Radar and transportation tool

Abstract

The present application provides a radar and a vehicle, wherein the radar includes a light source, a first diffraction beam element, a second diffraction beam element, a reflection assembly and a detector. The first diffraction beam element is used to diffract the light emitted by the light source into at least two first beams, and the second diffraction beam element is used to collect the at least two first beams to a set position, and then reflect them to a detection area through the reflection assembly. The reflection assembly includes a reflector for reflecting the at least two first beams collected to a set position to the detection area, and a driving mechanism for driving the reflector to swing. The detector is used to receive at least two second beams reflected back from the detection area. By using the cooperation of the first diffraction beam element and the second diffraction beam element, the light emitted by the light source is diffracted into at least two first beams, and detection can be performed through the two first beams, thereby increasing the range of the detection area. At the same time, one light source can be used to expand the detection area, thereby simplifying the structure of the entire radar.

Description

Technical Field

[0001] The present application relates to the field of communication technology, and in particular to a radar and a vehicle. Background Art

[0002] With the development of the Internet of Things and 5G, autonomous driving has become a future development trend. At present, autonomous driving is mainly divided into 5 levels, such as Figure 1 As shown, long-range scanning radar is a necessary means for L3 and above, and the test distance can reach more than 200 meters with high accuracy.

[0003] The technical classification of existing laser radars is as follows: at present, mechanical scanning is the main method, but it is bulky, costly, and has complicated processes. The drive mechanism, with its small size and simple process, has become the most competitive solution for the next generation of radars.

[0004] The core scanning component of MEMS radar is the MEMS (Micro-Electro-Mechanical System) rotating mirror. Compared with traditional MEMS for communication applications, its light transmission area, FOV (Field of view) and mechanical strength requirements are more stringent. From a theoretical model, the above three factors restrict each other and it is impossible to achieve the optimal parameters at the same time, which affects the performance of the radar. Summary of the invention

[0005] The present application provides a radar and a vehicle, aiming to improve the performance of the radar.

[0006] In the first aspect, a radar is provided, which is applied to a vehicle as an important detection tool when the vehicle is traveling, so the performance of the radar directly affects the safety of the vehicle. The radar provided by the present application includes a light source, a first diffraction beam element, a second diffraction beam element, a reflection component and a detector. Among them, the light source is used to emit detection light, the first diffraction beam element is used to diffract the light into at least two first beams, and the second diffraction beam element is used to collect the at least two first beams to a set position, and then reflect them to the detection area through the reflection component. The above-mentioned reflection component includes a reflector for reflecting the at least two first beams collected at the set position to the detection area, and a driving mechanism for driving the reflector to swing. The detector is used to receive at least two second beams reflected back from the detection area. And transmit the signal to the subsequent device. In the above technical solution, by using the cooperation of the first diffraction beam element and the second diffraction beam element, the light emitted by the light source is diffracted into at least two first beams, and detection can be performed through the two first beams, thereby increasing the range of the detection area, and at the same time, one light source can be used to expand the detection area, simplifying the structure of the entire radar and improving the performance of the radar.

[0007] In a specific implementation manner, the first diffraction beam element is used to diffract the light into an odd number of first beams, and detection is achieved by diffracting different numbers of light beams.

[0008] In a specific implementation scheme, the first diffractive beam element is a beam splitter, and the second diffractive beam element is a beam combiner. The beam splitter and the beam combiner are used to disperse and gather the light, so that the reflection component can be convenient for reflection.

[0009] In a specific possible implementation manner, when the second diffraction beam element converges the at least two first beams to the set position, the incident angle of each first beam is different, thereby ensuring that each first beam can detect a different area.

[0010] In a specific implementation manner, the set position is the reflective surface of the reflector, thereby improving the reflection effect.

[0011] In a specific possible implementation manner, the reflector is further used to reflect at least two second light beams reflected back from the detection area; the radar further includes a beam splitting reflection aperture, which is located in the optical path from the second diffraction beam element to the reflection component; the beam splitting reflection aperture is used to pass through at least two first light beams converged by the second diffraction beam element, and reflect the at least two second light beams reflected back from the reflector;

[0012] The detector is used to receive the at least two second light beams reflected by the beam splitting reflection aperture. The arrangement of the beam splitting reflection aperture further improves the compactness of the radar and reduces the volume of the radar.

[0013] In a specific possible implementation, the beam splitting reflective aperture includes: a main body, on which a light-transmitting structure for transmitting the at least two first light beams is disposed; and a reflective layer, which is disposed on a side of the main body close to the reflector and avoids the light-transmitting structure, and the reflective layer is used to reflect the at least two second light beams, thereby improving the light transmission and reflection effects.

