Transmitting device, detecting device and terminal

Abstract

A transmitting device, a detection device and a terminal are applied to the technical field of detection, and the transmitting device comprises a first transmitting module and a second transmitting module. Wherein the first transmitting module is used for transmitting a first light beam, the polarization state of the first light beam is a mixed polarization state, and the mixed polarization state light beam is low in energy loss and high in energy density in the transmitting process and has good distance measuring capacity. The first transmitting module is used for transmitting the second light beam, the polarization state of the second light beam is linear polarization, the detection device is suitable for scenes needing higher transmissivity or higher reflectivity, and the anti-interference performance of the detection device can be improved. Furthermore, the first light beam and the second light beam are used for detecting different areas of the object space, composite detection combining mixed polarization detection and polarization detection is carried out on the object space, interference of reflection and the reflection effect on detection is reduced while the distance measuring performance of the detection device is not obviously reduced, and the detection device has higher detection precision.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of detection, and in particular to a transmitting device, a detection device and a terminal. BACKGROUND

[0002] Light detection and ranging (or laser detection and ranging) technology is a technology of emitting a light beam and acquiring relevant information (e.g., characteristic quantities such as a position, a shape, or a speed of a target) of a target by detecting a return wave returned by the target.

[0003] The laser radar emitting optical system is one of the core components of the laser radar, and is used to emit laser to a to-be-detected object space to detect a target in the object space. The detection performance of the laser radar is related to the power of the emitted laser beam and the properties of the laser beam itself. The higher the energy density of the laser beam is, the better the long-distance detection performance of the laser radar is. At present, the laser beam used by the laser radar can cover most of the perception scene, but is easily disturbed by reflection and scattering, for example, when the laser beam detects a waterlogged road surface, passes through an inclined optical element, detects a high-reflectivity object, or detects a high-temperature road surface, the reflection and scattering phenomena in these scenes will seriously interfere with the laser radar and cause misjudgment, and greatly affect the detection accuracy of the laser radar.

[0004] How to improve the anti-interference performance of the laser radar and improve the detection accuracy is a hot issue being studied by those skilled in the art. SUMMARY

[0005] The present application provides a transmitting device, a detection device and a terminal, which can emit light beams of multiple polarization states to perform composite detection on a field of view. When the transmitting device is applied to a laser radar, the anti-interference performance of the laser radar can be improved, and the detection accuracy can be improved. Especially in the scenes of a waterlogged road surface, an inclined optical element, a high-reflectivity object, and a high-temperature road surface, the present application can significantly reduce interference, improve return wave energy, and improve the detection accuracy of the laser radar.

[0006] In a first aspect, the present application provides a transmitting device, comprising a first transmitting module and a second transmitting module. The first transmitting module is configured to emit a first light beam, the polarization state of the first light beam being a mixed polarization state, and the first light beam is configured to detect a first region of an object space. The second transmitting module is configured to emit a second light beam, the polarization state of the second light beam being linear polarization, and the second light beam is configured to detect a second region of the object space, the first region and the second region being different.

[0007] The mixed polarization state light beam can include a non-polarization state light beam or a light beam including at least two polarization states. Exemplarily, the mixed polarization state light beam includes at least two of the following polarization state light beams: a non-polarization state light beam, a linear polarization state light beam, a circular polarization state light beam, and an elliptical polarization state light beam. In some schemes, the mixed polarization state can be regarded as non-polarization, and the two can be replaced.

[0008] In the present application, the first light beam is a mixed polarization state light beam, which is generally not subjected to polarization modulation, has low energy loss during emission, high energy density, and good far distance measurement capability. The second light beam is a linear polarization state light beam (referred to as linear polarized light). The linear polarization light beam is suitable for detection scenarios that require higher transmittance (such as increasing the proportion of P components) or higher reflectivity (such as increasing the proportion of S components), and can improve the anti-interference performance of the detection device, so that the detection device has higher detection accuracy. Through the first light beam and the second light beam, a composite detection combining mixed polarization detection and polarization detection can be performed on the object space, which can reduce the interference of reflection and reflection on detection without significantly reducing the far distance measurement performance of the detection device, and improve the detection accuracy of the detection device. Especially in scenarios such as waterlogged road surface, inclined optical element, detection of high-reflectivity object, and detection of high-temperature road surface, the present application can significantly reduce interference, improve echo energy, and improve the detection precision of the laser radar.

[0009] In a possible implementation of the first aspect, the vertical field of view angle of the first light beam and the vertical field of view angle of the second light beam are different. At this time, the regions detected by the first light beam and the second light beam do not completely overlap in the vertical direction. For example, the first light beam can be used to detect the angle range far from the ground in the vertical field of view angle, and the first light beam is used to detect the angle range close to the ground in the vertical field of view angle, thereby improving the detection precision when detecting the target in scenarios such as waterlogged road surface or river with water flow.

[0010] In another possible implementation of the first aspect, the vertical field of view angle of the second light beam includes a detection angle pointing to the ground. In this way, polarization detection can be performed on the ground to reduce the interference caused by objects and scenes such as rainy day, river, inclined window, and high reflection, and high-precision polarization recognition and detection can be achieved.

[0011] In another possible implementation of the first aspect, the detection angle pointing to the ground is (-15°, 0°), and 0° is the normal angle of the emission device or the middle line of the vertical field of view angle. Of course, the detection angle pointing to the ground can have other designs, such as (-10°, 0°). It should be noted that due to manufacturing process, tolerance design, etc., there can be a certain error in the actual angle pointing to the ground. Exemplarily, the error can be within 5%.

[0012] In a further possible implementation form of the first aspect, the first emission module comprises a first light source, and the second emission module comprises a second light source, the first light source is configured to emit a light beam with a polarization state of mixed polarization, and the second light source is configured to emit a light beam with a polarization state of linear polarization.

[0013] The above-mentioned implementation form introduces a design for emitting light beams with different polarization states. Different light sources are used in the first emission module and the second emission module, so that the light beams emitted by the two light sources have different polarization states. In this case, no other modulation module needs to be designed in the emission device, which can reduce the overall volume of the emission device and facilitate the integration and miniaturization design of the detection device.

[0014] In a further possible implementation form of the first aspect, the first emission module comprises a first light source, and the first light source and the second light source are configured to emit light beams with a polarization state of mixed polarization. The second emission module comprises a second light source and a polarizer, and the light beam emitted by the second light source passes through the polarizer, and the polarizer is configured to perform optical processing on the light beam from the second light source to obtain the second light beam.

[0015] The above-mentioned implementation form introduces another design for emitting light beams with different polarization states. In this design, a polarizer is designed in the emission light path of the light source of the second emission module to perform polarization modulation on the light beam emitted by the second light source, so that the second emission module can emit polarized light. The use of the polarizer can stably modulate the light beam, and the implementation cost is relatively low. In addition, in this design, the first emission module and the second emission module can use the same light source, so that the performance of the first light source and the second light source is consistent, and it is conducive to the normalization design of the light source module (for example, the first light source and the second light source can use the same structure of driving circuit), which can improve the stability of the emission device.

[0016] In a further possible implementation form of the first aspect, the first emission module comprises a first light source and a first liquid crystal modulation unit, the light beam emitted by the first light source passes through the first liquid crystal modulation unit, and the first liquid crystal modulation unit is configured to perform processing on the light beam from the first light source to obtain the first light beam. The second emission module comprises a second light source and a second liquid crystal modulation unit, the light beam emitted by the second light source passes through the second liquid crystal modulation unit, and the second liquid crystal modulation unit is configured to perform processing on the light beam from the second light source to obtain the second light beam.

