receiver 220, wherein the laser beams are emitted from the emitting module 100 and incident to the first receiver 210 and the second receiver 220 after being reflected by an object outside the laser radar;
s150: converting the output current of the first receiver 210 and the output current 220 of the second receiver 220 into an output voltage of the first receiver 210 and an output voltage of the second receiver 220, respectively;
s200: judging whether the output voltage of the first receiver 210 when receiving the returned laser beam is greater than or equal to the preset value;
s300: when the judgment result of the S200 is yes, selecting the output voltage of the first receiver;
s400: when the judgment result of the S200 is negative, selecting the output voltage of the second receiver;
s500: and determining the distance between the object and the laser radar by using the output voltage of the selected first receiver or the selected second receiver.
Among them, the preset value of the second embodiment may be set as an output voltage when the first receiver 210 receives the laser beam reflected from the object spaced apart by a predetermined distance.
Before the step S100, a step of transmitting a laser beam from the transmission module 100 of the laser radar to an object outside the laser radar may be further included.
The distance between the object and the lidar may be determined by: and calculating the propagation time of the laser beam by using the selected output voltage, and calculating the distance between the laser radar and the object according to the propagation time. Wherein the propagation time of the laser beam can be determined by using a difference between the emission time of the laser beam and the reception time of the laser beam. The time of receiving the laser beam may be determined using the output voltage of the first receiver or the second receiver.
In the second embodiment of the present invention, contents that are not described in detail may refer to the description of the first embodiment. The contents of the first embodiment may be equally applied to the second embodiment without conflicting with the above-described contents of the second embodiment.
The embodiments described above with respect to the apparatus and method are merely illustrative, where separate units described may or may not be physically separate, and the components shown as units may or may not be physical units, i.e. may be located in one location, or may be distributed over a plurality of network units. Some or all of the modules may be selected according to actual needs to implement the technical solution of the present invention.
Claims (17)
1. A lidar, comprising:
an emitting module emitting a laser beam to the outside;
a receiving module which receives the laser beam emitted from the emitting module and returned after being reflected by an object outside the laser radar, and includes a first receiver and a second receiver which simultaneously receive the returned laser beam and respectively output current;
and the processing module is used for determining the distance between the object and the laser radar by using the output current of the first receiver or determining the distance between the object and the laser radar by using the output current of the second receiver according to the comparison result of the output current of the first receiver when the returned laser beam is received and a preset value.
2. Lidar according to claim 1,
and when the output current of the first receiver when the returned laser beam is received is larger than or equal to the preset value, determining the distance between the object and the laser radar by using the output current of the first receiver.
3. Lidar according to claim 1,
and when the output current of the first receiver when the returned laser beam is received is smaller than the preset value, determining the distance between the object and the laser radar by using the output current of the second receiver.
4. Lidar according to claim 2 or 3,
the processing module determines a distance between the object and the lidar by: and determining the receiving time of the laser beam by using the output current of the first receiver or the output current of the second receiver, and multiplying the difference between the receiving time of the laser beam and the emitting time of the laser beam by the speed of light.
5. Lidar according to claim 1,
the first receiver is better suited to detect objects at close range than the second receiver, and the second receiver is better suited to detect objects at far range than the first receiver.
6. The lidar of claim 1, further comprising:
and the judging module is used for judging whether the output current of the first receiver when the returned laser beam is received is greater than or equal to the preset value.
7. Lidar according to claim 1,
the first receiver is an APD receiver and the second receiver is a SPAD receiver.
8. A method of controlling a lidar, comprising:
the method comprises the steps that a first receiver and a second receiver are used for simultaneously receiving laser beams to respectively output current, wherein the laser beams are emitted from an emitting module of the laser radar and are incident to the first receiver and the second receiver after being reflected by an object outside the laser radar;
and according to the comparison result of the output current of the first receiver when the returned laser beam is received and a preset value, determining the distance between the object and the laser radar by using the output current of the first receiver or determining the distance between the object and the laser radar by using the output current of the second receiver.
9. The lidar control method of claim 8,
when the output current of the first receiver when the returned laser beam is received is larger than or equal to a preset value, determining the distance between the object and the laser radar by using the output current of the first receiver;
and when the output current of the first receiver when the returned laser beam is received is smaller than a preset value, determining the distance between the object and the laser radar by using the output current of the second receiver.
10. The lidar control method of claim 8,
the first receiver is better suited to detect objects at close range than the second receiver, and the second receiver is better suited to detect objects at far range than the first receiver.
11. The lidar control method of claim 8, further comprising:
and judging whether the output current of the first receiver when the returned laser beam is received is greater than or equal to the preset value.
12. The lidar control method of claim 9,
determining a distance between the object and the lidar by: and determining the receiving time of the laser beam by using the output current of the first receiver or the output current of the second receiver, and multiplying the difference between the receiving time of the laser beam and the emitting time of the laser beam by the speed of light.
13. A lidar, comprising:
an emitting module emitting a laser beam to the outside;
a receiving module which receives the laser beam emitted from the emitting module and returned after being reflected by an object outside the laser radar, and includes a first receiver and a second receiver which simultaneously receive the returned laser beam and respectively output current;
an amplifier converting an output current of the first receiver and an output current of the second receiver into an output voltage of the first receiver and an output voltage of the second receiver, respectively;
and the processing module is used for determining the distance between the object and the laser radar by using the output voltage of the first receiver or determining the distance between the object and the laser radar by using the output voltage of the second receiver according to the comparison result of the output voltage of the first receiver when the returned laser beam is received and a preset value.
14. Lidar according to claim 13,
and when the output voltage of the first receiver when the returned laser beam is received is greater than or equal to the preset value, determining the distance between the object and the laser radar by using the output voltage of the first receiver.
15. Lidar according to claim 13,
and when the output voltage of the first receiver when the returned laser beam is received is smaller than the preset value, determining the distance between the object and the laser radar by using the output voltage of the second receiver.
16. A method of controlling a lidar, comprising:
the method comprises the steps that a first receiver and a second receiver are used for simultaneously receiving laser beams to respectively output current, wherein the laser beams are emitted from an emitting module of the laser radar and are incident to the first receiver and the second receiver after being reflected by an object outside the laser radar;
converting an output current of the first receiver and an output current of the second receiver into an output voltage of the first receiver and an output voltage of the second receiver, respectively;
and according to the comparison result of the output voltage of the first receiver when the returned laser beam is received and a preset value, determining the distance between the object and the laser radar by using the output voltage of the first receiver or determining the distance between the object and the laser radar by using the output voltage of the second receiver.
17. The lidar control method of claim 16,
when the output voltage of the first receiver when the returned laser beam is received is larger than or equal to a preset value, determining the distance between the object and the laser radar by using the output voltage of the first receiver;
and when the output voltage of the first receiver when the returned laser beam is received is smaller than a preset value, determining the distance between the object and the laser radar by using the output voltage of the second receiver.
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