Detection device, unmanned aerial vehicle, and control method and device of detection device

Abstract

A detection device (10), a UAV, a control method and device of the detection device (10). A light pulse sequence emitted by a light source (111) in the detection device (10) passes through a scanning module (12) and can change its propagation direction by an optical module (121, 122) in the scanning module (12), wherein the optical module (121, 122) moves under the drive of a drive module, and the optical module (121, 122) changes the direction of the light pulse sequence, so that the light pulse sequence is emitted from at least two different exit angle ranges, thereby forming at least two different scanning fields of view, and the light pulse sequence of different scanning fields of view can return to a detector in the detection device (10) after being reflected by an external object, and the detector detects the at least two scanning fields of view through the received light pulse sequence. The light pulse sequence emitted by the light source (111) is divided into at least two light pulse sequences by the optical module (121, 122), and then emitted from different exit angle ranges, thereby forming at least two different scanning fields of view, so that the field of view angle of the scanning field of view of the detection device (10) can be increased.

Description

Technical Field

[0001] This application relates to the field of target detection technology, and more specifically, to a detection device, a drone, a control method and apparatus for the detection device. Background Technology

[0002] Detection devices such as lidar can be used to detect the external environment and obtain information such as the orientation, distance, normal vector, velocity, and shape of targets in the environment. The detection device can emit a sequence of light pulses into the environment and receive the sequence of light pulses reflected back from targets in the environment, determining the aforementioned information about the target based on the received light pulse sequences. However, existing detection devices have very limited scanning field of view, which is insufficient for robots such as drones that can move flexibly throughout three-dimensional space. Therefore, it is necessary to provide a detection device with a larger scanning field of view. Summary of the Invention

[0003] In view of this, this application provides a detection device, a drone, a control method and apparatus for the detection device.

[0004] According to a first aspect of this application, a detection device is provided, the detection device comprising a light source and at least one scanning module, the light source being used to emit a sequence of light pulses, the sequence of light pulses comprising a first wavelength light pulse sequence and a second wavelength light pulse sequence;

[0005] The scanning module includes:

[0006] A first optical refractive element and a first driving module, wherein the first optical refractive element has two opposing, non-parallel optical surfaces for receiving a sequence of light pulses from the light source, and the first driving module is used to drive the first optical refractive element to rotate in order to change the emission direction of the light pulse sequence;

[0007] An optical refraction component is used to receive a sequence of light pulses from a first optical refraction element. The optical refraction component includes a second optical refraction element and a third optical refraction element that are attached to each other. A beam-splitting surface is provided between the second optical refraction element and the third optical refraction element. A first wavelength light pulse sequence from the first optical refraction element is reflected by the beam-splitting surface in the optical refraction component and refracted out by the second optical refraction element. A second wavelength light pulse sequence from the first optical refraction element is transmitted through the beam-splitting surface in the optical refraction component and refracted out by the third optical refraction element.

[0008] The second driving module is used to drive the second light refraction component to rotate, so that the first wavelength light pulse sequence emitted by the second light refraction component scans in the first scanning field of view, and the second wavelength light pulse sequence emitted by the third light refraction element scans in the second scanning field of view.

[0009] According to a second aspect of this application, a detection device is provided, the detection device comprising a ranging module and at least one scanning module, the ranging module comprising a light source and a detector, and the scanning module comprising a first optical module, a second optical module, a first driving module and a second driving module;

[0010] The light source is used to emit a sequence of light pulses to the first optical module;

[0011] The first driving module is used to drive the first optical module to move so that the light pulse sequence passing through the first optical module is scanned within a first emission angle range;

[0012] The second driving module is used to drive the second optical module to move, so as to change the light pulse sequence received by the second optical module from the first optical module to scan within at least two different second emission angle ranges, thereby forming at least two different scanning fields of view;

[0013] The detector is used to receive at least a portion of the light pulse sequence of the at least two scanning fields of view reflected back by the target, and to detect the target within the at least two scanning fields of view based on the received light pulse sequence.

[0014] According to a third aspect of this application, a detection device is provided, the detection device comprising a light source and a scanning module;

[0015] The light source is used to emit a sequence of light pulses, which includes a first wavelength light pulse sequence and a second wavelength light pulse sequence.

[0016] The scanning module includes at least two optical modules, each of which is used to change the optical path of the light pulse sequence to form a scanning field of view. The first wavelength light pulse sequence forms a ring-shaped first scanning field of view, and the second wavelength light pulse sequence forms a second scanning field of view in the hollow part of the first scanning field of view.

[0017] According to a fourth aspect of this application, a drone is provided, the drone including the detection device mentioned in the first, second or third aspects above.

[0018] According to a fifth aspect of this application, a control method for a detection device is provided. The detection device is mounted on a drone and can emit scanning light pulse sequences from at least two different angle ranges into the external environment to form at least two different scanning fields of view. The method detects the at least two scanning fields of view based on at least a portion of the at least two scanning light pulse sequences reflected back from the external environment. The method includes:

[0019] Determine the current flight status information of the drone;

[0020] The detection status parameters of the detection device in the at least two scanning fields of view are adjusted according to the flight status information.

[0021] According to a sixth aspect of this application, a control device for a detection apparatus is provided. The detection apparatus is mounted on a drone and can emit scanning light pulse sequences from at least two different angle ranges into the external environment to form at least two different scanning fields of view. It detects the at least two scanning fields of view based on at least a portion of the at least two scanning light pulse sequences reflected back from the external environment. The apparatus includes a processor, a memory, and a computer program stored in the memory that can be executed by the processor. When the processor executes the computer program, it performs the following steps:

[0022] Determine the current flight status information of the drone;

[0023] The detection status parameters of the detection device in the at least two scanning fields of view are adjusted according to the flight status information.

[0024] Using the solution provided in this application, the light pulse sequence emitted by the light source in the detection device, after passing through the scanning module, can have its propagation direction changed by the optical module in the scanning module. The optical module moves under the drive of the driving module. After changing the direction of the light pulse sequence, the optical module can cause the light pulse sequence to exit from at least two different emission angle ranges, thereby forming at least two different scanning fields of view. The light pulse sequences from different scanning fields of view, after being reflected by external objects, can return to the detector in the detection device. The detector detects the at least two scanning fields of view using the received light pulse sequences. In this embodiment, the detection device divides the light pulse sequence emitted by the light source into at least two light pulse sequences through the optical module, and then emits them from different emission angle ranges to form at least two different scanning fields of view. This increases the field of view angle of the detection device. Simultaneously, since the at least two light pulse sequences share most of the optical path, while forming a large scanning field of view, the size of the detection device will not be excessive, making it suitable for mobile platforms such as drones where the detector size is critical. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a schematic diagram of a detection device according to an embodiment of this application.

[0027] Figure 2 This is a schematic diagram of a detection device according to an embodiment of this application.

[0028] Figure 3 This is a schematic diagram of a second optical module according to one embodiment of this application.

[0029] Figure 4 This is a schematic diagram of a second optical module changing the propagation direction of a light pulse sequence according to an embodiment of this application.

[0030] Figures 5(a) and 5(b) are schematic diagrams of a scanning field of view formed by a detection device according to an embodiment of this application.

[0031] Figure 6 This is a schematic diagram of a scanning field of view formed by a detection device according to an embodiment of this application.

[0032] Figure 7 This is a schematic diagram of the propagation path of a light pulse sequence in a detection device according to an embodiment of this application.

[0033] Figure 8 This is a schematic diagram of two overlapping scanning fields of view according to an embodiment of this application.

[0034] Figure 9 This is a schematic diagram of a detection device according to an embodiment of this application applied to a drone.

[0035] Figure 10 This is a schematic diagram of the propagation of a light pulse sequence in a detection device when the optical module in the scanning module of one embodiment of this application is rotated to its extreme position.

[0036] Figures 11(a) and 11(b) are schematic diagrams of the scanning trajectories of two scanning fields in one embodiment of this application.

[0037] Figure 12 This is a schematic diagram of a combined field of view of two scanning fields of view according to an embodiment of this application.

[0038] Figure 13 This is a schematic diagram of a filter element set in a non-multiplexed optical path according to an embodiment of this application.

[0039] Figure 14 This is a schematic diagram of the light source arrangement of a detection device according to an embodiment of this application.

[0040] Figure 15 This is a schematic diagram of a sequence of light pulses of different wavelengths passing through a collimating element according to an embodiment of this application.

[0041] Figure 16 This is a schematic diagram of a detection device according to one embodiment of the present application, including two scanning modules.

[0042] Figure 17 This is a schematic diagram of a detection device according to one embodiment of the present application, including a third optical module of the same type as the first optical module.

[0043] Figure 18 This is a schematic diagram of a detection device according to one embodiment of the present application, including a third optical module of the same type as the second optical module.

[0044] Figure 19 This is a schematic diagram showing the distribution of a scanning module of a detection device in a drone according to an embodiment of this application.

[0045] Figure 20 This is a schematic diagram of the distribution of the scanning field of view of a detection device on a drone according to an embodiment of this application.

[0046] Figure 21 This is a schematic diagram of a drone according to one embodiment of this application.

[0047] Figure 22 This is a schematic diagram showing the distribution of the scanning module of a detection device on a drone according to an embodiment of this application.

[0048] Figure 23 This is a schematic diagram of a control method for a detection device according to an embodiment of this application.

[0049] Figure 24 This is a schematic diagram of a scanning field of view formed by a detection device on a drone according to an embodiment of this application.

[0050] Figure 25 This is a schematic diagram showing the on / off states of each scanning field of view of a detection device on a drone according to an embodiment of this application.

[0051] Figure 26 This is a schematic diagram showing the on / off states of each scanning field of view of a detection device on a drone according to an embodiment of this application.

[0052] Figure 27 This is a schematic diagram showing the on / off states of each scanning field of view of a detection device on a drone according to an embodiment of this application.

[0053] Figure 28 This is a schematic diagram of the logic structure of the control device of a detection device according to an embodiment of this application. Detailed Implementation

[0054] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0055] Currently, many detection devices determine the location, distance, shape, and speed of targets by emitting light pulses into the environment and receiving the reflected light pulses. The light pulses emitted by the detection device can be redirected by optical elements before being projected into the environment, thus creating a scanning field of view within a certain angle range. Mobile platforms such as drones, which can move freely in three-dimensional space, often need to detect obstacles in various directions during their movement.

[0056] Existing detection devices have limited scanning field of view. Taking commonly used lidar as an example, while traditional mechanical rotating lidar can achieve a 360° field of view in the horizontal direction, its vertical field of view is often smaller, failing to meet the vertical field of view requirements of drones and similar devices. Furthermore, their size and weight are often significant, making them unsuitable for mobile platforms like drones with stringent load and weight control requirements. Rotating prism lidar, on the other hand, has a very limited scanning field of view in both the horizontal and vertical directions, also failing to meet the needs of mobile platforms like drones. Therefore, it is necessary to provide a detection device with a larger scanning field of view suitable for mobile platforms like drones.

[0057] Based on this, embodiments of this application provide a detection device. The detection device in the embodiments of this application can be any device that detects the external environment by emitting light pulses into the external environment and receiving light pulses reflected back from targets in the external environment to determine various information such as the distance, orientation, shape, and speed of objects. The detection device can be a lidar, millimeter-wave radar, etc.

[0058] The detection device in this application embodiment can be used in various mobile platforms such as drones, self-driving cars, and intelligent robots to detect the external environment.

[0059] In this embodiment, the light incident surface or light incident surface refers to the optical surface of the optical module through which the light pulse sequence passes when it is incident from an external object onto the optical module, and the light emitting surface or light emitting surface refers to the optical surface of the optical module through which the light pulse sequence is emitted from the optical module onto an external object.

[0060] The detection device provided in this application includes a light source and a scanning module. The scanning module includes a movable optical module that can change the propagation direction of the light pulses emitted by the light source, so that the light pulse sequence emitted by the light source can be emitted from different angle ranges, thereby forming at least two different scanning fields of view. By changing the direction of the light pulses emitted by the light source and emitting them from different angle ranges to form different scanning fields of view, the field of view angle of the detection device can be greatly increased. At the same time, since the light pulse sequences of different scanning fields of view share most of the optical path, while forming a large scanning field of view, the size of the detection device will not be too large, making it suitable for mobile platforms such as drones where the size of the detector is strictly required.

[0061] In one embodiment, the light pulse sequence includes a first wavelength light pulse sequence and a second wavelength light pulse sequence; the scanning module in the detection device includes at least two optical modules, each of which is used to change the optical path of the light pulse sequence, such that the light pulse sequence emitted by the detection device forms a scanning field of view, wherein the first wavelength light pulse sequence forms a ring-shaped first scanning field of view, and the second wavelength light pulse sequence forms a second scanning field of view in the hollow part of the first scanning field of view. For example, the at least two optical modules include a first optical module and a second optical module. The scanning module also includes a first driving module for driving the first optical module to move, so that the light pulse sequence passing through the first optical module scans within a first emission angle range. The second optical module is used to receive the light pulse sequence from the first optical module and guide the first wavelength light pulse sequence and the second wavelength light pulse sequence therein to different optical paths for emission. The scanning module also includes a second driving module for driving the second optical module to move, so that the emitted first wavelength light pulse sequence and the second wavelength light pulse sequence scan within two different second emission angle ranges, respectively, forming the aforementioned first scanning field of view and second scanning field of view.

[0062] Alternatively, the light pulse sequence emitted by the light source of the detection device is not limited to containing light of different wavelengths, but can include two light pulse sequences with other different properties, such as two light pulse sequences with different polarizations. The second optical module utilizes these different properties of the two light beams to guide the two light pulse sequences to different optical paths for emission. Alternatively, the first scanning field of view formed by the first wavelength light pulse sequence is not limited to being annular, and the scanning field of view formed by the second wavelength light pulse sequence is not limited to being formed in the hollow space of the first scanning field of view.

[0063] For example, in one embodiment, the scanning module of the detection device includes a first optical module, a second optical module, a first driving module, and a second driving module. A light source emits a sequence of light pulses to the first optical module; the first driving module drives the first optical module to move, causing the light pulse sequence passing through the first optical module to scan within a first emission angle range. The second driving module drives the second optical module to move, changing the light pulse sequence received by the second optical module from the first optical module to scan within at least two different second emission angle ranges, forming at least two different scanning fields of view. The shapes of these two different scanning fields of view specifically depend on the structure and movement of the first optical module, and the structure and movement of the second optical module.