[0017] The above embodiment introduces another design for emitting light beams of different polarization states. The modulation effect of the liquid crystal modulation unit on the light beam is affected by the applied voltage, so different detection patterns can be achieved by designing different voltage values, and the polarization states of the light beams detected by each detection region can be flexibly adjusted to meet the detection needs in various scenarios. In the above embodiment, the first light beam and the second light beam can belong to the same light source, such as a mixed polarization light source (including an unpolarized light source), which helps to normalize the design of the light source module and improves the stability of the emission device.

[0018] Alternatively, in some schemes, the first emission module can also not be provided with a liquid crystal modulation unit. At this time, the light beam emitted by the first light source does not pass through the liquid crystal modulation unit. By designing a liquid crystal modulation unit in the emission light path of the second light source, the light beam emitted by the second emission module and linearly polarized.

[0019] In another possible implementation of the first aspect, the first liquid crystal modulation unit and the second liquid crystal modulation unit are configured to adjust the polarization of the incident light beam under the action of a voltage. Further, the voltage applied to the first liquid crystal modulation unit is different from the voltage applied to the second liquid crystal modulation unit. For example, when the light beams emitted by the first light source and the second light source are the same, different voltages can be applied to the corresponding liquid crystal modulation units to generate two output light beams with different polarization states.

[0020] In another possible implementation of the first aspect, the emission device includes a light source array, the light source array includes a plurality of groups of light sources arranged in an array, the first light source and the second light source belong to the plurality of groups of light sources, and the first light source and the second light source are located in different regions of the light source array. Through the light source array, the arrangement of various polarized light beams and non-polarized light beams can be realized, the polarized light emission of a specific region or field of view can be realized, and high-precision polarization recognition and detection can be realized.

[0021] In another possible implementation of the first aspect, the emission device further includes a liquid crystal modulation module, the liquid crystal modulation module includes a plurality of liquid crystal modulation units arranged in an array. The first liquid crystal modulation unit and the second liquid crystal modulation unit belong to the plurality of liquid crystal modulation units, each liquid crystal modulation unit in the plurality of liquid crystal modulation units corresponds to a group of light sources of the light source array, and each liquid crystal modulation unit is configured to modulate a light beam from the corresponding group of light sources. In combination with the foregoing, the first liquid crystal modulation unit and the second liquid crystal modulation unit are located in different regions of the liquid crystal modulation module.

[0022] Using the array of liquid crystal modulation units, the arrangement of various polarized light beams and non-polarized light beams can be realized, the polarized light emission of a specific region or field of view can be realized, and high-precision polarization recognition and detection can be realized.

[0023] In a further possible implementation form of the first aspect, the voltage loaded on each of the plurality of liquid crystal modulation units is adjustable. In this way, the polarization state of the light beams probing each of the plurality of probing regions can be dynamically adjusted flexibly during operation of the emitting device, so as to meet the probing requirements in various scenarios.

[0024] In a further possible implementation form of the first aspect, the liquid crystal modulation module is further configured to receive a first signal, and to adjust the voltage of a target liquid crystal modulation unit of the plurality of liquid crystal modulation units in response to the first signal, so as to adjust the polarization state of the light beams emitted onto a target region in the object space.

[0025] In the above manner, the liquid crystal modulation module can adjust the voltage loaded on part or all of the liquid crystal modulation units in the liquid crystal modulation module in response to the signal, so as to actively adjust the polarization state of the light beams emitted onto a target region in the object space, so as to realize the change (or switching) of the arrangement of various polarized light beams and non-polarized light beams, realize the polarized light emission of a specific region or field of view, and realize high-precision polarization recognition and probing.

[0026] For example, in different scenarios, the detector or the processing device can send different signals to the liquid crystal modulation module, so as to update the modulation effect of the liquid crystal modulation units and form a special polarization pattern for probing the object space. For example, in a rainy day scenario, the liquid crystal modulation module is instructed by the signal to probe with a certain probing pattern, and in a sunny day scenario, the liquid crystal modulation module is instructed by the signal to probe with another probing pattern. For another example, the image captured by the camera is used to realize the recognition of special targets such as water surface, transparent device, high-reflection device, and high-temperature road surface, so that linearly polarized light is used to probe the probing regions corresponding to these special targets.

[0027] For another example, the data detected by the camera (or the data sensed by other sensing devices) is used to realize the recognition of special targets such as water surface, transparent device, high-reflection device, and high-temperature road surface, so that linearly polarized light is used to probe the probing regions corresponding to these special targets.

[0028] In a further possible implementation form of the first aspect, the first signal is generated based on a probing result of the detector for the object space. In this way, the liquid crystal modulation module can respond to the information instruction of the receiving end detector, so as to realize the accurate polarization probing of a specific region.

[0029] For example, in the probing result of the detector, a certain region in the object space does not have a target point or the number of target points is less than a certain threshold, and the detector (or other processing device) can use polarized light to probe the region again. Through dynamic adjustment, the interference caused by interfering objects (such as water, transparent devices, high-reflection objects, and high-temperature air masses) in the field of view can be reduced, so as to realize high-precision polarization recognition and probing.

[0030] In a further possible implementation form of the first aspect, the first emission module comprises a first light source and a first metasurface lens, the light beam emitted by the first light source passes through the first metasurface lens, and the first metasurface lens is configured to process the light beam from the first light source to obtain the first light beam. The second emission module comprises a second light source and a second metasurface lens, the light beam emitted by the second light source passes through the second metasurface lens, and the second metasurface lens is configured to process the light beam from the second light source to obtain the second light beam.

[0031] The above implementation introduces a further design for emitting light beams of different polarization states. The metasurface lens has the advantages of thin volume, light weight, low cost, good imaging, easy integration, etc. Using the metasurface lens to modulate the polarization of the light beam can significantly reduce the volume, types and cost of the emission module, while also reducing the energy consumption of the optical system inside the emission device, and can improve the detection accuracy of the detection device.

[0032] In a further possible implementation form of the first aspect, the first metasurface lens comprises a first substrate and a first micro-nano structure layer carried on the first substrate, the first micro-nano structure layer comprises a plurality of first nano structure units, and the second metasurface lens comprises a second substrate and a second micro-nano structure layer carried on the second substrate, the second micro-nano structure layer comprises a plurality of second nano structure units. By adjusting the shape, rotation direction, height, arrangement mode, etc. of the nano structure units, the metasurface lens can control the pointing angle, collimation, energy distribution, polarization, phase and amplitude, etc. of the light beam.

[0033] In a further possible implementation form of the first aspect, the metasurface lens can complete other optical processing in addition to polarization modulation. Illustratively, the first metasurface lens is configured to perform one or more of collimation processing, energy distribution regulation and pointing angle regulation on the light beam from the first light source. The second metasurface lens is configured to perform polarization modulation on the light beam from the second light source, and is configured to perform one or more of collimation processing, energy distribution regulation and pointing angle regulation on the light beam from the second light source.

[0034] In a further possible implementation form of the first aspect, the emission device comprises a light source array, the light source array comprises a plurality of groups of light sources arranged in an array, the first light source and the second light source belong to the groups of light sources, and the first light source and the second light source are located in different regions of the light source array. The emission device comprises a metasurface lens array, the metasurface lens array comprises a plurality of metasurface lenses arranged in an array, the first metasurface lens and the second metasurface lens belong to the plurality of metasurface lenses, and each metasurface lens in the plurality of metasurface lenses is configured to process the light beam from a corresponding group of light sources. Using the light source array and the metasurface lens array, the arrangement of a plurality of polarized light beams and non-polarized light beams can be realized, the polarized light can be emitted in a specific region or field of view, and high-precision polarization recognition and detection can be realized.