[0014] In a specific possible implementation, the light-transmitting structure is a through hole provided on the main body; or, the light-transmitting structure is a part of the light-transmitting area of ​​the main body. Light is transmitted through different structures.

[0015] In a specific possible implementation manner, when the light-transmitting structure is a partial light-transmitting area of ​​the main body, an anti-reflection layer is provided on a side of the light-transmitting area close to the second diffractive beam element to reduce reflection of incident light.

[0016] In a specific possible implementation, the beam splitting reflective aperture further includes a light absorbing layer, which is disposed on a side of the main body close to the second diffractive beam element, and the light absorbing layer avoids the light-transmitting structure to reduce the influence of stray light.

[0017] In a specific embodiment, a receiving lens is further included to receive the at least two second light beams reflected by the beam splitting reflection aperture and converge the at least two second light beams to the detector. The receiving lens is used to converge the second light beams so as to facilitate reception by the detector.

[0018] In a specific embodiment, the detector directly receives the at least two second light beams reflected in the detection area. The second light beams reflected in the detection area can directly illuminate the detector, simplifying the radar device.

[0019] In a specific possible implementation manner, the detector and the reflector are arranged side by side to facilitate device arrangement.

[0020] In a specific implementation manner, in the at least two first light beams, the detection areas corresponding to adjacent first light beams partially overlap, thereby avoiding omissions and improving the accuracy of detection.

[0021] In a specific embodiment, a collimating structure is further included, and the collimating structure is used to collimate the light emitted by the light source to the first diffraction beam element, so as to facilitate the first diffraction beam element to split the light.

[0022] In a second aspect, a vehicle is provided, the vehicle comprising an information processing module and any of the above-mentioned radars connected to the information processing module. In the above technical solution, by using the cooperation of the first diffraction beam element and the second diffraction beam element, the light emitted by the light source is diffracted into at least two first beams, and detection can be performed through the two first beams, thereby increasing the range of the detection area, and at the same time, one light source can be used to expand the detection area, simplifying the structure of the entire radar and improving the performance of the radar. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 A schematic diagram of an application scenario of the radar provided in an embodiment of the present application;

[0024] Figure 2 A schematic diagram of an optical path system of a radar provided in an embodiment of the present application;

[0025] Figure 3 A schematic diagram of the structure of a radar provided in an embodiment of the present application;

[0026] Figure 4 A schematic diagram of a first grating structure provided in an embodiment of the present application;

[0027] Figure 5 A schematic diagram of a second grating structure provided in an embodiment of the present application;

[0028] Figure 6 A schematic diagram of a third grating structure provided in an embodiment of the present application;

[0029] Figure 7 A schematic diagram of a fourth grating structure provided in an embodiment of the present application;

[0030] Figure 8 A schematic diagram of a fifth grating structure provided in an embodiment of the present application;

[0031] Fig. 9 A schematic diagram of the structure of a beam splitting reflection aperture provided in an embodiment of the present application;

[0032] Fig.10 A schematic diagram of the structure of a second radar provided in an embodiment of the present application. DETAILED DESCRIPTION

[0033] The embodiments of the present application will be further described below in conjunction with the accompanying drawings.

[0034] Radar is applied to vehicles, including but not limited to vehicles driven by non-renewable energy or new energy, wherein vehicles driven by non-renewable energy can include cars, buses, trucks, etc. driven by gasoline, diesel, ethanol and other fuels. Vehicles driven by new energy can include cars, buses, trucks, etc. driven by electric energy.

[0035] Radar is used to detect the surrounding environment of the vehicle and feed the detected data back to the central control computer of the vehicle to provide the central control computer with data for judgment information. Figure 1 A schematic diagram showing the radar when it is installed in a car is shown. Figure 1The dotted line in the figure indicates the data interaction between the radar 100 and the information processing module 200, and does not represent the actual connection cable between the radar 100 and the information processing module 200. During the driving of the car, the radar 100 can detect the external environment in its detection area and feed back the detected information to the information processing module 200, and the information processing module 200 makes judgments based on the detection data of the radar 100. The information processing module 200 can be a central control computer on the car or other chips with signal processing functions, and the above-mentioned radar 100 can be a laser radar or other types of radars. Laser radar is an indispensable technology in autonomous driving. Compared with cameras, its advantages are accurate establishment of 3D models and night driving, which can provide richer and more accurate data and easier construction of simulation environments. Help judge the interaction between surrounding vehicles and objects. At the same time, laser radar is also a key component in current systems such as traffic sign recognition, adaptive cruise control (Adaptive Cruise Control, referred to as ACC), blind spot detection, collision avoidance system and lane departure warning. The FOV (Field of view) of the laser radar on the current market is relatively small, while a relatively large FOV is usually achieved by stacking multiple light sources, which is complex in process and expensive in cost, and it is difficult to balance performance and cost in terms of competitiveness. For this reason, the embodiment of the present application provides a radar. The radar is described in detail below in conjunction with specific drawings and embodiments.