[0064] In this embodiment, the first wavelength light pulse sequence and the second wavelength light pulse sequence can refer to light pulse sequences whose spectra are within a certain wavelength range. For example, the first wavelength light pulse sequence is a light pulse whose spectrum is within a first wavelength range, and the second wavelength light pulse sequence is a light pulse sequence whose spectrum is within a second wavelength range. The first wavelength range and the second wavelength range can be two preset, non-overlapping wavelength ranges. For example, the first wavelength light pulse may be a light pulse with a wavelength of 850nm ± 10nm.

[0065] like Figure 1 The diagram shown is a schematic of a detection device according to an embodiment of this application (it should be noted that...). Figure 1 This is just an example; the number, shape, etc., of the optical modules are not limited. Figure 1 As shown), the detection device 10 includes a ranging module 11 and at least one scanning module 12. The ranging module 11 includes a light source 111 and a detector 112. The scanning module 12 includes a first optical module 121, a second optical module 122, a first driving module (not shown in the figure), and a second driving module (not shown in the figure). The light source 111 is used to emit a light pulse sequence to the first optical module 121. The first driving module is used to drive the first optical module 121 to move so that the light pulse sequence passing through the first optical module 121 is scanned within a first emission angle range. The second driving module is used to drive the second optical module 122 to move so that the light pulse sequence received by the second optical module 122 from the first optical module 121 is changed to scan within at least two different second emission angle ranges, forming at least two different scanning fields of view.

[0066] Detector 112 is used to receive at least a portion of the light pulse sequence of the at least two scanning fields of view reflected back by the object, and to detect the object in the at least two scanning fields of view based on the received light pulse sequence.

[0067] In this embodiment, the light source 111 can be any type of light source capable of emitting a sequence of light pulses, such as a laser diode that emits a nanosecond-level laser pulse sequence. The type of light source can be one or more, and the number of light sources can be one or more.

[0068] In some embodiments, the detection device may employ a coaxial optical path. For example, such as Figure 2 As shown, the outgoing and returning optical paths of the detection device can be combined using a beam splitter 13. The beam splitter 13 can be a reflector with a transparent area, which can be a transparent material or a through-hole on the reflector. The light pulses emitted by the light source 111 first pass through the beam splitter 13. The central region of the beam splitter 13 can be coated with an anti-reflection film, and the non-central region can be coated with a reflective film, allowing the light pulse sequence emitted by the light source 111 to be transmitted through the central region of the beam splitter 13 and then emitted to the scanning module 12. At least a portion of the light pulse sequence emitted by the detection device returns along the outgoing optical path after reflection by an object and is reflected back to the detector by the reflective film of the beam splitter. Alternatively, the beam splitter 13 can also be a small reflector used to reflect the light pulses emitted by the light source 111 to the scanning module 12. At least a portion of the light reflected by the object returns along the outgoing optical path, and the light not blocked by the small reflector is incident on the detector.

[0069] like Figure 2 As shown, in some embodiments, the light pulse sequence emitted from the beam splitter 13 can also be first emitted to the collimating element 14, which collimates the received light pulse sequence into a parallel light pulse sequence before emitting it to the scanning module 12. In some embodiments, the scanning module 12 may include a first optical module 121 and a second optical module 122, and may also include other optical modules. The first optical module 121 and the second optical module 122 can be used to change the propagation direction of the light pulse sequence. The first optical module 121 can move under the drive of the first driving module, and the second optical module 122 can move under the drive of the second driving module. The movement patterns of the first and second optical modules can be set according to actual needs; for example, the first and second optical modules can rotate around a certain axis or vibrate along a specified axis. In some embodiments, such as Figure 2 As shown, the first optical module 121 and the second optical module 122 can rotate around an axis parallel to the optical axis of the light source or rotate around the optical axis. The rotation speed and rotation direction of the two can be the same or different, and can be set according to actual needs.

[0070] In some embodiments, the first optical module may be a light refraction element that changes the propagation direction of a light beam by refracting it. For example, in some embodiments, the first optical module may be a light refraction element having two opposing, non-parallel optical surfaces for receiving a sequence of light pulses from a light source and moving under the drive of a first driving module to change the emission direction of the light pulse sequence. After the light pulse sequence emitted by the light source 11 changes its propagation direction through the first optical module 121, it can be emitted from a first emission angle range. The first optical module 121 may include a lens, a mirror, a prism, a galvanometer, a grating, a liquid crystal, an optical phased array, or any combination of the above optical elements.

[0071] In some embodiments, the first optical module 121 may be a scanning prism, wherein the incident and exit surfaces of the scanning prism are not parallel. The scanning prism can rotate under the drive of the first driving module and refract the light pulse sequence emitted by the light source twice before exiting from the first exit angle range. The shape and refractive index of the scanning prism can be set according to requirements. In some embodiments, the first optical module may be a wedge-shaped scanning prism.

[0072] The second optical module 122 can receive all or part of the light pulse sequence emitted from the first optical module 121, and then change the propagation direction of the received light pulse sequence, causing the light pulse sequence to be split into at least two light pulse sequences, which are emitted from at least two different second emission angle ranges. The second optical module 122 can be any optical element or combination of optical elements that splits one light pulse sequence into at least two light pulse sequences. For example, the second optical module 121 can include a lens, a mirror, a prism, a galvanometer, a grating, a liquid crystal, an optical phased array, or any combination of the above optical elements.

[0073] The two optical pulse sequences emitted from the second optical module 122 can be emitted from at least two different second angle emission ranges to form at least two different scanning fields of view in the external environment. By combining the at least two scanning fields of view, a combined field of view with a larger field of view angle can be obtained.

[0074] In some embodiments, the light source may include at least two emitting elements, and the light pulse sequences used to scan different scanning fields of view originate from different emitting elements in the light source. For example, the light source may include two emitting elements, and the light pulses emitted by one emitting element are used to form a scanning field of view. Forming different scanning fields of view by light pulses emitted by different emitting elements can meet the light pulse requirements of different scanning fields of view. For example, the detection frequency of different scanning fields of view can be controlled by controlling the emission frequency of different emitting elements. Of course, in some embodiments, a scanning field of view can also be formed by multiple emitting elements emitting light simultaneously or in a time-division manner. For example, a scanning field of view can be formed by a sequence of light pulses emitted by an array of emitting elements, where multiple emitting elements in the array can emit light pulses simultaneously from different angles, or multiple emitting elements in the array can emit light pulses in a time-division manner.

[0075] In some embodiments, the at least two scanning fields of view can be formed simultaneously. For example, after a light source emits a light pulse at a certain moment, it can emit light from different second angle ranges to simultaneously form at least two scanning fields of view. In some embodiments, the at least two scanning fields of view can also be formed in a time-division manner. For example, the second optical module can change the light pulse sequence from the first optical module to different second angle ranges at different times to form at least two time-division scanning fields of view. Taking the formation of two scanning fields of view as an example, the light pulses of the two scanning fields of view can be emitted by two emitting elements, and the two emitting elements can alternately emit light pulses to alternately form two scanning fields of view. By forming at least two scanning fields of view in a time-division manner, the light pulses of the at least two scanning fields of view can share a set of detectors, thereby reducing the size of the detection device. At the same time, the time-division operation of the emitting elements can also extend the service life of the emitting elements.

[0076] Detector 112 can be any device capable of converting optical signals into electrical signals. Detector 112 can receive sequences of light pulses reflected from the at least two scanning fields of view, then convert the optical signals into electrical signals, and determine information such as the distance, orientation, velocity, shape, and attitude of targets in the at least two scanning fields of view based on the converted electrical signals, thereby enabling the detection of targets in the at least two scanning fields of view. The detector may include one or more receiving elements for receiving sequences of light pulses reflected from external targets and converting them into electrical signals. In some embodiments, detector 112 and light source 111 are placed on the same side of the collimating element, and detector 112 is used to convert at least a portion of the reflected light passing through the collimating element into electrical signals.

[0077] In some embodiments, the second optical module 122 can split the received light pulse sequence into at least two light pulses. These two light pulses exit from different emission angle ranges, forming different scanning fields of view. When splitting the received light pulse sequence into at least two light pulse sequences, the second optical module 122 can use polarization-based beam splitting. In some embodiments, when splitting the received at least two light pulse sequences, the second optical module 122 can also split them based on the different wavelengths of the light pulse sequences. For example, the light source 111 can emit light pulse sequences of at least two wavelength ranges. For different wavelength ranges of light pulse sequences, the second optical module 122 can change their direction in different ways, such as transmitting some wavelength ranges of light pulse sequences and reflecting others, thereby separating the light pulse sequences of different wavelength ranges. After being split by the second optical module 122, the light pulse sequences of different wavelength ranges exit from different angle ranges, thereby forming at least two scanning fields of view. Of course, the embodiments of this application are not limited to the beam splitting methods in the above embodiments. Any beam splitting method that can divide the light pulse sequence emitted by the light source into two light pulses and emit them from different emission angle ranges is applicable to this application.

[0078] In some implementations, to obtain light beams of at least two wavelengths, the detection device can employ at least two types of light sources. Different types of light sources emit light pulses of different wavelengths; for example, the wavelengths of the emitted light pulses can be one or more, such as 850nm, 905nm, 940nm, 1310nm, and 1550nm. In some embodiments, the number of each type of light source can be multiple. For example, the light source can include an array of emitting elements, each array comprising multiple emitting elements arranged according to a certain rule. Each emitting element can emit a sequence of light pulses of the same wavelength from different angles. By employing multiple emitting elements to simultaneously emit light pulses of the same wavelength from different angles, the point cloud data acquired in each scanning field of view can be made denser, improving the detection accuracy of the detection device. Of course, the types of emitting element arrays can also be varied; for example, one type of light source corresponds to one emitting element array, and each emitting element array emits light pulses of one wavelength. In some embodiments, different emitting element arrays can simultaneously emit light pulse sequences of different wavelengths, that is, they can simultaneously form different scanning fields of view. In some embodiments, in order to extend the lifespan of each emitting element in the light source, different emitting element arrays can emit light pulse sequences of different wavelengths at different times, thereby forming different scanning fields of view at different times.

[0079] Accordingly, the detector may include one or more receiving elements for receiving light pulse sequences emitted by the light source and reflected back by external targets. In some scenarios, the detector may include only a single receiving element, which can receive light pulses emitted by different arrays of emitting elements in the light source in a time-division manner. In some scenarios, the detector may also include one or more arrays of receiving elements, each array corresponding to one array of emitting elements, and each receiving element in each array is used to receive light pulses emitted by each emitting element in its corresponding array.

[0080] Because the light pulse sequences emitted by the light source have different wavelengths, the spectral response of the photodetector needs to be compatible with the wavelength of the selected light pulse sequence. For example, when selecting 850nm and 905nm laser wavelengths, a silicon-based photodetector that responds to both wavelengths can be chosen. The spectral response wavelength range of silicon-based photodetectors is 200nm~1100nm. By using the same type of photodetector, system complexity and the size of the detection device can be reduced. For example, when selecting 905nm and 1550nm laser wavelengths, the corresponding photodetectors can be silicon-based photodetectors and InGaAs photodetectors, respectively.

[0081] In some embodiments, the second optical module 122 includes a beam-splitting surface, which may be located inside or on the surface of the second optical module. The beam-splitting surface can be used to transmit a portion of the light pulses in the light pulse sequence emitted by the light source and to reflect a portion of the light pulses in the light pulse sequence emitted by the light source. The light pulse sequences of the at least two scanning fields of view can be separated by the beam-splitting surface. For example, the light pulse sequence emitted by the light source includes a first wavelength light pulse sequence within a first wavelength range and a second wavelength light pulse sequence within a second wavelength range. The beam-splitting surface of the second optical module can reflect the first wavelength light pulse sequence, causing the first wavelength light pulse sequence to be emitted from one angular range to form a first scanning field of view. At the same time, the beam-splitting surface of the second optical module can transmit the second wavelength light pulse sequence, causing the second wavelength light pulse sequence to be emitted from another angular range to form a second scanning field of view. In some embodiments, the light pulse sequence emitted by the light source includes a first wavelength light pulse sequence within a first wavelength range and a second wavelength light pulse sequence within a second wavelength range. The second optical module further includes an incident surface and a first and a second emitting surface located on opposite sides of the beam-splitting surface. The second optical module is used to receive the first and second wavelength light pulse sequences through the incident surface, and to emit the first wavelength light pulse sequence to a first scanning field of view through the first emitting surface, and to emit the second wavelength light pulse sequence to a second scanning field of view through the second emitting surface. By reflecting the first wavelength light pulse sequence and transmitting the second wavelength light pulse sequence through the beam-splitting surface, the light pulse sequence emitted by the light source is separated to form different scanning fields of view. To allow the light pulse sequence incident on the beam-splitting surface to exit from different angle ranges after emission and refraction by the beam-splitting surface, the beam-splitting surface and the incident surface of the second optical module are not parallel, but have a certain angle between them.

[0082] In some embodiments, the second optical module further includes light refraction elements located on both sides of the beam-splitting surface. When the second driving module drives the second optical module to rotate, the light refraction elements on both sides of the beam-splitting surface are used to change the optical path of the light pulse sequence. The light refraction elements can be prisms, etc. By refracting the light pulses reflected and transmitted from the beam-splitting surface and then emitting them, the emission angle range of the light pulses can be increased. For example, the second optical module may include a light refraction assembly, which includes a second light refraction element and a third light refraction element that are attached to each other. A beam-splitting surface is provided between the second light refraction element and the third light refraction element. The first wavelength light pulse sequence from the first light refraction element is reflected by the beam-splitting surface in the light refraction assembly and refracted by the second light refraction element. The second wavelength light pulse sequence from the first light refraction element is transmitted by the beam-splitting surface in the light refraction assembly and refracted by the third light refraction element, so as to form different scanning fields of view.