[0035] In a second aspect, the present application provides a detection device, the detection device comprising a transmitting device and a detector, the transmitting device being the transmitting device described in the first aspect or any possible implementation of the first aspect. The transmitting device is configured to transmit a detection beam to a space, the detection beam comprising a first light beam from the first transmitting module and a second light beam from the second transmitting module. The detector is configured to receive a return beam, the return beam comprising a return echo corresponding to the detection beam. Optionally, the detector can be included in a receiving device.

[0036] In a possible implementation, the detection device further comprises a window, the detection beam and the return beam passing through the window.

[0037] Further, the detection device further comprises a housing, the housing being configured to provide a receiving space for accommodating other modules in the detection device.

[0038] Optionally, the detection device can be a laser radar, or other devices capable of transmitting a light beam, such as a fusion detection device capable of simultaneously realizing the functions of a laser radar and a camera, or a range finder, etc.

[0039] In a third aspect, the present application provides a terminal, the terminal comprising the transmitting device described in the first aspect or any possible implementation of the first aspect, or comprising the detection device described in the second aspect or any possible implementation of the second aspect.

[0040] Optionally, the terminal is an intelligent terminal or a vehicle, such as a vehicle, a drone, or a robot, etc.

[0041] Some beneficial effects of the second aspect to the third aspect of the present application can be referred to the beneficial effects of the first aspect, which will not be described one by one. BRIEF DESCRIPTION OF DRAWINGS

[0042] The drawings used in the description of the embodiments will be briefly described below.

[0043] Figure 1 is a schematic diagram of P light and S light formed after a light beam passes through a PBS;

[0044] Figure 2 is a schematic diagram of a transmitting and refracting phenomenon;

[0045] Figure 3 is a schematic diagram of the relationship between the reflectivity of S component and the reflectivity of P component and the incident angle;

[0046] Figure 4 is a schematic diagram of the working process of a liquid crystal modulator;

[0047] Figure 5 is a schematic diagram of the structure of a superlens;

[0048] Figure 6 is a structural schematic diagram of a detection device provided by an embodiment of the present application;

[0049] Figure 7 is a scene schematic diagram of detecting on a waterlogged road surface;

[0050] Figure 8 is a scene schematic diagram of a light beam passing through a transparent device;

[0051] Figure 9 is a structural schematic diagram of a transmitting device provided by an embodiment of the present application;

[0052] Figure 10 is a scene schematic diagram of a transmitting device provided by an embodiment of the present application;

[0053] Figure 11 is a region distribution schematic diagram of linear polarization detection and mixed polarization detection provided by an embodiment of the present application;

[0054] Figure 12 is a schematic diagram of a field of view angle of a first light beam and a second light beam provided by an embodiment of the present application;

[0055] Figure 13 is a structural schematic diagram of another transmitting device provided by an embodiment of the present application;

[0056] Figure 14 is a structural schematic diagram of another transmitting device provided by an embodiment of the present application;

[0057] Figure 15 is a structural schematic diagram of another transmitting device provided by an embodiment of the present application;

[0058] Figure 16 is a schematic diagram of two detection patterns provided by an embodiment of the present application;

[0059] Figure 17 is a structural schematic diagram of another transmitting device provided by an embodiment of the present application;

[0060] Figure 18 is a structural schematic diagram of a vehicle including a laser radar provided by the present application. DETAILED DESCRIPTION

[0061] For the convenience of understanding, the following exemplary gives a part of the description of the concepts related to the embodiments of the present application for reference.

[0062] The detection device is a device for detecting targets in an object space. The working principle of the detection device is to emit a detection signal to the object space, receive a return signal from the object space, and obtain relevant information of the target in the object space according to the return signal, such as one or more of the distance, position, angle, speed, reflectivity, reflection intensity, color, or material of the target. Among them, the detection signal is usually an electromagnetic wave or a sound wave, and the electromagnetic wave includes light, millimeter wave, or centimeter wave. The detection device provided in the embodiments of the present application takes light as the detection signal. The detection device mentioned in the present application can be a laser radar, or other devices capable of emitting a light beam, such as a fusion detection device capable of realizing the functions of laser radar and camera, or a range finder.

[0063] Polarization is used to describe the vibration direction and regularity of the optical vector (i.e., the electric vector or the magnetic vector). The polarization state is a property of light, and the polarization state of a light beam can generally include the following: linear polarization, elliptical polarization (including circular polarization), unpolarized (or non-polarized) polarization, and mixed polarization. When the polarized light is linearly polarized light, the polarization state further includes the angle and amplitude. When the polarized light is circularly polarized light, the polarization state further includes the direction of polarization (such as clockwise or counterclockwise). For linearly polarized light, the optical vector reciprocally vibrates along one direction. For elliptically polarized light, the direction and size of the optical vector change with the phase. In a fixed plane perpendicular to the direction of light propagation, the endpoint of the optical vector traces an ellipse. For circularly polarized light, the size of the optical vector is constant, and the vibration direction changes with the phase. For non-polarized light, such as natural light, the vibration of the optical vector is chaotic, neither in the same direction nor with a fixed time correspondence, so there is no fixed phase, and the vibration of the electric vector has no fixed regularity. A mixed polarization state light beam refers to a light beam with one or more polarization states. For example, the mixed polarization state light beam includes an unpolarized light beam. For another example, the mixed polarization state includes multiple linearly polarized light beams, which can have different polarization angles and / or amplitudes. For another example, the mixed polarization state light beam includes linearly polarized light beams and circularly polarized light beams. For another example, the mixed polarization state light beam includes linearly polarized light beams and elliptically polarized light beams.

[0064] P light and S light, P light and S light are concepts to describe the polarization state of light under the reflection and refraction phenomenon, when light is incident at a certain angle, the reflection or transmission light whose vibration direction of light vector is parallel to the incident plane is P (parallel) light, and the light whose vibration direction of light vector is perpendicular to the incident plane is S (senkrecht) light. At the same time, in the light emission reflection and / or refraction phenomenon, the component of the electric vector parallel to the incident plane is called P component, and the component of the electric vector perpendicular to the incident plane is called S component. The following will introduce P light and S light in combination with the scene of light beam incident polarization beam splitter (PBS), PBS is a special optical element, which can split the incident light according to the polarization state. The incident light has P component and S component, when incident PBS, P component transmits PBS, and S component is reflected by PBS. In combination with Figure 1 , the emergent light of the incident light after PBS includes two beams, S light is reflected by PBS, and its polarization direction is perpendicular to the incident plane. P light is transmitted by PBS, and its polarization direction is parallel to the incident plane.

[0065] Reflection and refraction of light, when light propagates from a medium with refractive index n1 to another medium with refractive index n2, reflection and refraction of light may occur at the interface between the two (usually called interface). In the light emission reflection and / or refraction phenomenon, the component of the electric vector parallel to the incident plane is called P light, and the component of the electric vector perpendicular to the incident plane is called S light. Please refer to Figure 2 , when the incident angle is θ1, and the refractive index of the upper layer material is n1, and the refractive index of the lower layer material is n2, the reflection angle is θ'1, and the refraction angle is θ2, according to the reflection and refraction law, the following formula can be obtained:

[0066] θ1=θ'1 formula (1)

[0067]

[0068] According to Fresnel equations, the reflection coefficient R s of S component in incident light and the reflection coefficient R p of P component are respectively:

[0069]

[0070] Please refer to Figure 3 , Figure 3 is a schematic diagram of the relationship between the reflectivity of S component and the reflectivity of P component and the incident angle (take n1 as 1 and n2 as 1.45 as an example). In combination with the foregoing formula (1) (2) (3) (4) and Figure 3The reflectivity of the P component in the light beam is less than that of the S component at different angles. Therefore, increasing the proportion of the P component in the incident light beam, for example, using P light as the incident light beam, can improve the transmittance of the light beam when passing through the interface of different materials.