[0036] First, the "first light beam" and "second light beam" designed in the embodiment of the present application are explained. The first light beam is the detection light, and the second light beam is the light reflected after the first light beam is irradiated to the object to be detected.

[0037] Figure 2 The optical path system of a radar provided in an embodiment of the present application is shown. The radar comprises an optical transmitting system 10 , an optical scanning system 30 and an optical receiving system 20 .

[0038] The transmitting system 10 transmits light to the light scanning system 30, and the light scanning system 30 controls the light to scan in the detection area 40. The light reflected by the detected object is reflected to the light scanning system 30, and then reflected to the light receiving system 20. The light receiving system 20 converts the light signal into an electrical signal to complete the detection function of the radar. The radar may also include a control and data processing module 50, which is connected to the light transmitting system 10 and the light receiving system 20 respectively, and is used to control the light transmitting system 10 to emit lasers, and can receive the light in the light receiving system 20 and convert it into an electrical signal.

[0039] Figure 3The structure diagram of a radar provided in an embodiment of the present application is shown. The radar provided in an embodiment of the present application includes components such as a light source 101, a first diffraction beam element 103, a second diffraction beam element 104, a reflection component 105, and a detector 108. Among them, the light source 101, the first diffraction beam element 103, and the second diffraction beam element 104 are used as a light emitting system, the reflection component 105 is used as a light scanning system, and the detector 108 is used as a light receiving system.

[0040] The light source 101 is used to emit detection light, which is non-visible light, such as light with a wavelength greater than 760nm. The light source 101 can use different light sources, such as LED lights, laser transmitters or other light sources that can emit parallel light. In an optional solution, the light source 101 uses a laser transmitter, and the emitted laser has the advantages of good coherence, good parallelism and high brightness, which is suitable for detection.

[0041] As an optional solution, when the light emitted by the light source 101 is a divergent light, the light emitting system further includes a collimating structure 102, which is used to collimate the light emitted by the light source 101 to the first diffraction beam element 103. The collimating structure 102 is arranged on the optical path between the light source 101 and the first diffraction beam element 103. After the light emitted by the light source 101 is irradiated to the collimating structure 102, it is refracted into parallel light by the collimating structure 102 (the light is collimated) and then irradiated to the first diffraction beam element 103. The collimating structure 102 can be implemented by different structures. For example, the collimating structure 102 can adopt a single lens or a lens combination. Specifically, the collimating structure 102 can adopt a common lens that refracts divergent light into parallel light, such as a single-sided convex lens, a double-sided convex lens or a prism; or, the collimating structure 102 can adopt different lens combinations such as a combination of a convex lens and a concave lens, a combination of a convex lens and a convex lens, a combination of a convex lens and a prism, so as to refract the divergent light into parallel light.

[0042] The collimating structure 102 is an optional component. When the light emitted by the light source 101 is parallel light, the collimating structure 102 may not be used, and the light emitted by the light source 101 may directly irradiate the first diffraction beam element 103 .

[0043] The first diffraction beam element 103 is used to diffract the light into at least two first beams. Figure 3 The light shown in the figure is diffracted into three first light beams when passing through the first diffraction beam element 103. After passing through the first diffraction beam element 103, the light beam is divided into a first light beam a, a first light beam b and a first light beam c. The first light beam a, the first light beam b and the first light beam c can all be used as scanning light. When scanning through the reflection component 105, the first light beam a, the first light beam b and the first light beam c can scan different areas.

[0044] It should be understood that the number of first light beams diffracted by the first diffraction light beam element 103 provided in the embodiment of the present application is not limited to Figure 3 The three shown in the figure can be selected according to the specific actual situation. For example, a beam of light can be diffracted into two, three, four, five or other different numbers of first beams by the first diffraction beam element 103.

[0045] In an optional solution, the first diffraction beam element 103 is used to diffract the light into an odd number of first beams. When an odd number of first beams is used, the corresponding detection area 106 is divided into an odd number of areas, and the area located in the middle of the detection area 106 can be scanned by a first beam, such as Figure 3 The first beam b shown in .

[0046] When scanning the detection area 106, an odd number of first light beams or an even number of first light beams can be used. Compared with the two, when scanning with an even number of first light beams, the middle area of ​​the detection area 106 needs two first light beams to scan and splice to form a pattern; while when scanning with an odd number of first light beams, the middle of the detection area 106 is scanned by only one first light beam, which can improve the effect of detecting the middle area of ​​the detection area 106.