[0083] In some embodiments, the light refraction component is generally wedge-shaped, and the beam-splitting surface extends obliquely from the edge of the thickest part of the wedge-shaped light refraction component toward the first light refraction element. In some embodiments, the second optical module 122 can be a prism assembly; for example, the second optical module can be obtained by fixing two prisms together, and the beam-splitting surface can be located between the two prisms. Figure 3 The diagram shown is a schematic of a second optical module 122 in one embodiment of this application. The second optical module may include a first prism and a second prism fixed to each other. One surface of the first prism is attached to one surface of the second prism, and the beam-splitting surface is located at the attachment point of the first prism and the second prism. Part or all of the light pulse sequence emitted from the first optical module 121 can be incident from the light-incident surface in the first prism. After reaching the beam-splitting surface, the first pulse sequence in the first wavelength range can be reflected by the beam-splitting surface and refracted by the first prism before being emitted from the first light-exiting surface to form a first scanning field of view. The second wavelength light pulse sequence in the second wavelength range can be transmitted through the beam-splitting surface and refracted by the second prism before being emitted from the second light-exiting surface to form a second scanning field of view.

[0084] The fixing method of the two prisms can be selected according to actual needs. For example, in some embodiments, the two prisms can be fixed by gluing, that is, adding adhesive or other bonding agent to the mating surfaces of the two prisms to bond them together. Of course, other fixing methods can also be used, and this application embodiment does not limit them. The two prisms can be seamlessly bonded, or the mating surfaces of the two prisms can be filled with air or other materials. In some embodiments, the second optical module can be obtained by fixing the first prism and the second prism together. The light emitting surface in the second prism can be tilted from one edge of the first prism toward the light source, such as... Figure 3 As shown.

[0085] In some embodiments, a dichroic film can be used to split light pulse sequences of different wavelengths. The splitting surface can be an optical surface coated with the dichroic film. For example, in a scenario where the second optical module is formed by two prisms fixed together, the splitting surface can be a bonding surface, and it can include a dichroic film. For instance, a layer of dichroic film can be coated at the bonding surface of the two prisms. The dichroic film can achieve selective transmission or selective reflection of light pulse sequences in different wavelength ranges, thereby reflecting light pulse sequences in at least one wavelength range and refracting them through one prism before exiting from one angular range, while transmitting the remaining light pulse sequences and refracting them through another prism before exiting from another angular range.

[0086] In some embodiments, the at least two scanning fields of view include a first scanning field of view formed by a first wavelength light pulse sequence after reflection by a beam splitter, and a second scanning field of view formed by a second wavelength light pulse sequence after transmission by a beam splitter. Since the first and second optical modules have limited deflection capabilities for the light pulse sequences, the field of view angle of the scanning field of view formed by the second wavelength light pulse sequence is also very limited in both the horizontal and vertical directions. To increase the scanning field of view of the detection device, two different scanning fields of view can be formed by the first and second wavelength light pulse sequences. Combining these two different scanning fields of view can result in a larger field of view angle in both the horizontal and vertical directions.

[0087] In some embodiments, the center positions and field angles of the first and second scanning fields of view (i.e., the emission direction and emission angle range of the first wavelength light pulse sequence, and the emission direction and emission angle range of the second wavelength light pulse sequence) can be determined based on parameters such as the shape and refractive index of the first and second optical modules. The design of the shape and refractive index of the second optical module is particularly critical. For example... Figure 4 The diagram illustrates the optical path of a light pulse sequence passing through a second optical module in one embodiment. The second optical module is formed by bonding two prisms together. The bonding surface is a beam-splitting surface coated with a dichroic film, capable of reflecting and transmitting light pulse sequences of different wavelength ranges. Assume the angle between the light incident surface (i.e., the incident surface) of the second optical module and the direction perpendicular to the optical axis (shown as the horizontal direction in the diagram) is α_1; the angle between the beam-splitting surface and the incident surface of the second optical module is α_2; the angle between the exit surface of the first wavelength light pulse sequence and the direction parallel to the optical axis (shown as the vertical direction in the diagram) is α_3; the angle between the exit surface of the transmitted light and the direction perpendicular to the optical axis (shown as the horizontal direction in the diagram) is α_4; and the refractive indices of the two bonded prisms are n1 and n2, respectively. The incident light rays enter from the light incident surface of the second optical module at an incident angle θ_1. After reaching the beam splitting surface, the beam splitting surface reflects and transmits light in different ranges. It is assumed that the angle between the outgoing direction of the first wavelength light pulse sequence and the direction parallel to the optical axis (shown as the vertical direction in the figure) is β_1, and the angle between the outgoing direction of the second wavelength light pulse sequence and the direction parallel to the optical axis (shown as the vertical direction in the figure) is β_2.

[0088] According to the laws of reflection and refraction of light, the following formula can be obtained:

[0089] sinθ_1=n_1 sinθ_2

[0090] θ_3=θ_2+(α_2-α_1 )

[0091] θ_4=θ_3

[0092] α_2 + α_3 = θ_5 + (90° - θ_4)

[0093] sinθ_6=n_1 sinθ_5

[0094] θ_6-α_3=90°-β_1

[0095] β_1=90°-(θ_6-α_3)

[0096] n_2 sinθ_7=n_1 sinθ_3

[0097] θ_8=(α_2-α_4)-θ_7

[0098] n_2 sinθ_8=sinθ_9

[0099] β_2=θ_9+α_4

[0100] As can be seen from the above formula, the magnitudes of β_1 and β_2 can be determined by adjusting one or more of the following parameters: the angle between the incident light surface (i.e., the incident light surface) and the direction perpendicular to the optical axis of the light source is α_1; the angle between the beam splitting surface and the direction perpendicular to the optical axis of the light source is α_2; the angle between the exit surface of the reflected light and the direction parallel to the optical axis of the light source is α_3; the angle between the exit surface of the transmitted light and the direction parallel to the optical axis of the light source is α_4; and the refractive indices of the two cemented prisms are n1 and n2, respectively. Therefore, the center positions of the first and second scanning fields of view, the size of the field of view angle, etc., can be adjusted by adjusting the above parameters.

[0101] In some embodiments, such as Figure 3 As shown, the first wavelength light pulse sequence, after being reflected by the beam-splitting surface, can be emitted from the first light-emitting surface of the second optical module. The second wavelength light pulse sequence, after being transmitted through the beam-splitting surface, can be emitted from the second light-emitting surface of the second optical module, thus obtaining two different emission angle ranges and scanning fields of view. The first light-emitting surface is adjacent to the light-incident surface of the second optical module, and the second light-emitting surface is opposite to the light-incident surface of the second optical module.

[0102] In some embodiments, the emission angle of the first wavelength light pulse sequence is less than 90° to the direction perpendicular to the optical axis of the light source, and the emission angle of the second wavelength light pulse sequence is less than 90° to the direction parallel to the optical axis of the light source. The first scanning field of view formed by the first wavelength light pulse sequence is an annular region, and the second scanning field of view formed by the second wavelength light pulse sequence is located in the hollow part of the annular region.

[0103] In some embodiments, as shown in Figures 5(a) and 5(b), the combined field of view of the first scanning field of view formed by the first wavelength light pulse sequence and the second scanning field of view formed by the second wavelength light pulse sequence is approximately hemispherical, wherein the first scanning field of view is located in the edge region of the hemisphere and is ring-shaped, and the second scanning field of view is located in the central region of the hemisphere.

[0104] Since the center positions and field angles of the two scanning fields can be designed by adjusting the aforementioned parameters, in some embodiments, such as... Figure 6 As shown, the two scanning fields of view can be designed to be seamlessly stitched together, which maximizes the utilization of the field of view angle formed by the two light pulse sequences, thereby obtaining the largest possible field of view angle in the vertical direction. Of course, in some embodiments, the two scanning fields of view can also be designed to have a certain overlapping area, i.e., overlapping fields of view, such as... Figure 7 As shown, because the overlapping field of view can accept scanning of both the first and second wavelength light pulse sequences, the detection frequency in this region is higher than in other regions, resulting in more accurate detection results. Therefore, the overlapping field of view can generally be used to detect directions of interest to the user, thus obtaining more accurate detection results for the area of ​​interest.

[0105] Taking the application of the detection device to a drone as an example, in some embodiments, to ensure that the overlapping area of ​​the two scanning fields of view is as consistent as possible with the drone's flight speed direction, the center position of the overlapping area of ​​the two scanning fields of view can be determined based on the tilt angle of the drone during flight. For example... Figure 8 As shown, the overlapping field of view of the detection device can detect the flight direction of the UAV, thus obtaining more accurate detection results in the flight direction.

[0106] Furthermore, through Figure 4 It can be seen that the center position of the scanning field of view formed by the first wavelength light pulse sequence can also be adjusted by adjusting the angle α_1 between the beam splitter and the incident surface in the second optical module. Specifically, the smaller α_1 is, the more the center position of the scanning field of view formed by the first wavelength light pulse sequence will deflect towards the incident surface of the second optical module; conversely, the larger α_1 is, the more the center position of the scanning field of view formed by the first wavelength light pulse sequence will deflect towards the exit surface (i.e., the second exit surface) of the second wavelength light pulse sequence in the second optical module. For example... Figure 3As shown, taking the second optical module fixed to the first prism and the second prism as an example, when α_1 is small, the first wavelength light pulse sequence will be emitted along any point on the edge of the second prism towards the light source, so that the scanning field of view formed by the first wavelength light pulse sequence moves towards the second light-emitting surface. When α_1 is large, the first wavelength light pulse sequence will be emitted along the light source towards any point on the edge of the first prism, so that the scanning field of view formed by the first wavelength light pulse sequence moves away from the second light-emitting surface.

[0107] In some embodiments, to ensure that the scanning field of view formed by the first wavelength light pulse sequence in the vertical direction and the scanning field of view formed by the second wavelength light pulse sequence in the vertical direction can be combined to form a continuous scanning field of view in the vertical direction, the angle α_1 between the beam splitter and the incident surface in the second optical module can be adjusted so that after the first wavelength light pulse sequence exits from the first light exit surface of the second optical module, it deflects towards the side closer to the second light exit surface, thereby making the scanning field of view formed by the first wavelength light pulse sequence and the scanning field of view formed by the second wavelength light pulse sequence continuous, such as... Figure 9 As shown.

[0108] Taking the second optical module fixed to each other by the first prism and the second prism as an example, when the first wavelength light pulse sequence is emitted from the first prism, part of the first wavelength light pulse sequence is emitted along the direction of the light source toward the edge of the first prism, so that the scanning field of view formed by the first wavelength light pulse sequence and the scanning field of view of the second wavelength light pulse sequence are continuous along the optical axis of the light source.

[0109] Of course, in some embodiments, the detection device can be mounted on the drone. For example, one of the aforementioned detection devices can be mounted on the upper and lower surfaces of the drone fuselage, or the detection device can include two scanning modules, with one scanning module distributed on each of the upper and lower surfaces of the drone fuselage. In this case, if the first wavelength light pulse sequence in the detection device deflects towards the side closer to the emission surface of the second wavelength light pulse sequence after being emitted from the second optical module, a large blind zone will inevitably be formed in the drone's forward direction. To minimize the range of this blind zone, in some embodiments, such as... Figure 6 As shown, a portion of the first wavelength light pulse sequence may be emitted from the first emitting surface in the second optical module and then deflected to the side closer to the incident surface of the second optical module. In order to ensure that the detection devices on the upper and lower surfaces of the UAV can overlap in front of the UAV nose after deflecting towards the incident surface, forming an overlapping scanning field of view, the angle between the emission angle of this portion of the first wavelength light pulse sequence and the incident surface of the second optical module is at least greater than 10°.

[0110] Taking the second optical module fixed to each other by the first prism and the second prism as an example, when a portion of the first wavelength light pulse sequence is emitted from the first prism, this portion of the first wavelength light pulse can be emitted along a point on the edge of the first prism towards the light source, and the angle between the emission direction of this portion of the light pulse sequence and the incident surface of the first prism is at least greater than 10°.

[0111] In some embodiments, parameters such as the shape and refractive index of the first optical module can be adjusted to change the emission direction and angle of the first wavelength light pulse sequence and the second wavelength light pulse sequence. Taking a scanning prism as an example, in some embodiments, both the light emitting surface and the light incident surface of the scanning prism are tilted away from the light source from the side of the scanning prism. Using such a double-tilted prism where both the light emitting surface and the light incident surface are tilted in the same direction, compared to a scanning prism where the light incident surface is perpendicular to the rotation axis of the scanning prism, can deflect the light beam passing through the scanning prism away from the rotation axis of the scanning prism. This can reduce the lateral dimension in the second optical module, making the structure of each optical module in the detection device more compact and reducing the volume of the detection device.

[0112] As the scanning prism rotates, the emission range and angle of the refracted light pulse sequence change, thus causing corresponding changes in the positions and field angles of the two scanning fields of view formed after reflection and transmission through the beam-splitting surface in the second optical module. For example... Figure 10 As shown in the figure, (a) and (b) respectively illustrate the situation where the scanning prism and the second optical module are in extreme positions in one embodiment of this application.

[0113] In some embodiments, the emission direction and emission angle of the first wavelength light pulse sequence and the second wavelength light pulse sequence can be adjusted by adjusting various parameters such as the shape and refractive index of the first optical module and the second optical module, so that the combined field of view of the first scanning field of view formed by the first wavelength light pulse sequence and the second scanning field of view formed by the second wavelength light pulse sequence has a field of view angle greater than 90° in the vertical direction.

[0114] In some embodiments, the angle between the first scanning field of view formed by the first wavelength light pulse sequence and the second scanning field of view formed by the second wavelength light pulse sequence in the horizontal direction can reach 360°.

[0115] Figures 11(a) and 11(b) show schematic diagrams of the scanning trajectories of a first wavelength light pulse sequence (Figure 11(a)) and a second wavelength light pulse sequence (Figure 11(b)) in a detection device according to an embodiment of this application. The point cloud distribution obtained by the second wavelength light pulse sequence is characterized by a dense center and sparse edges, while the point cloud distribution obtained by the first wavelength light pulse sequence is characterized by a sparse center and dense edges. The first optical module and the second optical module rotate around a rotation axis parallel to the optical axis of the light source, and the field of view in the vertical direction can be determined. The angle between the emitted light ray and the rotation axis is defined as follows: As shown in the figure, the angle β_1 between the emission direction of the second wavelength light pulse sequence and the rotation axis is between 35° and 97°, while the angle β_2 between the emission direction of the first wavelength light pulse sequence and the rotation axis is between 0° and 44°. The combined scanning field of view formed by the two light pulse sequences covers a field of view angle of 0-97° in the vertical direction. As the first and second optical modules rotate around the rotation axis, the combined scanning field of view formed by the two light pulse sequences covers a field of view angle of 360° in the horizontal direction. Figure 12 The diagram shows the areas covered by the combination of the first and second scanning fields of view.