[0071] A liquid crystal modulator, also known as an electrically responsive liquid crystal modulator, is a phase delay device that can modulate the phase of a light beam under the action of an electric field, change the polarization direction of the light beam, and the specific modulation is determined by the voltage loaded on the liquid crystal modulator. Please refer to Figure 4 , the light beam (a) is vertically incident on the liquid crystal modulator, and according to the different voltages loaded on the liquid crystal modulator, the liquid crystal modulator will correspondingly realize the corresponding modulation effect, so that the polarization state of the light beam (a) changes (or remains unchanged), and the light beam (b) is obtained.

[0072] Metalenses, also known as superlenses or super surface lenses, are planar lenses that use super surfaces to focus light. They have the advantages of thin volume, light weight, low cost, good imaging, and easy integration, providing a solution for compact integrated optical systems. Please refer to Figure 5 , Figure 5 is a structural schematic diagram of a metalens. A metalens usually includes a substrate and a micro-nano structure layer carried on the substrate. The number of micro-nano structure layers can be single-layer (arranged on one side of the substrate), two layers (for example, arranged on both sides of the substrate), or even more layers (for example, multiple layers can be stacked). The micro-nano structure layer includes a plurality of nano structure units arranged in a certain manner. By adjusting the shape, rotation direction, height, arrangement manner, etc. of the nano structure units, the metalens can control the pointing angle, collimation, energy distribution, polarization, phase, and amplitude of the light beam. Optionally, in combination with Figure 5 , the metalens can also include a protective layer to protect the internal devices, prevent dust, water, and water vapor, and prolong the service life of the metalens.

[0073] The metalens is usually made of a light-transmitting material, such as glass or crystal. Taking the substrate as an example, the substrate is usually a high light-transmitting material, which reduces the energy loss of the light beam. For example, the high light-transmitting material has a light transmittance higher than a first threshold value, which can be predefined (for example, industry regulations) or pre-set. For example, the high light-transmitting material can be a material with a light transmittance higher than 99%, or a material with a light transmittance higher than 90%.

[0074] In some schemes, the modulation effect of a metalens on a light beam is influenced by the voltage applied to it. For example, applying different voltages to the metalens can result in different polarization modulation effects. For instance, when a voltage V1 is applied to the metalens, a mixed-polarized beam can be modulated into linearly polarized light; when a voltage V2 is applied, the metalens has no polarization modulation effect, meaning the polarization state of the beam passing through the metalens remains unchanged. The voltage applied to the metalens can be 0; when the voltage is 0, the modulation effect of the metalens is unaffected by the voltage.

[0075] Detection device 10, with Figure 6 For example, the system includes a transmitting device 11 and a receiving device 12. The transmitting device 11 emits a probe beam to detect objects in space. When the probe beam illuminates a target in the object space, the target can reflect the probe beam, forming an echo. The receiving device 12 receives the returning beam, which includes the echo from the target. The detection device 10 can process the returning beam to obtain relevant information about the target, such as the target's distance, angle, position, shape, velocity, reflectivity, material, color, and other characteristics. The detection performance of the detection device 10 is related to the power of the laser beam emitted by the transmitting end and the properties of the laser beam itself. Currently, most of the probe beams emitted by the transmitting end are mixed-polarization (including unpolarized) laser beams. The probe beam does not undergo polarization modulation during the emission process, resulting in a low energy loss rate and the ability to cover most sensing scenarios. However, mixed-polarization beams are susceptible to interference from reflection and scattering, affecting the performance stability of the lidar.

[0076] Please see Figure 7 , Figure 7 This is a schematic diagram of a scenario involving detection on a flooded road surface. The detection beam emitted by the transmitting device, when it strikes a normal target (e.g., target 1, i.e., the vehicle ahead), will undergo diffuse reflection. Part of the reflected light from the normal target will return to the receiving device of the detection device, allowing the device to detect target 1 ahead. However, when the detection device strikes a flooded road surface, the reflection and scattering caused by the water reduce the energy of the light entering the water. Those skilled in the art should understand that when the echo energy is weak, it may not be detected because it does not reach the detection threshold, or it may be overwhelmed by noise. Therefore, when the energy of the light projected into the water is low, the detection device may not be able to detect the road surface beneath the water, or any obstacles that may exist underwater (such as target 2).

[0077] Please see Figure 8 , Figure 8is a schematic diagram of a light beam passing through a transparent device, such as a viewing window of a detection device, an automobile windshield, etc. When the light beam passes through the lens device, a portion of the light beam will be reflected, resulting in a decrease in the light power transmitted through the transparent device.

[0078] In addition to the waterlogged road surface and the transparent device, the surface of some road surfaces (or objects) in high-reflectivity and high-temperature weather will also form similar reflection and scattering effects, which will seriously interfere with the detection of the detection device and cause misjudgment, seriously affecting the detection accuracy of the laser radar.

[0079] Therefore, the application provides a transmitting device, a detection device (such as a laser radar), and a terminal, which can emit light beams with different polarization states. The light beams with different polarization states can perform composite detection on the field of view. In various complex scenarios, the light beams emitted by the transmitting device of the application have strong detection performance. When the transmitting device is applied to a laser radar, the anti-interference performance of the laser radar can be improved, and the detection accuracy can be improved. Especially in scenarios such as waterlogged road surfaces, optical elements passing through an inclined surface, detecting high-reflectivity objects, and detecting high-temperature road surfaces, the application can significantly reduce interference, improve return energy, and improve the detection accuracy of the laser radar.

[0080] The application will be described below in conjunction with Figure 9 The application provides a transmitting device.

[0081] As Figure 9 The detection device 10 includes a first transmitting module 111 and a second transmitting module 112. The first transmitting module 111 is configured to emit a first light beam, and the polarization state of the first light beam is a mixed polarization state. The mixed polarization state light beam has one or more polarization states. For example, the first light beam is generated by a light source in the first transmitting module and has not been subjected to polarization modulation. Since the first light beam has not been subjected to polarization modulation, the polarization state of the light beam is mixed and not a single state. In some scenarios, the light beam can be regarded as a light beam without polarization.

[0082] The second transmitting module 112 is configured to emit a second light beam, and the polarization state of the second light beam is linear polarization. The first transmitting module 111 and the second transmitting module 112 are configured to detect different regions of an object space. For example, the first light beam is configured to detect a first region of the object space, and the second light beam is configured to detect a second region of the object space. The first region and the second region are different regions of the object space.

[0083] In the application, the first light beam is a mixed polarization state light beam, which is usually not subjected to polarization modulation, has low energy loss, high energy density, and good remote measurement capability, and is suitable for most detection scenarios. The second light beam is a linear polarization state light beam (referred to as linearly polarized light), which has a high energy density and is suitable for some special detection scenarios. Figure 3As can be known from the introduction of the related art, the linearly polarized light beam is suitable for a detection scene that needs to have higher transmittance (such as increasing the proportion of the P component) or needs to have higher reflectivity (such as increasing the proportion of the S component), and can improve the anti-interference performance of the detection device, so that the detection device has higher detection accuracy.