[0047] The second diffraction beam element 104 is used to collect at least two first beams to a set position so as to facilitate reflection by the reflection component 105. Figure 3 In the example, when the first light beam a, the first light beam b and the first light beam c pass through the second diffractive beam element 104, the incident angle of the first light beam b is perpendicular to the incident surface of the second diffractive beam element 104, and the first light beam b passes directly without changing the propagation direction; the first light beam a and the first light beam c are irradiated to the incident surface of the second diffractive beam element 104 at a certain incident angle (less than 90°). When emitted from the second diffractive beam element 104, the propagation directions of the first light beam a and the first light beam c are close to the first light beam b, and the set position where the first light beam a, the first light beam b and the first light beam c converge can be the reflective surface of the reflective component 105. When the first light beam a, the first light beam b and the first light beam c are irradiated to the reflective surface, they can converge into a point or converge into an area.

[0048] When the second diffraction beam element 104 collects at least two first beams to a set position, the incident angles of each first beam are different. Figure 3As shown in the figure, when the first light beam a, the first light beam b and the first light beam c are irradiated onto the reflecting surface, the incident angles of the first light beam a, the first light beam b and the first light beam c are all different, so as to ensure that the first light beam a, the first light beam b and the first light beam c can be reflected at different angles when reflected by the reflecting surface and irradiate different detection positions in the detection area.

[0049] The reflective component 105 is used to implement radar detection scanning, and may include a reflector and a driving mechanism. The reflector has a reflective surface for reflecting at least two first light beams that converge to a set position, and the reflective surface is the reflective surface of the reflective component 105 described above. The above-mentioned set position is the reflective surface of the reflector, and the first light beam a, the first light beam b, and the first light beam c can converge into a point on the reflective surface, or converge into an area.

[0050] When the first light beam is irradiated to the reflective surface, it can be reflected by the reflective surface to the detection area 106. Figure 3 Take the first light beam a, the first light beam b and the first light beam c shown in as an example. When the first light beam a, the first light beam b and the first light beam c are irradiated to the reflective surface, the incident angles of the first light beam a, the first light beam b and the first light beam c when irradiating to the reflective surface are different, so that the first light beam a, the first light beam b and the first light beam c can irradiate different areas of the detection area 106. For the convenience of description, the detection area 106 is divided into three sub-areas: a first sub-area 1061, a second sub-area 1062, and a third sub-area 1063. Among them, the first sub-area 1061 corresponds to the first light beam a, and the first sub-area 1061 is the area scanned by the first light beam a when the reflector swings; the second sub-area 1062 corresponds to the first light beam b, and the second sub-area 1062 is the area scanned by the first light beam b when the reflector swings; the third sub-area 1063 corresponds to the first light beam c, and the third sub-area 1063 is the area scanned by the first light beam c when the reflector swings. By scanning the first light beam a, the first light beam b and the first light beam c in the corresponding first sub-area 1061, the second sub-area 1062 and the third sub-area 1063, the radar scans the entire detection area 106.

[0051] Figure 3 The division of the detection area in is only an example. When the first diffraction beam element 103 splits a plurality of first beams, the corresponding detection area 106 is also divided into a plurality of sub-areas, and the number of the sub-areas corresponds to the number of the first beams.

[0052] The above-mentioned reflector can be a plane mirror, a concave mirror, a convex mirror or other different reflectors, as long as it can reflect the first light beam a, the first light beam b and the first light beam c to the above-mentioned detection area 106.

[0053] The driving mechanism is used to provide power for the reflector to swing. The driving mechanism is connected to the reflector and is located on the side of the reflector away from the reflective surface. The driving mechanism can adopt a common mechanism that can achieve swing, such as a four-bar linkage, a cam mechanism, an intermittent motion mechanism, etc., or a MEMS (Micro-Electro-Mechanical System). When the driving mechanism is in use, it drives the reflector to swing along an axis. Figure 3 When the reflector is swung, the incident angles of the first light beam a, the first light beam b and the first light beam c irradiating the reflective surface are continuously changed, and the emission angles are also continuously changed to realize scanning of the above three sub-areas.

[0054] In an optional solution, in at least two first light beams, the detection areas corresponding to any adjacent first light beams partially overlap to avoid omissions during scanning, thereby improving the accuracy of detection. Exemplarily, there is an overlapping area between the first sub-area 1061 scanned by the first light beam a and the second sub-area 1062 scanned by the first light beam b. When the first light beam a and the first light beam b are scanned, both the first light beam a and the first light beam b scan the overlapping area of ​​the first sub-area 1061 and the second sub-area 1062. There is an overlapping area between the second sub-area 1062 scanned by the first light beam b and the third sub-area 1063 scanned by the first light beam c. When the first light beam b and the first light beam c are scanned, both the first light beam b and the first light beam c scan the overlapping area of ​​the second sub-area 1062 and the third sub-area 1063. When the above solution is adopted, the boundaries between the sub-areas are avoided from being omitted, and the information of the first sub-area 1061, the second sub-area 1062 and the third sub-area 1063 can be spliced ​​into the complete detection area 106 information by repeatedly scanning the overlapping area of ​​the sub-area boundaries and then processing the data later. The above data processing may be a common image stitching process, which will not be described in detail here.