[0116] In scenarios where a dichroic film is used for beam splitting, if the angle of incidence of light onto the dichroic film is too large, the splitting capability of the film will weaken, making it unable to effectively reflect the first wavelength light pulse sequence and refract the second wavelength light pulse sequence. This can easily lead to interference between the two different wavelength ranges. In some embodiments, to minimize the interference between the two different wavelength range light pulse sequences, the angle between the splitting surface and the incident surface in the second optical module is less than 45°. This ensures that the angle of incidence of the light pulse sequence onto the dichroic film is as small as possible, thus guaranteeing the splitting effect.

[0117] Because the detection device contains at least two wavelengths of light pulse sequences, and a second optical module is used to split these sequences into at least two separate paths, it is impossible to strictly separate the different wavelengths. Taking a dichroic film as an example, ideally, it can reflect all first-wavelength light pulse sequences and transmit all second-wavelength light pulse sequences. However, in practical applications, the splitting capability of the dichroic film is not ideal, and it may transmit some light within the first wavelength range and reflect some light within the second wavelength range, leading to crosstalk between the different wavelength light pulse sequences. After being emitted from the light source, different wavelength light pulse sequences first propagate along a shared optical path. Upon reaching the splitting surface, the splitting surface separates the different wavelength light pulse sequences, and then each propagates along its own working optical path. This part of the optical path is a non-multiplexed optical path. Similarly, after being reflected by objects in the external environment, the wavelengths of different light pulse sequences also first propagate through their respective non-multiplexed optical paths, and then propagate to the detector surface through the shared optical path. To minimize crosstalk, in some embodiments, a filter element can be placed in the non-multiplexed optical path of the detector. This filter element can be a filter sheet or a filter film, selectively transmitting light pulse sequences of specific wavelengths. Alternatively, the filter element can be an element with strong absorption capabilities for light pulse sequences of specific wavelengths, such as black glass or blue glass. The filter element can filter out light pulse sequences of a specified wavelength, where the specified wavelength differs from the wavelength of the light pulse sequence operating in the non-multiplexed optical path, thereby filtering out light pulse sequences of other wavelengths in the non-multiplexed optical path. For example, a filter element for reflecting a second wavelength light pulse sequence can be placed in the non-multiplexed optical path of the first wavelength light pulse sequence, preventing light pulses in the second wavelength range from passing through. Simultaneously, a filter element for reflecting the first wavelength light pulse sequence can be placed in the non-multiplexed optical path of the second wavelength light pulse sequence, preventing light pulses in the first wavelength range from passing through.

[0118] In some embodiments, such as Figure 13As shown, the non-multiplexed optical path with filtering elements includes the light-emitting surfaces in the second optical module, namely the light-emitting surface for the first wavelength light pulse sequence (i.e., the first light-emitting surface) and the light-emitting surface for the second wavelength light pulse sequence (i.e., the second light-emitting surface). After being separated by the beam splitter, light pulse sequences of different wavelengths propagate in their respective non-multiplexed optical paths. When they reach the light-emitting surface, a filtering element can be placed there. The filtering element allows only light operating within that specific non-multiplexed light pulse sequence to pass through, while other wavelengths are blocked. Thus, the emitted light pulse sequence is the one operating within that specific non-multiplexed optical path. Similarly, in the light pulse sequence reflected back from external objects, only the light pulse sequence operating within that specific non-multiplexed optical path can pass through and return along the emitted optical path to the detector surface. By filtering out other wavelength light pulse sequences at the light-emitting surface of the second optical module, mutual interference between different wavelength light pulse sequences can be reduced.

[0119] In some embodiments, such as Figure 13 As shown, the non-multiplexed optical path where the filter element is set can also be the surface of the detector. For example, different wavelength light pulse sequences can be received by different types of detectors and converted into electrical signals. Therefore, for different types of detectors, a filter element can be set on their surface. The filter element can only allow light pulse sequences of a specified wavelength to pass through, thereby preventing other light pulse sequences from entering the detector and interfering with the detection results. Of course, in practical applications, whether to set the filter element on the light-emitting surface of the second optical module or on the detector surface can be determined by considering manufacturing costs, manufacturing difficulty, and the expected anti-interference effect. For example, setting the filter element on the detector surface can directly filter out light pulse sequences of other wavelengths at the receiving end, thus achieving a better anti-interference effect. However, for scenarios where the detector surface area is very small, the manufacturing difficulty of setting the filter element may be high. Therefore, setting the filter element on the light-emitting surface may be more suitable. Of course, for scenarios where the cost of filter elements is high, since the area of ​​the light-emitting surface is large, covering the light-emitting surface with a filter element is too costly. Therefore, it is preferable to set it on the detector surface. Of course, in some scenarios where the requirements for anti-interference are more stringent, filter elements can also be set on both the light-emitting surface and the detection surface of the second optical module to achieve better anti-interference effect.

[0120] Of course, considering that the greater the wavelength difference between the two light pulse sequences, the easier it is to separate them when using a dichroic film for spectral dispersion, resulting in better spectral dispersion and less crosstalk. Therefore, in some embodiments, the wavelength difference between each pair of light pulse sequences in the detection device is greater than 80 nm; for example, the wavelength difference between the first wavelength light pulse sequence and the second wavelength light pulse sequence is greater than 80 nm.

[0121] Of course, besides the interference between light pulse sequences of different wavelengths, sunlight in the external environment can also interfere with the optical path. For example, sunlight includes beams within the first and second wavelength ranges. These beams may also be emitted into the detector, interfering with its operation and affecting the accuracy of the final detection results. To minimize the interference of sunlight on the detection results, the proportion of light pulses emitted from the emitting surface of the second optical module that receives more sunlight should be as small as possible within the sunlight. For example, assuming the scanning module can form two scanning fields of view, with light pulse wavelengths of 940nm and 850nm respectively, and assuming the probability of the second emitting surface of the second optical module facing the sun is higher than that of the first emitting surface, the proportion of the light pulse sequence emitted from the second emitting surface in the sunlight should be smaller. Therefore, the wavelength of the light pulse sequence emitted from the second emitting surface could be 940nm, and the wavelength of the light pulse sequence emitted from the first emitting surface could be 850nm.

[0122] In some embodiments, since the first scanning field of view formed by the first wavelength light pulse is an annular scanning field of view, that is, the first scanning field of view is mainly in the horizontal direction, and the second scanning field of view formed by the second wavelength light pulse is located in the hollow part of the annular scanning field of view, that is, the second scanning field of view is mainly in the vertical direction, the second scanning field of view has a greater probability of receiving sunlight. Therefore, the proportion of the second wavelength light pulse sequence in sunlight is lower than the proportion of the first wavelength light pulse sequence in sunlight.

[0123] Of course, since the light source used by the detection device is usually a laser, the wavelength of the light pulse emitted by the laser usually exceeds 800nm. When the wavelength of the light beam is greater than 800nm, the larger the wavelength of the light beam, the smaller its proportion in sunlight. Therefore, in some embodiments, the wavelength of the second wavelength light pulse sequence used to scan the second scanning field of view is higher than the wavelength of the first wavelength light pulse sequence used to scan the first scanning field of view. That is, the proportion of the second wavelength light pulse sequence in sunlight is lower than the proportion of the first wavelength light pulse sequence in sunlight. Since the second scanning field of view receives sunlight more often, by using light pulses with a lower proportion in sunlight to scan the second scanning field of view, the interference of sunlight on the detection results can be minimized.

[0124] Since the wavelength of the second wavelength light pulse in the second scanning field of view is usually greater than the wavelength of the first wavelength light pulse in the first scanning field of view, and the wavelength of light pulses emitted by a typical laser is at least around 800 nm, in order to allow the beam splitter to separate the two wavelength light pulses as accurately as possible, the wavelength difference between the two wavelength light pulses is set as large as possible. Therefore, in some embodiments, the wavelength of the light pulse sequence used to scan the second scanning field of view is higher than 900 nm.

[0125] In some embodiments, the first wavelength optical pulse sequence includes an 850 nm laser beam, and the second wavelength optical pulse sequence includes a 940 nm laser beam.

[0126] Of course, when a light source emits a specific wavelength of light pulses, the wavelength of the emitted light pulses will drift as the temperature of the light source increases, resulting in inaccurate wavelengths. For example, assuming the light source is a laser emitting a 940nm light pulse sequence, the wavelength of the emitted light pulses will drift as the temperature rises, perhaps becoming 900nm or even smaller. If another light pulse sequence has a wavelength of 850nm, this wavelength drift will cause the two light pulse sequences to become closer in wavelength, making it more difficult for the dichroic film to separate them, leading to more severe crosstalk. Therefore, in some embodiments, to minimize crosstalk between different wavelength light pulse sequences, the temperature of the light source can be controlled within a specified temperature range. This specified temperature range can be determined based on the light-emitting characteristics of the light source. When the light source is within the specified temperature range, the wavelength drift of the emitted light pulses can be controlled within a preset drift amount, avoiding large wavelength drifts. Of course, the temperature of the light source can be controlled using heat dissipation devices such as fans and heat sinks. For example, when the temperature exceeds the specified temperature range, a fan can be turned on to cool it down.

[0127] In some embodiments, light pulse sequences of different wavelengths can be emitted by different types of light sources, and the number of each type of light source can be one or more. The number of each type of light source can be set according to one or more of the following: the size of the scanning field of view formed by the light pulse sequences emitted by each type of light source, and the orientation of the scanning field of view formed by the light pulse sequences emitted by each type of light source. For example, for light pulse sequences with a relatively large field of view, the corresponding number of light sources should be as large as possible to ensure relatively uniform detection frequency across different regions. (See Figures 11(a), 11(b), and...) Figure 12Taking the detection device mentioned above as an example, the first wavelength light pulse sequence needs to cover a cylindrical area with a field of view of 360° × β_1, while the second wavelength light pulse sequence needs to cover a circular area with a field of view of 2 × β_2. When β_1 is 30° and β_2 is 60°, both the first and second wavelength light pulse sequences need to cover a spherical surface with an area of ​​πR^2. In this case, if the transmission and reception frequencies of various types of light sources are consistent, the number of light sources in the first and second wavelength light pulse sequences can be set to be the same, thus achieving uniform point cloud detection. However, when β_1 is 45° and β_2 is 45°, the first wavelength light pulse sequence needs to cover a spherical surface with an area of ​​0.707πR^2, and the second wavelength light pulse sequence needs to cover a spherical surface with an area of ​​0.2929πR^2. In this case, if the transmission and reception frequencies of various types of light sources are consistent, then to achieve uniform point cloud detection, the number of reflected light sources can be 2.4 times the number of refracted light sources. Of course, if it is desired that the detection frequencies of the scanning fields formed by different light pulse sequences are in a certain proportion, this can also be achieved by adjusting the number of light source sources for the two light pulse sequences. The light source can include an array of emitting elements, and one type of light source can correspond to one type of emitting element array.

[0128] In some embodiments, the number of light sources can also be determined based on the orientation of the scanning field of view formed by the light pulse sequences emitted by each type of light source. For example, some scanning fields of view are oriented in the direction of interest to the user; therefore, for such scanning fields of view, the detection frequency should be as high as possible to obtain more accurate detection results. Thus, the number of light sources in the light pulse sequences of such scanning fields of view can be set to be larger. For instance, suppose the orientation of a certain scanning field of view in the detection device is consistent with the direction of the drone's flight speed; therefore, the number of light sources in the light pulse sequences of this scanning field of view should be set to be as large as possible.

[0129] In some embodiments, the number of light sources in the first scanning field of view's light pulse sequence is greater than the number of light sources in the second scanning field of view's light pulse sequence; that is, the number of light sources in the first wavelength light pulse sequence is greater than the number of light sources in the second wavelength light pulse sequence. Since the first wavelength light pulse sequence can form a relatively large field of view (up to 360°) in the horizontal direction, and mobile devices that typically use detection devices are primarily concerned with the horizontal aspects of the external environment—such as drones and self-driving cars—which mostly move horizontally and therefore focus on obstacles in the horizontal direction, the detection frequency of the horizontal scanning field of view should be as high as possible. Therefore, the number of light sources in the first wavelength light pulse sequence can be set to be larger.

[0130] Furthermore, the arrangement of different types of light sources can be set according to actual needs. In some embodiments, in order to facilitate wiring and minimize the space occupied by the light sources, different types of light sources can be arranged on different sides, with the same type of light source distributed on the same side. Figure 14 The diagram illustrates several arrangement methods for light sources. The darker bar represents light source A, and the lighter bar represents light source B. For example... Figure 14 As shown in (a), the light source for the first wavelength light pulse sequence can be distributed on the first side, and the light source for the second wavelength light pulse sequence can be distributed on the second side. Of course, since different types of light sources can emit light pulse sequences simultaneously or at intervals, for example, the first wavelength light pulse sequence and the second wavelength light pulse sequence can be emitted alternately, or the operating duration of the first wavelength light pulse sequence light source and the second wavelength light pulse sequence light source may be inconsistent. In this case, as... Figure 14 As shown in (b), different types of light sources can be arranged alternately to avoid simultaneously activated light sources being located on one side, leading to excessively high local temperatures and facilitating heat dissipation. Of course, in some embodiments, to minimize the space occupied by the light sources and reduce the size of the detection device, different types of light sources can also be stacked, i.e., arranged in layers, with the same type of light source located on the same layer. For example... Figure 14 As shown in (c) in the figure. This arrangement not only reduces the volume occupied by the light source, but also, since different types of light sources emit wavelengths with different effective focal lengths relative to different optical components, different types of light sources can be placed at different heights through the stacked arrangement, avoiding defocusing effects.