[0084] Taking a scene that needs higher transmittance as an example, please refer to Figure 10 , Figure 10 is a schematic diagram of a use scene of a transmitting device provided by an embodiment of the present application. On the one hand, the second light beam emitted by the second transmitting module 112 in the transmitting device is linearly polarized light, which is P light relative to the current reflecting surface. The linearly polarized light is used to detect an angle β in the vertical field of view, which includes an angle pointing to the ground. As can be known from the introduction of Figure 3 , when the P light passes through the interface of two materials with different refractive indexes, the transmittance of the P light is relatively higher than that of the S light. Therefore, when the P light passes through the surface of the water accumulation road, the transparent device, the high-reflectivity road surface, or the road surface (or object) in high-temperature weather, the P light has smaller loss, can reduce the interference caused by reflection and scattering, and improves the accuracy of the detection result. For example, in the scene described in Figure 10 , compared with using a light beam with a mixed polarization state, circularly polarized light, or non-polarized light, the use of P light to detect the water accumulation ground can improve the energy of the light rays refracted into the water accumulation and the energy of the echo from the water accumulation into the air, thereby improving the detection accuracy of the bottom obstacle under the water accumulation. On the other hand, the first light beam emitted by the first transmitting module 111 in the transmitting device is a light beam with a mixed polarization state, which is used to detect an angle α in the vertical field of view, which includes an angle pointing to the air. Since the target in the air is not prone to special situations such as water accumulation, the use of the mixed polarization state for detection can ensure the energy density of the light beam and improve the far measurement performance of the detection device.

[0085] Continuing to take the scene that needs higher transmittance as an example, the first transmitting module and the second transmitting module can be one of the transmitting module arrays, and the transmitting device can include a plurality of first transmitting modules and a plurality of second transmitting modules (which will be described in detail below). The light beams emitted by the transmitting device can form an arrangement as shown in Figure 11 in the field of view of the object space. In the area irradiated by the light beams emitted by the transmitting device, some areas are detected by the light beam with the mixed polarization state, and some areas are detected by the linearly polarized light. It should be understood that the arrangement of the areas detected by the light beam with the mixed polarization state and the areas detected by the linearly polarized light in the pattern is only an example. In this way, for some suspicious areas, such as areas where no target is detected, high-reflectivity areas, and areas with serious noise, the polarization light can be used for detection to improve the detection accuracy.

[0086] In summary, the scheme can perform composite detection on the object space, reduce the interference of reflection and reflection effect on detection without significantly reducing the far measurement performance of the detection device, and improve the detection accuracy of the detection device. Especially in the scenarios of waterlogged road surface, inclined optical element, detection of high-reflective object, and detection of high-temperature road surface, the application can significantly reduce the interference and improve the echo energy, thereby improving the detection precision of the laser radar.

[0087] In some possible embodiments, the vertical field of view angle of the first light beam and the vertical field of view angle of the second light beam are different, and at this time, the regions detected by the first light beam and the second light beam are not completely overlapped in the vertical direction. For example, the first light beam can be used to detect the angle range far from the ground in the vertical field of view angle, and the first light beam is used to detect the angle range close to the ground in the vertical field of view angle, thereby improving the detection precision when detecting the target in the scenarios of waterlogged road surface, river with water flow, and the like.

[0088] The vertical field of view angle is the field of view angle in the vertical direction, which can be predefined. For example, the emission device can define a coordinate system, and the vertical direction can be a direction predefined in the coordinate system, such as the Y-axis direction or the Z-axis direction. Alternatively, the vertical direction can be understood as a direction perpendicular to the bottom surface or the horizontal plane. Figure 9 And Figure 12 The vertical field of view angle of the first light beam is an angle α, and the vertical field of view angle of the second light beam is an angle β. Taking the normal angle of the emission device as 0° and the square of the azimuth angle as the normal direction as an example, the angle range detected by the first light beam is (α1, α2), and the angle range detected by the first light beam is (β1, β2). Wherein, (α1, α2) and (β1, β2) can not overlap, for example, (α1, α2) is (0°, 15°), and (β1, β2) is (-15°, 0°). Alternatively, (α1, α2) and (β1, β2) can overlap but are not completely the same, for example, (α1, α2) is (-2°, -15°), and (β1, β2) is (-15°, 0°).

[0089] Alternatively, the pointing angle of the first light beam and the pointing angle of the second light beam are different. The pointing angle can be the azimuth angle of the optical axis of the light beam. Figure 12 The pointing angle of the first light beam is α0, and the pointing angle of the first light beam is β0, and α0 and β0 are different.

[0090] In some possible embodiments, the vertical field of view angle of the second light beam includes a detection angle pointing to the ground. In this way, the ground can be detected by polarization, and the regions such as the sky can be detected by mixed polarization (including no polarization), thereby reducing the interference of objects and scenes such as rainy day, river, inclined window, and high reflection, and realizing high-precision polarization recognition and detection.

[0091] and specifically, the ground pointing detection angle can be predefined, for example, in combination with Figure 12 In some possible solutions, the ground pointing detection angle is defined as (-15°, 0°), 0° being the normal angle of the emitting device, or the middle line of the vertical field of view. Alternatively, the ground pointing detection angle can be determined by the detection result of the object space, for example, by a camera or a detection device, detecting the object space to determine the angle range corresponding to the ground, and then polarizing the light beam pointing to the ground, so as to detect the ground by using polarized light.

[0092] The emitting device is introduced above, and the difference between the detection regions of the first light beam and the second light beam is described. The following continues to introduce some possible designs of the first emitting module and the second emitting module provided in the present application. The following possible designs can be combined without being mutually exclusive, or can be combined with the embodiments shown in the foregoing Figure 9 、 Figure 10 and Figure 11 .

[0093] In one possible design, the first emitting module includes a first light source for emitting a light beam with a mixed polarization state, and the second emitting module includes a second light source for emitting a light beam with a linear polarization state. The first emitting module and the second emitting module use different light sources, so that the light beams emitted by the light sources of the two modules have different polarization states.

[0094] Please refer to Figure 13 , Figure 13 is another structure diagram of an emitting device provided in an embodiment of the present application. The first emitting module 111 includes one or more light source units (unit), such as the light source unit 113 shown in Figure 13 . The second emitting module also includes multiple light source units. In the foregoing light source unit, one unit can include multiple optical apertures (optical aperture, OA), hereinafter referred to as light source OA, which is the smallest light emitting unit. Taking a vertical-cavity surface-emitting laser (VCSEL) as an example, one light source OA can be a single VCSEL light emitting tube. Figure 13 In the foregoing structure, the light source OA in the first emitting module 111 is a non-polarized laser light source (which can be replaced by a mixed polarization laser light source), and the light beam emitted by the non-polarized laser light source is a mixed polarization state light beam (including a non-polarized light beam). The light source OA in the second emitting module 112 is a polarized laser light source, and the light beam emitted by the polarized laser light source is a linearly polarized light.

[0095] Alternatively, asFigure 13 As shown, the first emission module 111 and the second emission module 112 can be integrated together, for example, disposed on the same circuit board, for example, packaged as a whole by the same housing.

[0096] The foregoing is described by taking the light source unit as an example. In specific implementation, the present application is also applicable to other forms of light sources (for example, independent single lasers). In some schemes, the light source can be a vertical surface emitting laser or an edge emitting laser (EEL) and the like. Among them, when the vertical surface emitting laser is disposed on a circuit board, the light emitting surface is parallel to the surface of the circuit board. Exemplarily, the vertical surface emitting laser includes but is not limited to one or more of a VCSEL, a photonic crystal surface emitting semiconductor laser (PCSEL), a horizontal cavity surface-emitting laser (HCSEL), a fiber laser and the like. The edge emitting laser refers to a laser that emits light through a side surface. In other words, the edge emitting laser refers to a laser that, when disposed on a circuit board, has a light emitting surface that is a side surface (or a surface perpendicular to the circuit board). Alternatively, the EEL can also be replaced by other devices that emit light at the edge of the light emitting element, such as a silicon optical chip and the like.