[0055] After the first light beam a, the first light beam b and the first light beam c are irradiated to the detection area 106, the detected object in the detection area 106 reflects the light beam back. The reflected light beam is the second light beam. Taking the above three first light beams as an example, the corresponding reflected light beams are: the reflected light beam of the first light beam a is the second light beam a', the reflected light beam of the first light beam b is the second light beam b', and the reflected light beam of the first light beam c is the second light beam c'. When the light beam is irradiated to the detected object, it can be reflected in different directions, so each first light beam corresponds to multiple second light beams. The detector 108 only needs to receive the second light beam in one direction to realize the detection of the detected object.

[0056] Figure 3 The detector placement method using coaxial reception is exemplified in FIG. 1. The reflector in the reflective assembly 105 is also used to reflect at least two second light beams reflected back by the detection area 106. Figure 3Taking the three second light beams shown in as an example, the irradiation paths of the second light beam a', the second light beam b', and the second light beam c' are opposite to those of the first light beam a, the first light beam b, and the first light beam c. After the second light beam a', the second light beam b', and the second light beam c' are emitted from the detection area 106, they first irradiate the reflector in the reflective component 105, and after being reflected by the reflector, they irradiate in the direction opposite to the irradiation direction of the first light beam a, the first light beam b, and the first light beam c. To prevent the second light beam a', the second light beam b', and the second light beam c' from irradiating back to the second diffraction beam element 104. The radar provided in the embodiment of the present application is provided with a beam splitting reflection aperture 107, and the beam splitting reflection aperture 107 is located in the optical path between the second diffraction beam element 104 and the reflection component 105. When set to this position, the beam splitting reflection aperture 107 should not affect the propagation of the above-mentioned at least two first light beams, and at the same time, the reflected second light beam should be prevented from irradiating the second diffraction beam element 104. Therefore, the beam splitting reflection aperture 107 provided in the embodiment of the present application can transmit at least two first light beams converged by the second diffraction light beam element 104 , and can also reflect at least two second light beams reflected back by the reflection mirror.

[0057] In an optional solution, the reflection surface of the beam splitting reflection aperture 107 faces the reflector, and a set angle is formed between the reflection surface and the optical path (the optical path between the second diffraction beam element 104 and the reflection component 105), so as to change the propagation path of the second light beam, so that the reflected second light beam can be irradiated to the detector 108. Exemplarily, the angle between the reflection surface of the beam splitting reflection aperture 107 and the optical path is 60°, 45°, 30°, etc., and the angle between the reflection surface of the beam splitting reflection aperture 107 and the optical path matches the detector 108, so that the light reflected by the beam splitting reflection aperture 107 can be irradiated to the detector 108.

[0058] The detector 108 is used to receive at least two second light beams reflected by the beam splitting reflection aperture 107. In order to receive all the second light beams, the receiving surface of the detector 108 is also divided into a plurality of areas, and each area receives a second light beam. Take the second light beam a', the second light beam b' and the second light beam c' as examples. The receiving surface of the detector 108 is divided into a first receiving area, a second receiving area and a third receiving area. Among them, the first receiving area is used to receive the second light beam a', the second receiving area is used to receive the second light beam b', and the third receiving area is used to receive the second light beam c'.

[0059] In an optional solution, the radar further includes a receiving lens 109 for receiving at least two second light beams reflected by the beam splitting reflection aperture 107, and converging the at least two second light beams to the detector 108. The receiving lens 109 is disposed between the beam splitting reflection aperture 107 and the detector 108, and is used to adjust the second light beam irradiated into the detector 108. The receiving lens 109 can be implemented in different structures, and can be a single lens or a lens combination. Exemplarily, the receiving lens 109 can be a common lens that refracts divergent light into parallel light, such as a single-sided convex lens, a double-sided convex lens or a prism; or, the receiving lens 109 can also be a combination of convex lenses and concave lenses, a combination of convex lenses and convex lenses, a combination of convex lenses and prisms, and other different lens combinations to refract divergent light into parallel light.

[0060] The receiving lens 109 is an optional component and may not be used. In this case, the second light beam reflected by the beam splitting reflection aperture 107 may directly irradiate the detector 108 .