[0131] Furthermore, because the same material has varying refractive power for different wavelengths of light pulse sequences, the focal points of different wavelength light pulse sequences will differ after passing through the same optical element. For example, with a collimating lens, the focal length of the same collimating lens will differ for different wavelength light pulse sequences. Therefore, if the light source is placed on the same plane, a significant defocusing effect will occur. Figure 15The diagram shows a sequence of light pulses of different wavelengths after passing through a collimating element. Therefore, the effective focal length of the light source for different wavelength light pulse sequences should be considered during the design process. In some embodiments, different types of light sources can be placed on different planes to correspond to the focal point, avoiding defocusing. However, placing different types of light sources on different planes increases the complexity of the assembly process and also increases the space occupied by the light sources, hindering the small-volume design of the detection device. Therefore, in some embodiments, different types of light sources can also be placed on the same plane, but the equivalent emission points of different types of light sources can be located on different planes, thus ensuring that the position of the equivalent emission point corresponds to the focal point and avoiding defocusing. In some embodiments, if different types of light sources are placed on different planes, the positions of the different types of light sources can be determined based on the effective focal length of the optical elements (e.g., collimating elements) in the detection device relative to the light pulse sequences emitted by different light sources. For example, it can be determined based on the effective focal length of the collimating elements in the detection device relative to the light pulse sequences emitted by different light sources. In some embodiments, if different types of light sources are arranged on the same plane, but the equivalent emission points of different types of light sources are located on different planes, the position of the equivalent emission point can be determined based on the effective focal length of the collimating element in the detection device relative to the light pulse sequences emitted by different light sources. The emission power of different types of light sources can be set according to human eye safety requirements and the range requirements of the scanning field of view formed by different wavelength light pulse sequences. For example, the scanning field of view formed by the first wavelength light pulse sequence typically has a large field of view angle in the horizontal direction, which is usually the direction of focus for mobile devices. Therefore, the scanning field of view formed by the emitted light pulse sequence has a high range requirement, and thus the emission power of the light source of the first wavelength light pulse sequence can be set higher. Of course, the width of the emitted light pulses can also be different for different types of light sources, and can be set based on actual needs.

[0132] For different types of light sources, their operating frequency can also be set according to the requirements of the point cloud distribution density of the formed scanning field of view. For example, the scanning field of view formed by the first wavelength light pulse sequence has higher requirements for the accuracy of the detection results, and therefore requires the point cloud distribution to be denser. Therefore, the operating frequency of the light source of the first wavelength light pulse sequence can be set to a larger value.

[0133] Because the absorption capacity of the same material varies for different wavelengths of light pulse sequences, taking silicon, a commonly used material in photodetectors, as an example, the shorter the wavelength of the light pulse sequence, the stronger its absorption capacity. To achieve consistent detector response to different wavelengths of light pulse sequences, in some embodiments, the detector's response capacity can be adjusted by changing the receiving area of ​​the detector corresponding to different wavelengths of light pulse sequences. For example, the detector's receiving area can be negatively correlated with its ability to receive different wavelengths of light pulse sequences; the stronger the detector's absorption capacity for a particular wavelength, the smaller its receiving area can be set, thereby unifying the detector's final response capacity to all wavelengths of light pulse sequences. For instance, assuming the detector material is silicon, and the detection device includes two scanning fields formed by light pulse sequences with wavelengths of 850nm and 940nm respectively, since the detector's absorption capacity for the 940nm light pulse sequence is weaker than its absorption capacity for the 850nm light pulse sequence, a larger receiving area can be used for the 940nm light pulse sequence. This means increasing the pixel size of the detector's photosensitive surface to compensate for the weaker detection capacity for that wavelength.

[0134] The detector may include one or more receiving elements. Taking a light pulse sequence emitted from a light source comprising a first wavelength light pulse sequence and a second wavelength light pulse sequence as an example, to address the issue of varying absorption capabilities of the detector for different wavelengths of light pulses, in some embodiments, the detector includes a first receiving element for receiving the reflected light from the first wavelength light pulse sequence and a second receiving element for receiving the reflected light from the second wavelength light pulse sequence. That is, light pulse sequences of different wavelengths can be received using corresponding receiving elements. The receiving elements can convert the received light pulse sequences into electrical signals. The materials of the first and second receiving elements can be determined based on the light pulses they receive; the materials of the two receiving elements can be the same or different.

[0135] When the first and second receiving elements are made of the same material, in order to achieve consistent response to light pulses of different wavelengths, in some embodiments, the receiving areas of the first and second receiving elements can be different, or the number of the first and second receiving elements can be different, or both the receiving areas and the number of the first and second receiving elements can be different. For example, assuming that the material used in the receiving elements has a weaker absorption capacity for the first wavelength light pulse sequence than for the second wavelength light pulse sequence, the receiving area of ​​the first receiving element can be set to be larger than that of the second receiving element, or the number of the first receiving elements can be greater than the number of the second receiving elements. In this way, the detector's response to light pulses of the two wavelengths can be guaranteed to be consistent.

[0136] In some embodiments, the receiving area of ​​the first receiving element is larger than the receiving area of ​​the second receiving element, and / or the number of the first receiving elements is greater than the number of the second receiving elements. For example, in some scenarios, the material used in the receiving elements has a weaker absorption capacity for the first wavelength light pulse sequence than for the second wavelength light pulse sequence. In order to achieve consistent detector response to the two wavelengths, the receiving area of ​​the first receiving element is larger than the receiving area of ​​the second receiving element, and / or the number of the first receiving elements is greater than the number of the second receiving elements. Of course, in some scenarios, the material used in the receiving elements has consistent absorption capacity for the two light pulse sequences. However, since the first scanning field of view formed by the first wavelength light pulse sequence is a ring-shaped scanning field of view, it can cover a large scanning field of view in the horizontal direction. The horizontal direction is often the direction of interest for various mobile platforms during movement. Therefore, it is necessary to have a good response capability to the light pulses in this scanning field of view. Therefore, the receiving area of ​​the first receiving element can be set to be larger than the receiving area of ​​the second receiving element, and / or the number of the first receiving elements can be set to be greater than the number of the second receiving elements, thereby achieving higher sensitivity when ensuring detection of the first scanning field of view.

[0137] Furthermore, for receiving elements corresponding to different wavelength light pulse sequences, the problem of different focal positions for different wavelength light pulse sequences also exists due to the varying refractive power of the optical elements. Therefore, the receiving elements can also be positioned on different planes to correspond to the respective focal positions. Thus, in some embodiments, the first receiving element and the second receiving element are located on different planes. The positions of the first receiving element and the second receiving element can be determined based on the effective focal length of the collimating element in the detection device relative to the different wavelength light pulse sequences, thereby avoiding defocusing.

[0138] In some embodiments, the light source includes an array of emitting elements, which comprises multiple emitting elements. These multiple emitting elements can simultaneously emit light pulse sequences from different angles. After the propagation direction is changed by a scanning module, the pulses are emitted. By simultaneously emitting light pulse sequences from different angles by multiple emitting elements, a relatively dense scanning trajectory can be formed, resulting in a denser point cloud distribution of the acquired external environment and more accurate detection results. To simultaneously receive the reflected light from the light beams emitted by multiple emitting elements in the array, the detector may also include a receiver array corresponding one-to-one with the emitting element array. Each receiver element is used to receive the reflected light from the light pulse emitted by its corresponding emitting element. For example, the light source may include an emitting element array A and an emitting element array B, each containing 12 emitting elements. Emitting element array A emits a first wavelength light pulse, and emitting element array B emits a second wavelength light pulse. Correspondingly, the detector may also include a receiver array A and a receiver array B. Receiver array A is used to receive the light pulse reflected back from the external target by the first wavelength light pulse. Receiver array A also includes 12 receiver elements, which correspond one-to-one with the 12 transmitter elements of transmitter element A. Receiver array B is used to receive the light pulse reflected back from the external target by the second wavelength light pulse. Receiver array B also includes 12 receiver elements, which correspond one-to-one with the 12 transmitter elements of transmitter element B.

[0139] In some embodiments, the light source includes a first emitting element array for emitting a first wavelength light pulse sequence and a second emitting element array for emitting a second wavelength light pulse sequence. The detector includes a first receiving element array for receiving the reflected light from the light pulse sequence emitted by the first emitting element array and a second receiving element array for receiving the reflected light from the light pulse sequence emitted by the second emitting element array. In some scenarios, the first and second emitting element arrays can emit light pulse sequences simultaneously to form two scanning fields of view at the same time. In some scenarios, the first and second emitting element arrays can emit light pulse sequences in a time-division manner. For example, the first emitting element array emits the first wavelength light pulse sequence in the first second, and the second emitting element array emits the second wavelength light pulse sequence in the second second. The two emitting element arrays can emit light pulse sequences alternately. Of course, the emission times of the two emitting element arrays can be the same or different, and can be flexibly set according to actual needs. In scenarios where the first and second transmitting element arrays transmit in a time-division multiplexing manner, the first and second receiving element arrays can reuse some or all of their receiving elements. For example, if the influence of the receiving elements' absorption capacity for different wavelength light pulses is not considered, the first and second receiving element arrays can be a single receiving element array. By sharing the receiving element array for two light pulse sequences, the detector's size can be reduced to some extent. Of course, in some scenarios, to ensure consistent detector response to different wavelength light pulse sequences, the first and second receiving element arrays can reuse only a portion of the light pulse sequences. For example, some receiving elements can simultaneously respond to two light pulse sequences, while other non-multiplexed receiving elements can be used to eliminate the influence of different absorption capacities for different wavelength light pulse sequences. For instance, the absorption capacity for different wavelength light pulses can be adjusted by changing the area and number of the non-multiplexed receiving elements. Thus, consistent detector response to different wavelength light pulse sequences can be ensured while minimizing the size of the detection device.

[0140] In some embodiments, the light source may include an array of emitting elements, each of which can emit a sequence of light pulses in a time-division multiplexing manner. Correspondingly, the detector includes a receiving element corresponding to the emitting element array, which can be used to receive the reflected light from the light pulse sequences emitted by each emitting element in the array in a time-division multiplexing manner. For example, the emitting element array may include 12 emitting elements that can emit light pulse sequences in a time-division multiplexing manner, for example, from 1 to 12 seconds, with each emitting element occupying 1 second to emit a light pulse. While that emitting element is emitting a light pulse, the other emitting elements do not emit light pulses. Correspondingly, in the detector, to minimize the detector's size, only one receiving element may be used. This receiving element can receive the light pulses emitted by the 12 emitting elements in a time-division multiplexing manner, for example, receiving the light pulse emitted by the first emitting element in the first second, the light pulse emitted by the second emitting element in the second second, and so on.

[0141] In some embodiments, to increase the scanning angle of the detection device, each detection device may also include at least two scanning modules as described in the above embodiments. Different scanning modules can form different scanning fields of view, thereby combining to obtain a larger scanning field of view. For example... Figure 16 The diagram shown is a schematic of a detection device according to an embodiment of this application. The detection device includes two scanning modules.

[0142] In the case where the detection device includes multiple scanning modules, each scanning module can correspond to a ranging module, used to emit the light pulses required by that scanning module and receive the light pulse sequence reflected back from the scanning field of view formed by that scanning module. Of course, if each scanning module is equipped with a ranging module, the final detection device will inevitably be large, making it unsuitable for mobile platforms such as UAVs where the size of the detection device is critical. To minimize the size of the detection device and save space, in some embodiments, such as... Figure 16 As shown, at least two scanning modules in the detection device can share a single ranging module using a time-division multiplexing method. For example, the at least two scanning modules can operate at certain frequency intervals, each using the ranging module to scan its respective scanning field of view.

[0143] In some embodiments, such as Figure 16As shown, the at least two scanning modules can be positioned at different locations to form scanning fields of view in different areas. The light pulse sequence emitted by the light source in the ranging module can be redirected by an optical path changing element and then propagated to one of the at least two scanning modules. For example, the light pulse sequence emitted by the light source in the ranging module can be redirected by the optical path changing element within the first second and then transmitted to scanning module 1 within the second second, and so on, allowing the two scanning modules to share a single ranging module. Of course, the time each scanning module occupies in the ranging module can be the same or different, depending on the actual requirements.

[0144] In some embodiments, the optical path changing element can be a vibrating reflector, which can rotate continuously around a certain axis. When the vibrating reflector rotates to different angles, it can reflect the light pulse sequence emitted by the light source to different scanning modules, such as... Figure 16 As shown, when the optical path changing element is in state 1, the light pulse sequence emitted by the light source is emitted to the scanning module 1; when the optical path changing element is in state 2, the light pulse sequence emitted by the light source is emitted to the scanning module 2.

[0145] In some embodiments, the optical path changing element can also be at least two retractable mirrors, each with two states: extended and retracted. Each mirror can correspond to a scanning module. When the mirror is extended, it can reflect the light pulse sequence emitted by the light source to the corresponding scanning module. For example, taking two scanning modules as an example, the optical path changing element can be two retractable mirrors, mirror 1 and mirror 2. When mirror 1 is extended and mirror 2 is retracted, it can reflect the light pulse sequence emitted by the light source to scanning module 1. When mirror 2 is extended and mirror 2 is retracted, it can reflect the light pulse sequence emitted by the light source to scanning module 2.

[0146] In some embodiments, such as Figure 16 As shown, the detection device has two scanning modules, which are arranged on the same straight line perpendicular to the optical axis of the light source. This arrangement facilitates assembly, reduces the size of the detection device, and allows the optical path alteration element to direct the light pulse sequence to different scanning modules.

[0147] In some embodiments, such as Figure 16 As shown, when the light pulse sequence emitted by the light source changes its propagation direction through the optical path changing element and reaches the two scanning modules, it first changes its direction through the first optical module in the two scanning modules and then exits to the second optical module. Then, it changes its direction by the second optical module and exits from two different angle ranges.

[0148] In some embodiments, the two scanning modules include a first scanning module and a second scanning module. The scanning field of view of the first scanning module covers at least one hemisphere, and the scanning field of view of the second scanning module also covers at least one hemisphere. For example, in some scenarios, the scanning fields of view of the two scanning modules in the detection device may be obstructed by the body of the mobile platform carrying the detection device. Therefore, there is a certain blind zone at the overlap of the scanning fields of view formed by the two scanning modules. Consequently, the scanning field of view formed by each scanning module may not be a complete hemisphere, but rather has a certain blind zone. Of course, in some scenarios, there may also be a small blind zone at the junction of the at least two scanning fields of view formed by beam splitting in the first or second scanning module, resulting in the scanning field of view formed by each scanning module not being a complete hemisphere. Taking the formation of two scanning fields of view by each scanning module as an example, the boundary between the two scanning fields of view may be discontinuous, but rather has a certain blind zone.