[0097] As a possible example, in combination with Figure 13 and the foregoing Figure 12 The laser light sources in the emission device can be arranged in a specific manner, so that the ground part is a polarized laser light source, and the remaining part is a mixed polarization state laser light source. Exemplarily, in the angle range below the horizontal field of view angle 0°, the light beam emitted by the polarized laser light source is used for detection.

[0098] Optionally, the emission device further includes an optical module. The optical module can be used for one or more optical processes such as collimation, light filtering, direction control, light homogenization, light splitting, scanning and the like. Exemplarily, the optical module can include one or more of the following optical elements: a collimating mirror, a lens, a microlens, a superlens, a light filter, a light homogenization sheet, a beam splitter, a scanner (such as a swing mirror, a rotating mirror and the like) or a mirror and the like. The present application does not strictly limit the number and arrangement position of the optical elements included in the emission device.

[0099] In a possible design, the first emission module and / or the second emission module includes a polarization modulation module. The polarization modulation module can modulate the light beam emitted by the light source, so that the polarization states of the light beams emitted by the first emission module and the second emission module are different.

[0100] Please refer toFigure 14 , Figure 14 is a structural schematic diagram of a transmitting device provided by an embodiment of the present application. The first transmitting module 111 includes a first light source, and the second transmitting module 112 includes a second light source 21. The first light source and the second light source 21 are both used to emit a light beam with a mixed polarization state. As shown in Figure 14 , the first light source is an unpolarized laser light source (which can be replaced by a mixed polarization laser light source), and the second light source 21 is also an unpolarized light source (which can be replaced by a mixed polarization laser light source). The second transmitting module further includes a polarization modulation module 22. The light beam emitted by the second light source passes through the polarization modulation module 22. The polarization modulation module 22 is used to process the light beam emitted by the second light source 21 to obtain a light beam with a linear polarization state (i.e., a second light beam). In other words, the polarization modulation module 22 is used to modulate the light beam from the second light source 21 into a linearly polarized outgoing light, in combination Figure 14 , the light beam emitted by the second light source 21 is a mixed polarization light beam. After passing through the polarization modulation module 22, the outgoing light beam is linearly polarized.

[0101] In some possible solutions, the polarization modulation module can include one or more of a polarizer, a liquid crystal modulator, or a superlens. Exemplarily, by arranging a polarizer on the emission light path of the second light source 21 in the second transmitting module 112, the polarization state of the outgoing light beam can be linearly polarized.

[0102] The foregoing Figure 14 is described by taking the arrangement of the polarization modulation module in the second transmitting module 112 as an example. In yet some designs, a polarization modulation module can also be arranged in the first transmitting module 111. In the case where the polarization modulation modules are arranged in both the first transmitting module 111 and the second transmitting module 112, the polarization modulation modules arranged in the two modules process the light beams to obtain different results.

[0103] The following continues to introduce several possible designs of the first transmitting module and the second transmitting module:

[0104] In one possible design, please refer to Figure 15 , the first transmitting module 111 includes a first light source 31 and a first liquid crystal modulation unit 32, and the second transmitting module 112 includes a second light source 21 and a second liquid crystal modulation unit 23 (which can be regarded as a polarization modulation module 22). The first liquid crystal modulation unit 32 and the second liquid crystal modulation unit 23 belong to liquid crystal modulators and can adjust the polarization of the incident light beam under the action of voltage. As shown in Figure 15In the case that the first light source and the second light source are both non-polarized laser light sources, the light beam emitted by the first light source 31 passes through the first liquid crystal modulation unit 32, and the first liquid crystal modulation unit 32 is configured to process the light beam from the first light source 31 to obtain a first light beam, and the first light beam is a mixed polarization state light beam (including a non-polarized light beam). The light beam emitted by the second light source 21 passes through the second liquid crystal modulation unit 23, and the second liquid crystal modulation unit 23 is configured to process the light beam from the second light source 21 to obtain a second light beam, and the second light beam is a linearly polarized light.

[0105] Optionally, the voltage loaded on the first liquid crystal modulation unit is different from the voltage loaded on the second liquid crystal modulation unit. For example, when the light beams emitted by the first light source and the second light source are the same, different voltages can be loaded on the corresponding liquid crystal modulation units of the two light sources to generate two output light beams with different polarization states. Of course, the present application is also applicable to the case that the polarization states of the light beams emitted by the first light source and the second light source are different.

[0106] In the embodiment shown in Figure 15 , since the modulation effect of the liquid crystal modulation unit on the light beam is affected by the loaded voltage, different detection patterns can be achieved by designing different voltage values, so that the polarization states of the light beams detected by each detection region can be flexibly adjusted to meet the detection requirements in various scenarios.

[0107] It should be understood that the present application does not limit the number of first emission modules and the number of second emission modules included in the emission module.

[0108] In one possible embodiment, the emission device can include a plurality of first emission modules 111 and a plurality of second emission modules 112, and the light sources in the plurality of first emission modules 111 and the light sources in the plurality of second emission modules 112 can be integrated in the same light source array. The emission device can include a plurality of liquid crystal modulation units, and the plurality of liquid crystal modulation units can also be integrated into a liquid crystal modulation module. Optionally, the number of liquid crystal modulation units in the liquid crystal modulation module can be the same as the number of light source units in the emission device, or can be different. Here, the light source unit refers to a set of light sources included in a first emission module or a second emission module. Further, the liquid crystal modulation units in the liquid crystal modulation module can correspond to the light source units in the emission device one by one.

[0109] In some possible embodiments, please refer to Figure 15 , the emission device 11 includes a light source array 20, the light source array 20 includes a plurality of light source units (or a plurality of groups of light sources), and the first light source 31 and the second light source 21 belong to the plurality of light source units. Further, the plurality of light source units are arranged in an array to form a two-dimensional plane with multiple rows and multiple columns, and the first light source 31 and the second light source 21 are located in different regions on the light source array.

[0110] In some possible implementation manners, referring to Figure 15 The emitting device 11 comprises a liquid crystal modulation module 30, and the liquid crystal modulation module 30 comprises a plurality of liquid crystal modulation units, the first liquid crystal modulation unit 32 and the second liquid crystal modulation unit 23 belong to the plurality of liquid crystal modulation units. Further, the plurality of liquid crystal modulation units are arranged in an array to form a two-dimensional plane with multiple rows and multiple columns (there can also be a single column or a single row), and the first liquid crystal modulation unit 32 and the second liquid crystal modulation unit 23 are located at different regions on the liquid crystal modulation module 30. Further, each liquid crystal modulation unit in the plurality of liquid crystal modulation units in the liquid crystal modulation module 30 corresponds to a group of light sources (i.e., a light source unit) of the light source array 20, and each liquid crystal modulation unit is configured to modulate a light beam from the corresponding group of light sources.

[0111] In some possible implementation manners, the liquid crystal modulation unit, such as the first liquid crystal modulation unit and / or the second liquid crystal modulation unit, is loaded with adjustable voltage. Further, in combination with Figure 15 The voltage loaded on each liquid crystal modulation unit in the liquid crystal modulation module 30 is adjustable. In this way, the polarization state of the light beam for detecting each detection region can be dynamically adjusted flexibly to meet the detection requirements in various scenarios.