[0061] As can be seen from the above description, in the present application, by using the first diffraction beam element 103 and the second diffraction beam element 104, it is realized that a light source 101 emits multiple light beams, and a reflection component 105 can be used to scan multiple light beams, thereby increasing the detection area 106 of the radar. At the same time, the use of a light source 101 can achieve the expansion of the detection area 106, simplifying the structure of the entire radar. Improve the performance of the radar. In addition, the use of a beam splitting reflection aperture 107 to reflect the second light beam makes the structure of the entire radar more compact and reduces the occupied area of ​​the radar.

[0062] The first diffraction beam element 103 and the second diffraction beam element 104 are used for wave splitting and wave combining, respectively. As a specific example, the first diffraction beam element 103 can be a beam splitter, and the second diffraction beam element 104 can be a beam combiner. The essence of the beam splitter and the beam combiner is a grating structure. Several specific gratings are listed below in conjunction with the accompanying drawings.

[0063] Figure 4 The first grating is shown in FIG. 300 . The grating 300 is a rectangular grating having rectangular protrusions 301 arranged in a single row. The rectangular grating can be applied to the first diffraction beam element. When the first diffraction beam element diffracts an odd number of first beams, Figure 4 The first type of grating is shown. Figure 4 The first type of grating shown can also be used in the second diffractive beam element.

[0064] Figure 5The second grating is shown in FIG. 300 , which is an isosceles trapezoidal grating having trapezoidal protrusions 302 arranged in a single row. The isosceles trapezoidal grating can be applied to the first diffraction beam element. When the first diffraction beam element diffracts an odd number of first beams, Figure 5 The first type of grating is shown.

[0065] When the first diffraction beam element diffracts an odd number of first beams, the grating 300 used is not limited to Figure 4 class Figure 5 Two types of gratings are shown. Other symmetrical raised gratings can also be applied to the first diffractive beam element.

[0066] Figure 6 The third grating is shown. The grating 300 is an oblique rectangular grating. The oblique rectangular grating has oblique rectangular protrusions 303 arranged in a single row, and the oblique rectangular protrusions are symmetrical along the axis O of the grating. The oblique rectangular grating can be applied to the first diffraction beam element. When the first diffraction beam element diffracts an even number of first beams, Figure 6 Of course, gratings of other symmetry types (protrusions are symmetric relative to the axis O) can also be applied to the first diffraction beam element.

[0067] Figure 7 A fourth grating 300 is shown, which is an oblique rectangular grating having inclined rectangular protrusions 304 arranged in a single row, and the inclined rectangular protrusions are inclined in one direction. The oblique rectangular grating 300 can be applied to the second diffraction beam element.

[0068] Figure 8 A fifth grating is shown, and the grating 300 is a trapezoidal grating, and the trapezoidal grating has trapezoidal protrusions 305 arranged in a single row, and the trapezoidal protrusions 305 can be right-angled trapezoidal protrusions. The trapezoidal grating can be applied to the second diffraction beam element.

[0069] Above Figures 4 to 8 Only several specific grating structures are exemplified. The first diffraction beam element and the second diffraction beam element provided in the embodiments of the present application may also adopt other gratings that meet their functions.

[0070] Fig. 9 The structure of the beam splitting reflection aperture is shown. The beam splitting reflection aperture 107 includes a main body 1071, which is a plate-shaped structure and has two opposite surfaces: a first surface and a second surface. The first surface faces the second diffraction beam element and is the incident surface of the first light beam, and the second surface faces the reflection component and is the reflection surface of the second light beam.

[0071] The main body 1071 is provided with a light-transmitting structure 1072 for transmitting at least two first light beams. The first light beams can pass through the main body 1071 and be emitted from the second surface through the light-transmitting structure 1072. The number of light-transmitting structures 1072 corresponds to the number of first light beams one-to-one, or one-to-many. Exemplarily, the first light beam a, the first light beam b, and the first light beam c correspond to a light-transmitting structure 1072 respectively, and the shape of each light-transmitting structure 1072 matches the shape of the first light beam so that the first light beam can pass through; or, a light-transmitting structure 1072 can simultaneously transmit the first light beam a, the first light beam b, and the first light beam c; or, one light-transmitting structure 1072 is used to transmit the first light beam a and the first light beam b, and another light-transmitting structure 1072 is used to transmit the first light beam c, etc. The specific setting can be determined according to the actual situation.