[0149] In some embodiments, the scanning field of view of the first scanning module and the scanning field of view formed by the second scanning module can be combined to form a spherical scanning field of view, thereby enabling the detection of the entire spherical space.

[0150] In some embodiments, the detection device has two scanning modules. In each scanning module, the second optical module is used to form two different scanning fields of view. Since each scanning module needs to form two scanning fields of view, each scanning module needs to receive two wavelengths of light pulses. In some scenarios, the two scanning modules can share a light source, that is, the light source can be used to emit two different wavelength light pulse sequences. The light pulse sequences emitted by the light source are directed to different scanning modules at different times. By sharing a light source between the two scanning modules, the size of the detection device can be reduced while maximizing the scanning field of view.

[0151] In some embodiments, two different wavelength light pulse sequences can be emitted by different emitting elements in the light source, thus allowing the light source to emit two different wavelength light pulse sequences in a time-division manner. The optical path changing element is used to direct the light pulse sequences from the light source to different scanning modules at different times. In this case, the four scanning fields of view formed by the two scanning modules can be formed in a time-division manner.

[0152] Of course, in some embodiments, the light source can simultaneously emit two different wavelength light pulse sequences, and the optical path changing element is used to split the two different wavelength light pulse sequences from the light source into different scanning modules. In this case, each time the light source emits a light pulse, it can form two scanning fields of view, wherein the two scanning fields of view can be formed by the same scanning module or by different scanning modules.

[0153] For example, two scanning modules include a first scanning module and a second scanning module. The light source includes a first emitting element for emitting a first wavelength light pulse sequence and a second emitting element for emitting a second wavelength light pulse sequence. The first scanning module can form scanning field of view 1 and scanning field of view 2, and the second scanning module can form scanning field of view 3 and scanning field of view 4. Scanning field of view 1 and scanning field of view 3 can be formed by the first wavelength light pulse sequence, and scanning field of view 2 and scanning field of view 4 can be formed by the second wavelength light pulse sequence. If the light source emits two different wavelength light pulse sequences in a time-division manner, after the light source emits a beam of light pulse each time, it can be directed to one of the scanning modules through the optical path changing element to form one of the above four scanning fields of view. For example, when the light source emits the first wavelength light pulse sequence, it forms one of the scanning fields of view 1 or scanning field of view 3. If the light source emits two different wavelength light pulse sequences simultaneously, two scanning fields of view are formed. For example, if the optical path changing element leads both wavelength light pulses to the first scanning module, scanning field of view 1 and scanning field of view 2 are formed. Alternatively, if the optical path changing element leads the first wavelength light pulse to the first scanning module and the second wavelength light pulse to the second scanning module, scanning field of view 1 and scanning field of view 4 are formed. Of course, scanning field of view 2 and scanning field of view 3 can also be formed simultaneously.

[0154] Since each scanning module needs to form at least two scanning fields of view, each scanning module needs to receive at least two wavelengths of light pulse sequences. In some embodiments, to enable the at least two scanning modules to operate simultaneously, i.e., without intervals, the wavelength range of the light pulse sequences emitted by the light source can be at least twice the number of scanning modules, and each scanning module can receive at least two wavelengths of light pulse sequences emitted by the light source. For example, such as Figure 16 As shown, the light source can emit four different wavelength light pulse sequences. Two of these wavelength sequences are reflected to scanning module 1 to form two scanning fields of view, while the other two wavelength sequences are reflected to scanning module 2 to form two additional scanning fields of view. For example, in some scenarios, the light source is also used to emit a third wavelength light pulse sequence in the third wavelength range and a fourth wavelength light pulse sequence in the fourth wavelength range. One of the two scanning modules is used to receive the first and second wavelength light pulse sequences, while the other scanning module is used to receive the third and fourth wavelength light pulse sequences.

[0155] In some embodiments, the light pulse sequence of at least two wavelengths received by each scanning module can be filtered by a filtering element (e.g., a filter, a filter film, etc.) and then guided to each scanning module by an optical path changing element. For example, as Figure 16As shown, when there are two scanning modules, the light source can emit light pulse sequences of four wavelengths. Two reflectors can be set to reflect the light pulse sequences to the two scanning modules respectively. The surface of each reflector can be coated with a filter film, allowing only light pulse sequences of a specified wavelength to pass through. In this way, after the four light pulse sequences reach the reflectors, they are filtered by the filter and reflected by the reflectors. Two wavelength light pulse sequences can reach scanning module 1, and the other two wavelengths of light reach scanning module 2.

[0156] In some embodiments, to further increase the scanning field of view of the detection device, the scanning module may include, in addition to the first and second optical modules, at least one third optical module and a third driving module for driving the movement of the third optical module. The third optical module can move under the drive of the third driving module, thereby further changing the direction of the light pulse sequence received from the second optical module and emitting it from at least one third emission angle range. By further changing the direction of the light pulse sequence through the third optical module, the scanning field of view of the detection device can be further increased.

[0157] In some embodiments, such as Figure 17 As shown, the third optical module can be the same as the first optical module. For example, the third optical module can also be one or more scanning prisms that change the direction of the light pulse sequence refracted by the second optical module before it is emitted.

[0158] In some embodiments, such as Figure 18 As shown, the third optical module can also be the same as the second optical module, meaning it can also be a beam-splitting optical module. For example, it can be two prisms fixed together to form a prism assembly. In this case, the light source can emit light pulse sequences of three or more wavelengths. Taking the light source emitting three wavelength light pulse sequences as an example, after reflection by the beam-splitting surface of the second optical module, one wavelength light pulse sequence can form the first scanning field of view. The remaining at least two wavelength light pulse sequences are transmitted through the beam-splitting surface of the second optical module and then emitted to the third optical module. The beam-splitting surface of the third optical module can reflect one of the remaining two wavelength light pulse sequences and emit it to form the second scanning field of view. The other wavelength light pulse sequence is transmitted through the beam-splitting surface of the third optical module and emitted to form the third scanning field of view. Of course, if more scanning fields of view are desired, more wavelength light pulse sequences and more beam-splitting optical modules can be used.

[0159] Since drones can move freely in three-dimensional space, they need to perceive obstacles in all directions within that space. Therefore, detection devices applied to drones need to have a large field of view not only horizontally but also vertically to meet their detection requirements. The detection device in the above embodiments of this application, through the combination of at least two scanning fields of view, can obtain a large scanning field of view in the vertical direction, thus better meeting the detection needs of drones. Furthermore, since each detection device can include multiple scanning modules, determining how these scanning modules are distributed on the drone to minimize the size of the detection device while still achieving a large scanning field of view is crucial.

[0160] Based on this, this application also provides a drone equipped with any of the detection devices mentioned in the above embodiments.

[0161] The specific structure of the detection device can be referred to the description in the above embodiments, and will not be repeated here.

[0162] In some scenarios, when a drone flies forward, its nose tilts forward at a certain angle. In this mode, to ensure high detection accuracy in the drone's flight direction, in some embodiments, the first scanning field of view formed by the first wavelength light pulse sequence and the second scanning field of view formed by the second wavelength light pulse sequence of each scanning module of the detection device can overlap. The center position of this overlapping area can be determined based on the drone's tilt angle during flight, ensuring that the overlapping area can detect the drone's flight direction. Figure 8 As shown, and because the overlapping area has a higher detection frequency, the detection accuracy in the direction of flight speed can also be improved, thus ensuring the flight safety of the UAV.

[0163] Of course, in some scenarios, the drone needs to move vertically, such as flying upwards or downwards. Therefore, it needs to be able to detect the external environment above and below the drone. Thus, in some embodiments, the drone's detection device can be equipped with at least two scanning modules to meet the drone's requirements for field of view in different directions. In some embodiments, such as... Figure 19 As shown, the detection device on the drone can include two scanning modules. One scanning module can be set on the upper surface of the drone fuselage (as shown in scanning module 1 in the figure) to form a scanning field of view on the upper surface of the drone fuselage and detect the external situation above the fuselage. The other scanning module can be set on the lower surface of the drone fuselage (as shown in scanning module 2 in the figure) to form a scanning field of view on the lower surface of the drone fuselage and detect the external situation below the fuselage.

[0164] Because the detection devices used on drones need to be small in size, in order to reduce the size of the detection device, two scanning modules can share a set of ranging modules, such as... Figure 16 As shown. In some embodiments, when two scanning modules share a set of ranging modules, the distance between the two scanning modules in the body direction can be less than a preset distance for ease of assembly and wiring.

[0165] In some embodiments, to minimize the size of the detection device, the two scanning modules can be located on the same straight line perpendicular to the fuselage direction. Furthermore, in some embodiments, when the light beam emitted from the light source is directed to the two scanning modules by a beam-changing element, it is first redirected by a first optical module in each scanning module before exiting to a second optical module. The second optical module then redirects the beam from at least two exit angle ranges to form at least two scanning fields of view. By combining the at least two scanning fields of view formed by each scanning module, two symmetrical scanning fields of view can be formed on the upper and lower surfaces of the UAV.

[0166] Ideally, for drones, the detection device should be able to perform detection within a spherical space, ensuring the drone remains within detection range in all directions during movement, achieving virtually no blind spots. Since the combined field of view formed by each scanning module in the detection device can achieve a 360° horizontal scanning field of view and a field of view greater than 90° vertically, forming an approximately hemispherical scanning field of view, in some embodiments, a scanning module can be installed on both the upper and lower surfaces of the drone. These two scanning modules respectively form an approximately hemispherical scanning field of view on the upper and lower surfaces of the drone, thus creating a spherical scanning field of view in three-dimensional space. Figure 20 As shown, each scanning module includes a first scanning field of view formed by a first wavelength light pulse sequence and a second scanning field of view formed by a second wavelength light pulse sequence. The two scanning fields of view are combined to form an approximate hemisphere. The scanning field of view formed by the first wavelength light pulse sequence is located in the edge region of this hemisphere and is ring-shaped, while the scanning field of view formed by the second wavelength light pulse sequence is located in the central region of this hemisphere. After the approximate hemispherical scanning fields of view formed by the scanning modules on the upper and lower surfaces of the UAV are combined, a near-spherical scanning field of view can be obtained.

[0167] Of course, due to the obstruction of the drone's fuselage, the scanning field of view cannot be completely spherical, and there are still certain blind spots in the directions of the nose and tail, such as... Figure 20 As shown. In some embodiments, in order to minimize the blind spot in the flight direction of the UAV, the scanning field of view of the upper surface and the scanning field of view of the lower surface overlap, that is, there is a certain overlapping area, such as... Figure 20As shown. For example, in the design of the detection device, the angle α_2 between the beam splitting surface and the incident surface in the second optical module of the scanning module can be adjusted so that the first wavelength light pulse sequence will be deflected towards the incident surface of the second optical module after it is emitted (that is, the first wavelength light pulse sequence is emitted along the direction of the light emitting surface of the second optical module pointing towards the light source). This will cause the first wavelength light pulse sequences of the two scanning modules on the upper and lower surfaces to intersect after being deflected, thus forming an overlapping area in the scanning field of view.

[0168] Since the blind spot in the scanning field of view is exactly in the direction of the drone's nose, in order to ensure the drone's flight safety, in some embodiments, the distance between the overlapping area of ​​the upper and lower surface scanning fields of view and the drone's nose (e.g., ...) is limited. Figure 20 The distance L in the image should not exceed 4m. In the specific design, the deflection angle of the first wavelength light pulse sequence can be adjusted by adjusting the angle α_2 between the beam splitter and the incident light surface in the second optical module of the detection device.

[0169] To minimize obstruction of the scanning field of view by the drone's fuselage, the detection device can be mounted at the nose or tail of the drone. Typically, a gimbal with a camera is mounted on the nose of the drone for taking pictures. In some embodiments, if the detection device is mounted at the nose, to avoid obstructing the camera, the detection device and gimbal can be mounted on either side of the nose, i.e., they can be arranged in parallel to avoid blocking the camera. Alternatively, in some embodiments, the detection device can be mounted at the tail of the drone, which also reduces the drone's obstruction of the scanning field of view.

[0170] Of course, in some embodiments, to minimize the blind spot in the scanning field of view caused by the fuselage obstruction, one of the two scanning modules of the detection device can be located on the lower surface of the fuselage head, and the other can be located on the upper surface of the fuselage tail, such as... Figure 21 As shown in the diagram. In this case, since the two scanning modules are far apart, each scanning module can use one scanning module. Of course, the wiring can also be optimized so that the two sets of scanning modules can share a single ranging module using time-division multiplexing, thereby reducing the space occupied by the detection device.

[0171] Of course, in some scenarios, such as surveying, to obtain a more accurate surveying model, it's important to minimize the obstruction of the detection device by the drone's fuselage. Therefore, in some embodiments, to minimize the obstruction of the detection device's scanning field of view, the drone's fuselage shape can be modified, for example, by reducing its overall size to reduce obstruction of the detection device. Figure 22 The diagram shown is a schematic representation of a drone in one embodiment of this application.

[0172] Since drones have different detection requirements in different flight modes and states, when the scanning field of view of the detection device is obtained by combining at least two scanning fields of view, the on / off state and detection frequency of each scanning field of view can be adjusted according to the drone's detection requirements in different scenarios. This can ensure detection accuracy, meet the drone's detection requirements, ensure the drone's flight safety, save power, and extend the life of the light source.

[0173] Based on this, embodiments of this application also provide a control method for a detection device mounted on a drone. The detection device can emit scanning light pulse sequences from at least two different angle ranges into the external environment to form at least two different scanning fields of view, and detects the at least two scanning fields of view based on at least a portion of the at least two scanning light pulse sequences reflected back from the external environment.

[0174] Specifically, the method is as follows: Figure 23 As shown, it includes the following steps:

[0175] S2302. Determine the current flight status information of the UAV;

[0176] S2304. Adjust the detection status parameters of the detection device on at least two scanning fields of view according to the flight status information.