[0112] As a possible application example, in sunny weather, the light beams emitted by the emitting device are all light beams with mixed polarization states, such as (A) of Figure 16 In rainy weather, water is likely to accumulate on the ground, at this time, the light beams in the angle range towards the ground can be linearly polarized, and the light beams in the remaining angle range are with mixed polarization states, such as (B) of Figure 16 Of course, the sunny weather and the rainy weather here are only examples, and in specific implementation, more special scenarios can also be implemented to correspond to the detection patterns, such as through the image collected by the camera, to realize the identification of special targets such as water surface, transparent device, high-reflection device, high-temperature road surface, and thus to use linearly polarized light to detect in the detection region corresponding to the special target. In some schemes, the identification of the target can be identified by other processing devices, and the processing device can send a control signal to the emitting device, and the emitting device can adjust the voltage loaded on part or all of the liquid crystal modulation units in the liquid crystal modulation module 30 according to the corresponding control signal, so as to realize various detection patterns.

[0113] As another possible application example, the detection device further comprises a receiving device 12, the receiving device 12 comprising a detector, the detector being capable of receiving the return signal to obtain a detection result of the object space. Further, the detector (or other processing device) can generate a first signal according to the detection result of the object space. The liquid crystal modulation module 30 in the transmitting device 11 can receive the first signal, and in response to the first signal, adjust the voltage of the target liquid crystal modulation unit in the plurality of liquid crystal modulation units to adjust the polarization state of the light beam emitted onto the target region of the object space. For example, in the detection result of the detector, a certain region in the object space does not detect a target point or the number of target points is less than a certain threshold, and the detector (or other processing device) can use polarized light to re-detect the region, thereby reducing the interference of interfering objects (such as water, transparent devices, high-reflectivity objects, high-temperature air masses, etc.) in the field of view, and achieving high-precision polarization recognition and detection.

[0114] In summary, the above design can use the liquid crystal modulation module to actively and / or passively modulate the light beams emitted by the array laser light source in different regions and differentially, to achieve polarization detection in a specific region or a specific field of view angle range, and mixed polarization detection (which can be regarded as non-polarization detection) in other regions, which can achieve high-precision polarization recognition and detection while ensuring the far measurement performance.

[0115] In one possible design, please refer to Figure 17 , the first transmitting module 111 comprises a first light source 31 and a first super lens 41, and the second transmitting module 112 comprises a second light source 21 and a second super lens 42 (which can be regarded as a polarization modulation module 22). Among them, the first super lens 41 and the second super lens 42 can modulate the polarization of the incident light beam. As Figure 17 , in the case that both the first light source and the second light source are non-polarized laser light sources, the light beam emitted by the first light source 31 passes through the first super lens 41, and the first super lens 41 is used to process the light beam from the first light source 31 to obtain a first light beam, which is a mixed polarization state light beam (regarded as a non-polarized light beam). The light beam emitted by the second light source 21 passes through the second super lens 42, and the second super lens 42 is used to process the light beam from the second light source 21 to obtain a second light beam, which is a linearly polarized light.

[0116] Further, in combination with the foregoing introduction of the structure of the superlens, the first superlens 41 comprises a first substrate and a first micro-nano structure layer carried on the first substrate, and the first micro-nano structure layer comprises a plurality of first nano structure units. The second superlens comprises a second substrate and a second micro-nano structure layer carried on the second substrate, and the second micro-nano structure layer comprises a plurality of second nano structure units. The parameters of the first nano structure units, such as shape, rotation direction, height, arrangement mode and the like, can be different from those of the second nano structure units, and of course, there can be some same, such as the same height.

[0117] In a possible implementation, the superlens can complete other optical processing in addition to polarization modulation. That is, the superlens can simultaneously realize divergence angle regulation, energy distribution regulation, pointing angle regulation and polarization regulation. Of course, which one or several of the above can be realized according to actual needs. Exemplarily, the first superlens is used for one or more of collimation processing, energy distribution regulation and pointing angle regulation on the light beam from the first light source, and the second superlens is used for polarization modulation on the light beam from the second light source, and is also used for one or more of collimation processing, energy distribution regulation and pointing angle regulation.

[0118] Similarly, in combination with the foregoing introduction of the structure of the superlens, Figure 17 The emitting device comprises a light source array 20, the light source array 20 comprises a plurality of groups of light sources arranged in an array, the first light source and the second light source belong to the plurality of groups of light sources, and the first light source and the second light source are located in different regions of the light source array.

[0119] Optionally, the superlenses can be arrayed, the regulation capabilities of the superlenses are independent of each other, and the final regulation results can be superimposed and displayed. As a possible example, see Figure 17 The emitting device 11 further comprises a superlens array 40, the superlens array 40 comprises a plurality of superlenses arranged in an array, the first superlens 41 and the second superlens 42 belong to the superlens array 40, and each superlens in the plurality of superlenses is used for processing a light beam from a corresponding group of light sources. The related description can be referred to the foregoing possible implementation of the superlens. Figure 16 The foregoing possible implementation of the superlens.

[0120] In some possible implementations, the voltage loaded on the first superlens is different from the voltage loaded on the second superlens. For example, when the light beams emitted by the first light source and the second light source are the same, different voltages loaded on the corresponding superlenses of the two can produce two output light beams with different polarization states. Of course, the present application is also applicable to the case where the polarization states of the light beams emitted by the first light source and the second light source are different. In Figure 17In the illustrated embodiment, since the modulation effect of the metasurface lens on the light beam is affected by the applied voltage, different detection patterns can be achieved by designing different voltage values, so that the polarization state of the light beam detected by each detection region can be flexibly adjusted to meet the detection requirements in various scenarios.

[0121] In some possible embodiments, the voltage applied to the metasurface lens, such as the first metasurface lens and / or the second metasurface lens, is adjustable. Further, in combination with Figure 17 , the voltage applied to each metasurface lens in the metasurface lens array 40 is adjustable. In this way, the polarization state of the light beam detected by each detection region can be dynamically adjusted flexibly to meet the detection requirements in various scenarios. For related technical effects, application examples, and application scenarios, please refer to the aforementioned scheme in which the voltage applied to the liquid crystal modulation unit of the liquid crystal modulation module is adjustable.

[0122] In some possible embodiments, the metasurface lens array 40 can receive a second signal and adjust the voltage applied to the target metasurface lens in the plurality of metasurface lenses in response to the second signal, so as to adjust the polarization state of the light beam emitted onto the target region in the object space. For related application scenarios and technical effects, please refer to the aforementioned scheme in which the voltage applied to the liquid crystal modulation unit of the liquid crystal modulation module is adjustable.

[0123] In some schemes, in the case where the emission device includes a metasurface lens, the emission device can still optionally include a geometric lens and an optical element. The present application does not strictly limit the number and arrangement position of the optical elements additionally included in the emission device.

[0124] In summary, the above design can use a multifunctional integrated metasurface lens to perform regional and differential polarization modulation on the light beams emitted by the array laser source, to achieve polarization detection in a specific region or a specific field of view range, and mixed polarization detection in other regions, so as to achieve high-precision polarization recognition and detection while ensuring the far-focusing performance.

[0125] The present application also provides a detection device, which includes the aforementioned emission device 11. The emission device is the emission device described in the aforementioned embodiments, such as Figure 9 、 Figure 13 、 Figure 14 、 Figure 15 、 Figure 17 and the like. In combination with Figure 6 , the emission device 11 in the detection device 10 is configured to emit a detection light beam to the object space, and the detection light beam includes a first light beam from the first emission module and a second light beam from the second emission module.

[0126] Further, the detection device further includes a detector configured to receive a return light beam, and the return light beam includes a return wave corresponding to the detection light beam.

[0127] Optionally, the detector can be included in the receiving device. As shown in Figure 6 , the detection device 10 includes a receiving device 12, which can include the detector.

[0128] In one possible implementation, the detection device further includes a window through which the detection light beam and the return light beam pass.

[0129] In one possible implementation, the detection device further includes a housing for providing a receiving space to accommodate other modules in the detection device.