[0072] The light-transmitting structure 1072 can adopt different structures. For example, when the main body 1071 is made of a light-transmitting material, the light-transmitting structure 1072 is a partial light-transmitting area of ​​the main body 1071. For example, when the main body 1071 is made of glass, light-transmitting resin, light-transmitting plastic, etc.,

[0073] In an optional solution, a light absorbing layer 1075 is provided on one side (first surface) of the main body 1071 close to the second diffraction beam element, and the light absorbing layer 1075 avoids the light-transmitting structure 1072, that is, a hole is dug in the light absorbing layer 1075, so that a part of the first surface of the main body 1071 is exposed, and the light-transmitting structure 1072 is a part of the light-transmitting area of ​​the main body 1071, and the light-transmitting area serves as the incident area of ​​the first light beam. After the first light beam is irradiated to the light-transmitting area, it can pass through the main body 1071. When the light absorbing layer 1075 is used, stray light can be prevented from irradiating into the beam splitting reflection aperture 107, thereby reducing the crosstalk of light and improving the accuracy of detection.

[0074] Exemplarily, the light absorbing layer 1075 can be made of Cr, Cr+medium, or other materials. The above materials are existing materials, so they are not described in detail in this application.

[0075] In an optional solution, an anti-reflection layer 1074 is provided on one side of the light-transmitting region close to the second diffraction beam element. The anti-reflection layer 1074 is used to reduce the reflection of the first light beam incident on the light-transmitting region, so that more of the first light beam is incident on the light-transmitting region. Exemplarily, the anti-reflection layer 1074 can be a multilayer dielectric film composed of materials such as SiO2, Ta2O5, and Al2O3. The above materials are existing materials, so they are not described in detail in this application.

[0076] When the anti-reflection layer 1074 and the light absorbing layer 1075 are specifically arranged, the anti-reflection layer 1074 and the light absorbing layer 1075 can be arranged in the same layer or in different layers.

[0077] The light-transmitting structure 1072 can also be a through hole set on the main body 1071. The through hole runs through the main body 1071, and the openings of the through hole are respectively located on the first surface and the second surface. When the light-transmitting structure 1072 adopts a through hole, there is no need to limit the material of the main body 1071, and the main body 1071 can adopt either a light-transmitting material or a non-light-transmitting material. When the main body 1071 adopts a non-light-transmitting material, there is no need to set the light-absorbing layer 1075, and the material of the main body 1071 can prevent crosstalk from other light; when the main body 1071 adopts a light-transmitting material, a light-absorbing layer 1075 can be set on the first surface, and the light-absorbing layer 1075 avoids the through hole.

[0078] When the light-transmitting structure 1072 adopts a through hole, the first light beam will not generate reflection when passing through the light-transmitting structure 1072 , so there is no need to set an anti-reflection layer 1074 , and the first light beam can directly pass through the light-transmitting structure 1072 .

[0079] The beam splitting reflection aperture 107 further includes a reflection layer 1073, which is disposed on a side (second surface) of the main body 1071 close to the reflector, and is used to reflect at least two second light beams. The reflection layer 1073 is arranged to avoid the light-transmitting area. Specifically, the reflection layer 1073 is provided with a through hole corresponding to the light-transmitting area. Regardless of the form of the light-transmitting structure, the reflection layer 1073 needs to be provided with a through hole corresponding to the light-transmitting area to ensure that the first light beam can pass through the main body 1071 and then be emitted.

[0080] Exemplarily, the reflective layer 1073 may be made of Al, Au or other materials with good reflective effects. The above materials are existing materials, so they will not be described in detail in this application.

[0081] The reflective layer 1073 can adopt different structural forms. For example, the reflective layer 1073 and the main body 1071 are an integral structure. In this case, the reflective layer 1073 can be a second surface, and the second surface is processed into a mirror surface to achieve reflection of the second light beam. Alternatively, the reflective layer 1073 and the main body 1071 are independent structures, and the reflective layer 1073 can be bonded to the second surface or directly formed on the second surface.

[0082] Fig.10 Another radar provided by an embodiment of the present application is shown. Fig.10 Some of the numbers in the Figure 3 The same reference numerals in different figures in the present application represent the same components.

[0083] Fig.10 The structures and connection relationships of the light source 101, the first diffraction beam element 103, the second diffraction beam element 104, and the reflection component 105 can be referred to the above description of the first radar, and will not be repeated here.

[0084] Fig.10 The radar shown is Figure 3 The difference between the radars shown in FIG. 2 is the placement of the detector 201. Fig.10 In the radar shown, the detector 201 directly receives at least two second light beams reflected in the detection area 106. When arranged, the detector 201 is arranged side by side with the reflector, and the detector 201 can receive the second light beams irradiated to other areas (areas other than the reflector). Fig.10 As shown, the second light beam a', the second light beam b' and the second light beam c' are directly incident on the detector 201 after being reflected from the detection area 106, without the need for reflection by the reflection component 105 and the need for setting a beam splitting reflection aperture, thus simplifying the structure of the entire radar.

[0085] The specific function and structure of the detector 201 can be found in Figure 3 The relevant description about the detector 201 in the radar will not be repeated in detail here.