[0177] In this application embodiment, the detection device control method can be executed by a control device, which can be integrated into the detection device or into a drone.

[0178] The flight status information in this application embodiment includes any information that characterizes the current flight status of the UAV, such as the UAV's flight attitude, flight speed, flight direction, flight mode, the UAV's flight environment conditions, and the distribution of obstacles in the flight environment, etc.

[0179] The detection state parameters in the embodiments of this application can be any parameter that characterizes the detection state of the detection device, such as switch status, detection frequency, detection duration, density of the collected point cloud, etc.

[0180] First, the current flight status information of the UAV can be determined. Then, based on the UAV's flight status information, its detection requirements in various directions can be determined. Subsequently, the detection status parameters of each scanning field of view of the detection device can be adjusted according to the UAV's detection requirements in each direction. By adjusting the detection status parameters of each scanning field of view in conjunction with the UAV's flight status information, the UAV's detection requirements can be guaranteed, and more accurate detection results can be obtained. At the same time, power consumption can be saved, and the lifespan of the light source in the detection device can be extended.

[0181] In some embodiments, the detection state parameters may include one or more of the on / off states of the at least two scanning fields of view and the detection frequencies corresponding to the at least two scanning fields of view. Since different scanning fields of view are located in different directions of the UAV, the detection requirements in different directions vary with changes in the UAV's flight state. Therefore, each scanning field of view can be turned on or off according to the UAV's detection requirements in different directions. The detection frequency is the number of times a certain area in the scanning field of view receives a sequence of scanning light pulses emitted by the detection device within a certain period of time. The higher the detection frequency, the denser the point cloud data can be collected, and the higher the accuracy of the detection results. Since the detection accuracy of the UAV varies in different directions—for example, the detection accuracy is generally required higher for the UAV's flight direction to ensure flight safety—the detection frequency of the scanning field of view in that direction should be as high as possible.

[0182] In some embodiments, the detection device includes a driving module and an optical module. The optical module moves under the drive of the driving module and receives a sequence of light pulses emitted by a light source. It then changes the propagation direction of the received light pulse sequence, causing it to split into at least two light pulses that exit from at least two different second emission angle ranges. The number of optical modules can be one or more, and the optical modules can include lenses, mirrors, prisms, galvanometers, gratings, liquid crystals, optical phased arrays, or any combination of the above optical elements. The light pulse sequence emitted from the optical module can exit from at least two different second emission angle ranges to form at least two different scanning fields of view in the external environment. By combining the formed at least two scanning fields of view, a combined field of view with a larger field of view angle can be obtained.

[0183] In some embodiments, when the optical module splits at least two received optical pulse sequences, it can also split them based on the different wavelengths of the optical pulse sequences. For example, the light source can emit optical pulse sequences of at least two wavelength ranges. For optical pulse sequences of different wavelength ranges, the optical module can change their direction in different ways, such as transmitting some wavelength range optical pulse sequences and reflecting others, thereby separating the optical pulse sequences of different wavelength ranges. After being split by the optical module, the optical pulse sequences of different wavelength ranges are emitted from different angle ranges, thereby forming at least two different scanning fields of view.

[0184] In some embodiments, the light pulse sequences of the at least two scanning fields are obtained by separation using a beam-splitting surface of an optical module. The beam-splitting surface can be located inside or on the surface of the optical module. It can reflect a first wavelength light pulse sequence within a first wavelength range to form a first scanning field of view, and transmit a second wavelength light pulse sequence within a second wavelength range to form a second scanning field of view. To allow the light pulse sequence incident on the beam-splitting surface to exit from different exit angle ranges after reflection and transmission, the beam-splitting surface is not parallel to the incident surface of the second optical module, but rather has a certain angle between them.

[0185] In some embodiments, the optical module can be a prism assembly. For example, the optical module can be obtained by fixing two prisms together, and the beam-splitting surface can be located between the two prisms. In some embodiments, a dichroic film can be used to split light pulse sequences of different wavelengths. The beam-splitting surface can be an optical surface coated with a dichroic film. For example, the optical module includes two prisms fixed to each other, with the surfaces of the two prisms bonded together. The bonding surface can be coated with a dichroic film as the beam-splitting surface. The dichroic film can achieve selective transmission or selective reflection of light pulse sequences of different wavelength ranges, thereby reflecting light pulse sequences of at least one wavelength range and refracting them through one prism before exiting from one angular range, while transmitting the remaining light pulse sequences and transmitting and refracting them through the other prism before exiting from another angular range.

[0186] In some embodiments, different scanning fields of view can be formed by light pulse sequences of different wavelengths. The light source in the detection device can emit light pulse sequences of different wavelengths. After the light pulse sequences emitted by the light source are redirected by the scanning module in the detection device, they can be emitted into the external environment from different angle ranges, thereby forming different scanning fields of view. Since different wavelength light pulse sequences can be emitted by different types of light sources, the on / off state of different scanning fields can be controlled by controlling the on / off state of different types of light sources. Because the light source emits light pulse sequences, rather than continuous beams, the light source being on means that the light source continuously emits light pulse sequences, that is, it emits a beam of light pulses at regular time intervals.

[0187] In some embodiments, flight status information includes the UAV's flight direction. When adjusting the detection status parameters of the detection device on the at least two scanning fields of view based on the UAV's flight status information, the detection device can control the scanning field of view corresponding to the UAV's flight direction to be in an active state. Obstacles in the UAV's flight direction are the UAV's primary focus; therefore, the scanning field of view corresponding to the flight direction should be active to promptly detect obstacles in the direction of flight speed. For scanning fields of view in other directions, they can be selected to be active or deactivated according to actual needs. For example, when the UAV flies horizontally, it typically only needs to focus on the external environment in the horizontal direction, while the external environment in the vertical direction may not require attention or may require less attention. Therefore, the scanning field of view in the horizontal direction can be active, and the scanning field of view in the vertical direction can be deactivated.

[0188] In some embodiments, flight status information includes the distribution of obstacles in the current flight environment of the UAV. When adjusting the detection status parameters of the detection device on the at least two scanning fields of view based on the UAV's flight status information, the detection device can control the scanning fields of view corresponding to the directions where obstacles are distributed in the UAV's flight environment to be in an open state. For example, when the UAV is flying in a jungle, since there may be obstacles in all directions in the flight environment, both the horizontal and vertical scanning fields of view can be opened to ensure the flight safety of the UAV. Of course, if the UAV is flying at high altitude, there are usually no obstacles in the vertical direction at high altitudes. Therefore, only the horizontal scanning field of view can be opened, and the vertical scanning field of view can be closed.

[0189] Of course, the distribution of obstacles in the drone's current flight environment can be determined by combining data collected by various sensors on the drone. For example, it can be determined based on one or more of the following: image data collected by the drone's camera, flight altitude data collected by the drone's sensors, motion state data collected by the drone's inertial measurement unit, or 3D point cloud data collected by the drone's own detection system. For instance, to determine whether the drone is currently at high altitude, the drone's flight altitude can be determined based on the data collected by its sensors, or it can be determined based on the 3D point cloud data collected by the detection system itself. Furthermore, the presence of obstacles in the surrounding area can also be determined by combining image data collected by the drone's binocular vision sensors or main camera.

[0190] In some embodiments, flight status information may also include information indicating whether the drone is in a target state, wherein when the drone is in a target state, it does not need to perceive the state of the flight environment. The target state can be that the drone is stationary, hovering, powered off, or in a specified mode in which it does not need to perceive external environmental information; for example, when the drone is in user-controlled mode, it does not need to perceive external environmental information. Whether the drone is in a target state can be determined based on motion state data collected by the drone's inertial measurement unit, flight control data collected by the drone's flight control unit, and data collected by the drone's power management unit. When it is determined that the drone is in a target state, the scanning fields of the detection device can be turned off, which reduces the overall power consumption of the drone and extends the lifespan of the light source in the detection device.

[0191] In some embodiments, the detection frequency of each scanning field of view of the detection device can be adjusted by adjusting the emission frequency and / or reception frequency of the light pulse sequence in that scanning field of view. The higher the frequency of the light pulses emitted by the light source, the higher the detection frequency of the scanning field of view corresponding to that light pulse sequence; or the higher the frequency of the light pulse sequence received by the detector, the higher the detection frequency of the scanning field of view corresponding to that light pulse sequence. For example, in some scenarios, light pulse sequences of different scanning fields can be emitted by different emitting elements in the light source and received by different receiving elements in the detector. Therefore, the detection frequency of the scanning field of view can be adjusted by adjusting the emission frequency of the corresponding emitting element and the reception frequency of the corresponding receiving element.

[0192] In some embodiments, the detection frequency of each scanning field of view of the detection device can also be adjusted by adjusting the rotation speed of the optical module in the detection device. Typically, the detection device includes a light source and a scanning module. The scanning module may include one or more optical modules and one or more driving modules. The optical modules can move under the drive of the driving modules, thereby changing the direction of the light pulse sequence emitted by the light source to emit light from different angle ranges. Generally, the faster the rotation speed of the optical module, the higher the detection frequency, and the denser the point cloud acquired by the detection device. Therefore, the detection frequency of each scanning field of view can be adjusted by adjusting the rotation speed of the optical module. For example, when the optical module rotates to different phases, its reflected or refracted light pulse sequences will be emitted into different scanning fields of view. Therefore, the current phase of the optical module can be detected, and the rotation speed of the optical module can be adjusted according to the phase of the optical module to adjust the detection frequency of different scanning fields of view. The detection device can employ frequency conversion detection; high-frequency detection can be used for regions of interest or areas requiring special attention, while low-frequency detection can be used for regions of non-interest.

[0193] In some embodiments, flight status information includes the current flight direction of the UAV. When adjusting the detection status parameters of the detection device on the at least two scanning fields of view based on the UAV's flight status information, the detection frequency of the scanning field of view corresponding to the flight direction can be controlled to be higher than the detection frequency of other scanning fields of view. For example, when the UAV is flying horizontally, the detection frequency of the scanning field of view in the horizontal direction can be higher, and the detection frequency in the vertical direction can be lower.

[0194] In some embodiments, flight status information includes the current flight speed of the UAV. The detection frequency of the scanning field of view corresponding to the direction of the UAV's flight speed can be determined based on the magnitude of its flight speed. For example, the detection frequency of the scanning field of view corresponding to the direction of the flight speed can be positively correlated with the magnitude of the flight speed. For instance, the faster the UAV flies, the higher its scanning field of view detection frequency. When the UAV is stationary or at low speed, the detection frequency can be appropriately reduced, thereby ensuring the most accurate detection of the external environment during flight and guaranteeing the flight safety of the UAV.

[0195] In some embodiments, flight status information includes the distribution of obstacles in the flight environment. When adjusting the detection status parameters of the detection device in the at least two scanning fields of view based on the UAV's flight status information, the detection frequency of the detection device in the scanning field of view corresponding to the direction in which obstacles are distributed in the UAV's flight environment can be controlled to be higher than the detection frequency of other scanning fields of view. For directions where obstacles may exist, the UAV needs to focus on them, and therefore can use a higher detection frequency to obtain a denser point cloud.

[0196] In some embodiments, the detection frequency of the scanning field of view is positively correlated with the field of view angle. For example, the larger the field of view angle, the higher the detection frequency, so as to achieve uniform detection in each region.

[0197] In some embodiments, when the drone is in a state where it does not need to perceive the external environment or pays little attention to the external environment, it can also use a lower frequency of detection, thereby reducing the overall power consumption of the drone.

[0198] In some embodiments, the detection device can form an approximately hemispherical scanning field of view on both the upper and lower surfaces of the UAV fuselage. For example, the detection device may include two scanning modules, respectively disposed on the upper and lower surfaces of the UAV, each scanning module forming an approximately hemispherical scanning field of view, such as... Figure 20 As shown.

[0199] In some embodiments, of course, due to the obstruction of the drone's fuselage, the scanning field of view cannot be completely spherical, and there are still certain blind spots in the directions of the nose and tail, such as... Figure 20 As shown. In some embodiments, in order to minimize the blind spot in the flight direction of the UAV, the scanning field of view of the upper surface and the scanning field of view of the lower surface overlap, that is, there is a certain overlapping area. For example, in the design of the detection device, the angle α_2 between the beam splitting surface and the incident surface in the second optical module can be adjusted so that after the first wavelength light pulse sequence is emitted, it will be deflected towards the incident surface side of the second optical module (that is, the first wavelength light pulse sequence is emitted along the light emitting surface of the second optical module in the direction of the light source). This causes the first wavelength light pulse sequences of the two scanning modules on the upper and lower surfaces to intersect after deflection, thus forming an overlapping area in the scanning field of view.

[0200] Since the blind spot in the scanning field of view is exactly in the direction of the drone's nose, in order to ensure the drone's flight safety, in some embodiments, the distance between the overlapping area of ​​the upper and lower surface scanning fields of view and the drone's nose (e.g., ...) is limited. Figure 20 The distance L in the image should not exceed 4m. In the specific design, the deflection angle of the first wavelength light pulse sequence can be adjusted by adjusting the angle α_2 between the beam splitter and the incident light surface in the second optical module of the detection device.

[0201] In some embodiments, the scanning field of view for each approximately hemispherical shape on the upper and lower surfaces of the UAV is obtained by combining a first scanning field of view and a second scanning field of view. The second scanning field of view is located in the central region of each approximately hemispherical scanning field of view, and the first scanning field of view is located in the edge region of each approximately hemispherical scanning field of view and is in a ring shape. Figure 24 As shown. For example, the light source can emit two different wavelength light pulse sequences, a first wavelength light pulse sequence and a second wavelength light pulse sequence. The first wavelength light pulse sequence is reflected by the beam splitter in the optical module to form a first scanning field of view, and the second wavelength light pulse sequence is transmitted through the beam splitter in the optical module to form a second scanning field of view.

[0202] In some embodiments, such as Figure 25 As shown, when the UAV is flying at high altitude, the second scanning field of view is closed, and the first scanning field of view is open. Since the second scanning field of view is located in the central region of the approximately hemispherical scanning field of view, it mainly detects in the vertical direction. However, when the UAV is flying at high altitude, it mainly focuses on obstacles in the horizontal direction, and the probability of obstacles appearing in the vertical direction is extremely small. Therefore, the second scanning field of view can be closed, and the first scanning field of view can be opened.