[0130] In one possible implementation, the detection device can be a laser radar, or other devices capable of emitting a light beam, such as a fusion detection device capable of simultaneously implementing the functions of a laser radar and a camera, or a range finder, etc.

[0131] The embodiments of the present application also provide a terminal, which includes the aforementioned transmitting device 11, or the aforementioned detection device 10 (such as a laser radar). The terminal herein can be a vehicle, a drone, or a robot, etc. intelligent terminal or vehicle.

[0132] Taking the detection device as a laser radar as an example, please refer to Figure 18 , Figure 18 is a structural schematic diagram of a vehicle including a laser radar provided by the present application. The laser radar can perceive the surrounding environment of the vehicle, and obtain relevant information of targets in the surrounding environment. The relevant information of the targets can be used for controlling the vehicle or assisting the driver to drive.

[0133] It should be understood that Figure 18 the laser radar mounting position shown is only an example. In specific implementations, the detection device can be mounted at other positions, such as being mounted at the top of the cabin, or can also be mounted at the head of the vehicle, the side of the vehicle, or the tail of the vehicle, etc.

[0134] In the embodiments of the present application, the words such as "exemplarily" or "for example" are used to represent as an example, illustration or description. Any embodiment or design scheme described as "exemplarily" or "for example" in the present application should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. Rather, the words such as "exemplarily" or "for example" are intended to present the relevant concept in a specific manner.

[0135] The "at least one" mentioned in the embodiments of the present application refers to one or more, and "multiple" refers to two or more. "At least one of the following" or the like refers to any combination of these items, including any combination of single or multiple items. For example, at least one of a, b, or c can represent: a, b, c, (a and b), (a and c), (b and c), or (a and b and c), where a, b, and c can be single or multiple. "And / or" describes the relationship between the associated objects, indicating that there can be three relationships, for example, A and / or B can represent: A alone, A and B together, and B alone, where A and B can be singular or plural. The character " / " generally represents an "or" relationship between the associated objects.

[0136] In addition, unless otherwise stated, the ordinal numbers "first", "second", etc. used in the embodiments of the present application are used to distinguish multiple objects, and are not used to limit the order, time sequence, priority or importance of the multiple objects.

Claims

1. A launching device, characterized in that, The launching device includes a first launching module and a second launching module, wherein: The first transmitting module is used to emit a first beam, the first beam being in a mixed polarization state, and the first beam is used to probe a first region in the object space. The second transmitting module is used to emit a second beam, the second beam being linearly polarized, and the second beam is used to detect a second region of the object space, which is different from the first region.

2. The launching device according to claim 1, characterized in that, The vertical field of view of the first beam is different from that of the second beam.

3. The launching device according to claim 2, characterized in that, The vertical field of view of the second beam includes the detection angle pointing towards the ground.

4. The launching device according to claim 3, characterized in that, The detection angle pointing towards the ground is (-15°, 0°), where 0° is the normal angle of the transmitting device.

5. The launching device according to any one of claims 1-4, characterized in that, The first transmitting module includes a first light source, and the second transmitting module includes a second light source. The first light source is used to emit a beam of light with a mixed polarization state; The second light source is used to emit a linearly polarized light beam.

6. The launching device according to any one of claims 1-4, characterized in that, The first transmitting module includes a first light source, and the second transmitting module includes a second light source and a polarizer. Both the first light source and the second light source are used to emit light beams with a mixed polarization state. The light beam emitted by the second light source passes through the polarizer, which is used to perform optical processing on the light beam from the second light source to obtain the second light beam.

7. The launching device according to claim 6, characterized in that, The first transmitting module includes a first light source and a first liquid crystal modulation unit, and the second transmitting module includes a second light source and a second liquid crystal modulation unit. The light beam emitted by the first light source passes through the first liquid crystal modulation unit, which processes the light beam from the first light source to obtain the first light beam. The light beam emitted by the second light source passes through the second liquid crystal modulation unit, which processes the light beam from the second light source to obtain the second light beam.

8. The launching device according to claim 7, characterized in that, The first liquid crystal modulation unit and the second liquid crystal modulation unit are used to adjust the polarization of the incident light beam under the action of voltage. The voltage applied to the first liquid crystal modulation unit is different from the voltage applied to the second liquid crystal modulation unit.

9. The launching device according to claim 7 or 8, characterized in that, The transmitting device includes a light source array, which comprises multiple sets of light sources arranged in an array. The first light source and the second light source belong to the multiple groups of light sources, and the first light source and the second light source are located in different regions of the light source array.

10. The launching device according to claim 9, characterized in that, The transmitting device further includes a liquid crystal modulation module, which comprises multiple liquid crystal modulation units arranged in an array. The first liquid crystal modulation unit and the second liquid crystal modulation unit belong to the plurality of liquid crystal modulation units, and the first liquid crystal modulation unit and the second liquid crystal modulation unit are located in different regions of the liquid crystal modulation module. Each of the plurality of liquid crystal modulation units corresponds to a group of light sources in the light source array, and each liquid crystal modulation unit is used to modulate the light beam from the corresponding group of light sources.

11. The launching device according to claim 10, characterized in that, The voltage applied to each of the plurality of liquid crystal modulation units is adjustable.

12. The launching device according to claim 11, characterized in that, The liquid crystal modulation module is also used to receive a first signal and to adjust the voltage of the target liquid crystal modulation unit among the plurality of liquid crystal modulation units in response to the first signal, so as to adjust the polarization state of the light beam emitted onto the target region in the object space.

13. The launching device according to claim 12, characterized in that, The first signal is generated based on the detector's detection results of the object space.

14. The launching device according to any one of claims 1-4, characterized in that, The first transmitting module includes a first light source and a first metalens, and the second transmitting module includes a second light source and a second metalens. The light beam emitted by the first light source passes through the first meta-lens, which is used to process the light beam from the first light source to obtain the first light beam. The light beam emitted by the second light source passes through the second meta-lens, which processes the light beam from the second light source to obtain the second light beam.

15. The launching device according to claim 14, characterized in that, The first meta-lens includes a first substrate and a first micro / nano structure layer supported on the first substrate, wherein the first micro / nano structure layer includes a plurality of first nanostructure units; The second meta-lens includes a second substrate and a second micro / nano structure layer supported on the second substrate, wherein the second micro / nano structure layer includes a plurality of second nanostructure units; The first meta-lens is used to collimate, regulate the energy distribution, and regulate the pointing angle of the light beam from the first light source; The second meta-lens is used to perform polarization modulation, collimation, energy distribution control, and pointing angle control on the beam from the second light source.

16. The launching device according to claim 14 or 15, characterized in that, The transmitting device includes a light source array, which includes multiple groups of light sources arranged in an array. The first light source and the second light source belong to the group of light sources and are located in different regions of the light source array. The transmitting device includes a metalens array, which comprises multiple metalenses arranged in an array, wherein the first metalens and the second metalens are part of the multiple metalenses. Each of the plurality of metalenses is used to process a beam of light from a corresponding set of light sources.

17. A detection device, characterized in that, The detection device comprises a transmitting device and a detector as described in any one of claims 1-16; The transmitting device is used to transmit a detection beam into the object space, the detection beam including a first beam from a first transmitting module and a second beam from a second transmitting module; The detector is used to receive the return beam from the object space and obtain the detection result of the object space, wherein the return beam contains the echo corresponding to the detection beam.

18. The detection device according to claim 17, characterized in that, The detection device also includes a viewing window through which the detection beam and the return beam pass.

19. A terminal, characterized in that, The terminal includes a transmitting device as described in any one of claims 1-16, or a detection device as described in claim 17 or 18.

20. The terminal according to claim 19, characterized in that, The terminal can be a vehicle, drone, or robot.

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