[0086] It should be understood that Fig.10 The setting position of the detector 201 shown is only a specific example of the setting position of the detector 201. The detector 201 in the radar provided in the embodiment of the present application can be set according to the position of the second light beam that needs to be detected.

[0087] In an alternative approach, Fig.10 The radar shown may also include a collimating structure 102 and a receiving lens 202, and the specific structure thereof may refer to the above description of the first radar, which will not be described in detail here.

[0088] In a specific possible implementation, the second light beam reflected by the detection area 106 can directly illuminate the detector 201. In this case, the receiving lens 202 is not required, thereby simplifying the radar device.

[0089] Through the above Figure 3 and Fig.10 It can be seen from the radar shown that the radar provided in the embodiment of the present application realizes the effect of detecting multiple areas with one light source through the cooperation of the first diffraction beam element, the second diffraction beam element and the reflection assembly. The detector can be set in different ways, as long as the detector can receive at least two second light beams reflected back from the detection area. As for whether the detector receives directly or indirectly, it is not specifically limited in the embodiment of the present application.

[0090] The embodiment of the present application also provides a means of transport, which includes but is not limited to vehicles driven by non-renewable energy or new energy, wherein vehicles driven by non-renewable energy may include cars, buses, trucks, etc. driven by gasoline, diesel, ethanol and other fuels. Vehicles driven by new energy may include cars, buses, trucks, etc. driven by electric energy.

[0091] As shown in Figure 1, the vehicle includes an information processing module 200 and any of the above radars 100. The information processing module 200 may be a central control computer on a car or other chips with signal processing functions. The information processing module 200 is respectively connected to the light source and the detector in the radar 100 to control the operation of the radar 100. The specific control method is a common control method and will not be repeated here. In the above technical solution, by using the cooperation of the first diffraction beam element and the second diffraction beam element, the light emitted by the light source is diffracted into at least two first light beams, and detection can be performed through the two first light beams, thereby increasing the range of the detection area. At the same time, one light source can be used to expand the detection area, simplifying the structure of the entire radar 100 and improving the performance of the radar 100.

[0092] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A radar, characterized in that: include: A light source, used for emitting detection light; A first diffractive beam element, used for diffracting the light into at least two first beams; a second diffractive beam element, used for converging the at least two first beams to a set position; A reflection assembly, comprising a reflection mirror for reflecting at least two first light beams collected at the set position to a detection area, and a driving mechanism for driving the reflection mirror to swing; A detector, used for receiving at least two second light beams reflected back from the detection area; When the second diffractive beam element converges the at least two first beams to the set position, the incident angle of each first beam is different; The set position is the reflective surface of the reflector; The first diffractive beam element is a beam splitter, and the second diffractive beam element is a beam combiner.

2. The radar according to claim 1, characterized in that The first diffraction beam element is used to diffract the light into an odd number of first beams.

3. The radar according to claim 1 or 2, characterized in that: The reflector is also used to reflect at least two second light beams reflected back by the detection area; The radar further comprises a beam splitting reflection aperture, which is located on the optical path from the second diffraction beam element to the reflection component; the beam splitting reflection aperture is used to transmit at least two first light beams converged by the second diffraction beam element and reflect the at least two second light beams reflected back by the reflector; The detector is used to receive the at least two second light beams reflected by the beam splitting reflection aperture.

4. The radar according to claim 3, characterized in that The beam splitting reflection aperture comprises: A main body, wherein the main body is provided with a light-transmitting structure for transmitting the at least two first light beams; A reflective layer is arranged on a side of the main body close to the reflector and avoids the light-transmitting structure; the reflective layer is used to reflect at least two second light beams.

5. The radar according to claim 4, characterized in that The light-transmitting structure is a through hole arranged on the main body; or, The light-transmitting structure is a partial light-transmitting area of ​​the main body.

6. The radar according to claim 4, characterized in that When the light-transmitting structure is a partial light-transmitting area of ​​the main body, An anti-reflection layer is arranged on one side of the light-transmitting area close to the second diffractive beam element.

7. The radar according to claim 4, characterized in that The beam splitting reflection aperture further comprises a light absorbing layer, and the light absorbing layer is arranged on a side of the main body close to the second diffraction beam element, and the light absorbing layer avoids the light-transmitting structure.

8. The radar according to claim 3, characterized in that It also includes a receiving lens for receiving the at least two second light beams reflected by the beam splitting reflection aperture and converging the at least two second light beams to the detector.

9. The radar according to claim 1 or 2, characterized in that: It also includes a collimating structure, which is used to collimate the light emitted by the light source to the first diffraction beam element.

10. A means of transport, characterized in that: The invention comprises an information processing module and a radar as claimed in any one of claims 1 to 9 connected to the information processing module.

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