[0203] In some embodiments, whether the drone is in high-altitude flight can be determined based on the flight altitude detected by the sensors on the drone. Of course, it can also be determined based on the three-dimensional point cloud of the flight environment detected by the detection device.

[0204] In some embodiments, such as Figure 26 As shown, if the drone is flying vertically, it needs to focus on obstacles in the vertical direction. Therefore, the second scanning field of view can be turned on, and the first scanning field of view can be turned off.

[0205] In some embodiments, such as Figure 27 As shown, when the drone flies forward, its nose will tilt downward at a certain angle. At this time, the detection of the drone's flight speed direction can be achieved by only opening the approximately hemispherical scanning field of view on the upper surface. Therefore, the approximately hemispherical scanning field of view on the upper surface can be opened at this time, while the approximately hemispherical scanning field of view on the lower surface can be closed.

[0206] In some embodiments, the detection device may include a light source and a scanning module; wherein the light source is used to emit a light pulse sequence, the light pulse sequence including a first wavelength light pulse sequence and a second wavelength light pulse sequence; the scanning module includes at least two optical modules, each of the optical modules being used to change the optical path of the light pulse sequence to form a scanning field of view, wherein the first wavelength light pulse sequence forms a ring-shaped first scanning field of view, and the second wavelength light pulse sequence forms a second scanning field of view in the hollow part of the first scanning field of view.

[0207] In some embodiments, such as Figure 1 As shown, the detection device includes a ranging module and at least one scanning module. The ranging module includes a light source and a detector. The scanning module includes a first optical module, a second optical module, a first driving module, and a second driving module. The light source emits a sequence of light pulses to the first optical module. The first driving module drives the first optical module to move, causing the light pulse sequence passing through the first optical module to scan within a first emission angle range. The second driving module drives the second optical module to move, changing the light pulse sequence received by the second optical module from the first optical module to scan within at least two different second emission angle ranges, thus forming at least two scanning fields of view. The detector receives at least a portion of the light pulse sequence from the at least two scanning fields of view reflected back by an object, and detects objects within the at least two scanning fields of view based on the received light pulse sequence.

[0208] In some embodiments, such as Figure 16 As shown, the approximately hemispherical scanning field of view on the upper surface and the approximately hemispherical scanning field of view on the lower surface are formed by two scanning modules. In order to reduce the size of the detection device, the two scanning modules can share the ranging module in a time-division multiplexing manner.

[0209] In some embodiments, one of the two scanning modules is distributed on the upper surface of the UAV fuselage, and the other is distributed on the lower surface of the UAV fuselage, so as to form an approximately hemispherical scanning field of view on the upper and lower surfaces respectively.

[0210] In some embodiments, the detection frequency of each scanning field of view can also be adjusted by adjusting the duration for which the scanning module corresponding to that scanning field of view occupies the ranging module. For example, if the scanning area of ​​the upper surface's scanning field of view is the area of ​​greater interest to the user, the duration for which the upper surface's scanning module occupies the ranging module can be controlled to be greater than the duration for which the lower surface's scanning module occupies the ranging module.

[0211] In some embodiments, such as Figure 16 As shown, the two scanning modules are located on the same straight line perpendicular to the direction of the drone's fuselage.

[0212] In some embodiments, the pattern of the scanning trajectory of each scanning field of view can be achieved by adjusting the rotation speed of each optical module in the scanning module. The rotation direction and speed of different optical modules can be the same or different. Various different scanning trajectory patterns can be obtained by combining different rotation speeds.

[0213] In some embodiments, the detection device includes a light source and at least one scanning module, the light source being used to emit a sequence of light pulses, the sequence of light pulses including a first wavelength light pulse sequence and a second wavelength light pulse sequence;

[0214] The scanning module includes:

[0215] A first optical refractive element and a first driving module, wherein the first optical refractive element has two opposing, non-parallel optical surfaces for receiving a sequence of light pulses from the light source, and the first driving module is used to drive the first optical refractive element to rotate in order to change the emission direction of the light pulse sequence;

[0216] An optical refraction component is used to receive a sequence of light pulses from a first optical refraction element. The optical refraction component includes a second optical refraction element and a third optical refraction element that are attached to each other. A beam-splitting surface is provided between the second optical refraction element and the third optical refraction element. A first wavelength light pulse sequence from the first optical refraction element is reflected by the beam-splitting surface in the optical refraction component and refracted out by the second optical refraction element. A second wavelength light pulse sequence from the first optical refraction element is transmitted through the beam-splitting surface in the optical refraction component and refracted out by the third optical refraction element.

[0217] The second driving module is used to drive the second light refraction component to rotate, so that the first wavelength light pulse sequence emitted by the second light refraction component scans in the first scanning field of view, and the second wavelength light pulse sequence emitted by the third light refraction element scans in the second scanning field of view.

[0218] In some embodiments, the at least two optical modules include a beam-splitting surface for reflecting the first wavelength light pulse sequence and transmitting the second wavelength light pulse sequence.

[0219] In some embodiments, the at least two optical modules include a prism assembly, the prism assembly including a first prism and a second prism fixed to each other, and the beam-splitting surface being located between the first prism and the second prism;

[0220] The detection device further includes a second driving module for rotating the prism assembly. When the second driving module rotates the prism assembly, the first wavelength light pulse sequence forms a first scanning field of view after being reflected and refracted by the first prism, and the second wavelength light pulse sequence forms a second scanning field of view after being refracted by the first prism, transmitted and refracted by the second prism.

[0221] In some embodiments, one surface of the first prism is attached to one surface of the second prism, and the beam-splitting surface is located at the point where the first prism and the second prism are attached.

[0222] In some embodiments, the beam-splitting surface includes a dichroic film.

[0223] In some embodiments, the angle between the beam-splitting surface and the light incident surface of the first prism is less than 45 degrees.

[0224] In some embodiments, the light-emitting surface of the second prism is inclined from one edge of the first prism toward the light source.

[0225] In some embodiments, after the first wavelength light pulse sequence is emitted from the first prism, it is deflected toward the light source in a direction toward the edge of the first prism, so that the scanning field of view formed by the first wavelength light pulse sequence and the scanning field of view formed by the second wavelength light pulse sequence are continuous.

[0226] In some embodiments, after the first wavelength light pulse sequence is emitted from the first prism, it is deflected toward the light source at a point on the edge of the first prism, and the angle between the emission direction of the first wavelength light pulse sequence and the incident surface of the first prism is greater than 10°.

[0227] In some embodiments, the at least two optical modules include scanning prisms having non-parallel light exit surfaces and light incident surfaces, located in the optical path of the light pulse sequence;

[0228] The detection device further includes a first driving module for rotating the scanning prism. When the first driving module rotates the scanning prism, it enables the light pulse sequence passing through the scanning prism to form a scanning field of view.

[0229] In some embodiments, both the light emitting surface and the light incident surface of the scanning prism are inclined from the side of the scanning prism toward a direction away from the light source.

[0230] In some embodiments, the first scanning field of view and the second scanning field of view are seamlessly stitched together or partially overlapped.

[0231] In some embodiments, the combined scanning field of view of the first scanning field of view and the second scanning field of view is approximately hemispherical.

[0232] In some embodiments, the combined field of view of the first scanning field of view and the second scanning field of view has a field of view angle greater than 90 degrees along the optical axis of the light source.

[0233] In some embodiments, the combined field of view of the first scanning field of view and the second scanning field of view has a field of view angle of 360° in the direction perpendicular to the optical axis of the light source.

[0234] In some embodiments, the proportion of the second wavelength light pulse sequence in sunlight is lower than the proportion of the first wavelength light pulse sequence in sunlight.

[0235] In some embodiments, the detection device further includes a detector.

[0236] The detector is used to receive the reflected light from the first wavelength light pulse sequence and the second wavelength light pulse sequence, and to detect objects within the first scanning field of view and the second scanning field of view based on the received reflected light.

[0237] In some embodiments, the detector includes a first receiving element for receiving the reflected light from the first wavelength light pulse sequence and a second receiving element for receiving the reflected light from the second wavelength light pulse sequence.

[0238] In some embodiments, the receiving areas of the first receiving element and the second receiving element are different, and / or,

[0239] The number of the first receiving element and the number of the second receiving element in the detector are different.

[0240] In some embodiments, the receiving area of ​​the first receiving element is larger than the receiving area of ​​the second receiving element, and / or,

[0241] The number of the first receiving elements is greater than the number of the second receiving elements.

[0242] In some embodiments, the first receiving element and the second receiving element are located on different planes.

[0243] In some embodiments, the light source includes an array of emitting elements, and the detector includes an array of receiving elements corresponding one-to-one with the array of emitting elements, each receiving element being used to receive the reflected light from the light pulse emitted by the corresponding emitting element.

[0244] In some embodiments, the light source includes a first emitting element array for emitting the first wavelength light pulse sequence and a second emitting element array for emitting the second wavelength light pulse sequence;

[0245] The detector includes a first receiving element array for receiving the reflected light from the optical pulse sequence emitted by the first transmitting array, and a second receiving element array for receiving the reflected light from the optical pulse sequence emitted by the second transmitting array.

[0246] The first transmitting array and the second transmitting array transmit in a time-division manner, and the first receiving element array and the second receiving element array reuse some receiving elements.

[0247] In some embodiments, the light source includes an array of emitting elements for time-division multiplexing of light pulse sequences;

[0248] The detector includes a receiving element corresponding to the emitting element array, used for time-division multiplexing of the reflected light from the light pulse sequence emitted by the emitting element array.

[0249] In some embodiments, a filter element is provided in the non-multiplexed optical path of the first wavelength optical pulse sequence and the second wavelength optical pulse sequence;

[0250] The first wavelength optical pulse sequence is provided with a filter element for reflecting the second wavelength optical pulse sequence on the non-multiplexed optical path, and the second wavelength optical pulse sequence is provided with a filter element for reflecting the first wavelength optical pulse sequence on the non-multiplexed optical path.

[0251] In some embodiments, the non-multiplexed optical path includes the emitting surface of the first wavelength optical pulse sequence, the emitting surface of the second wavelength optical pulse sequence, and / or the surface of the detector.

[0252] In some embodiments, the wavelength of the second wavelength light pulse sequence is higher than the wavelength used for the first wavelength light pulse sequence.

[0253] In some embodiments, the wavelength of the second wavelength optical pulse sequence is higher than 900 nm.

[0254] In some embodiments, the wavelength difference between the second wavelength light pulse sequence and the first wavelength light pulse sequence is greater than 80 nm.

[0255] In some embodiments, the first wavelength optical pulse sequence includes an 850 nm laser beam, and the second wavelength optical pulse sequence includes a 940 nm laser beam.

[0256] In some embodiments, the light sources of the first wavelength light pulse sequence and the light sources of the second wavelength light pulse sequence are arranged at intervals; or

[0257] The light sources for the first wavelength light pulse sequence are arranged on one side, and the light sources for the second wavelength light pulse sequence are arranged on the other side; or

[0258] The light sources of the first wavelength light pulse sequence and the second wavelength light pulse sequence are stacked and arranged in different layers.

[0259] In some embodiments, the light source of the first wavelength light pulse sequence and the light source of the second wavelength light pulse sequence are disposed on different planes, or

[0260] The light sources of the first wavelength light pulse sequence and the second wavelength light pulse sequence are disposed on the same plane, but the equivalent light emission points of the first wavelength light pulse sequence and the second wavelength light pulse sequence are located on different planes.

[0261] In some embodiments, the detection device further includes a collimating element for collimating the light pulse sequence emitted by the light source;

[0262] The position of the light source and the position of the equivalent light-emitting point are determined based on the effective focal length of the collimating element relative to the first wavelength light pulse sequence or the second wavelength light pulse sequence.

[0263] In some embodiments, the detection device includes at least two scanning modules, with different scanning modules corresponding to different scanning fields of view.

[0264] In some embodiments, the at least two scanning modules share the light source and the detector via time-division multiplexing.

[0265] In some embodiments, the at least two scanning modules are placed in different positions, and the light pulse sequence emitted by the light source is directed to one of the at least two scanning modules through an optical path changing element.

[0266] In some embodiments, the optical path changing element includes a vibrating reflector, which reflects the light pulse sequence emitted by the light source to different scanning modules when the vibrating reflector rotates to different angles; or

[0267] The optical path changing element includes at least two retractable mirrors, each mirror corresponding to a scanning module. When each mirror is extended, it can reflect the light pulse sequence emitted by the light source to the corresponding scanning module.

[0268] In some embodiments, the number of scanning modules is two, and the two scanning modules are distributed on the same straight line perpendicular to the optical axis of the light source.

[0269] In some embodiments, the two scanning modules include a first scanning module and a second scanning module, wherein the scanning field of view of the first scanning module covers at least a hemisphere, and the scanning field of view of the second scanning module covers at least a hemisphere.

[0270] In some embodiments, the scanning field of view of the first scanning module and the scanning field of view of the second scanning module can be combined to form a spherical scanning field of view.

[0271] In some embodiments, the number of scanning modules is two, and the second optical module in each scanning module is used to form two different scanning fields of view;

[0272] Furthermore, the light source is used to emit two different wavelength light pulse sequences.

[0273] In some embodiments, the light source is used to emit the two different wavelength light pulse sequences in a time-division multiplexing manner, and the optical path changing element is used to direct the light pulse sequences from the light source to different scanning modules at different times; or...

[0274] The light source is used to simultaneously emit the two different wavelength light pulse sequences, and the optical path changing element is used to split the two different wavelength light pulse sequences from the light source into different scanning modules.

[0275] In some embodiments, after the light pulse sequence emitted by the light source is emitted to the two scanning modules, it is first changed in direction by the first optical module in the two scanning modules before being emitted to the second optical module in the two scanning modules.

[0276] In some embodiments, the light source is further configured to emit a third wavelength light pulse sequence in a third wavelength range and a fourth wavelength light pulse sequence in a fourth wavelength range, wherein one of the two scanning modules is configured to receive the first wavelength light pulse sequence and the second wavelength light pulse sequence, and the other scanning module is configured to receive the third wavelength light pulse sequence and the fourth wavelength light pulse sequence.

[0277] In some embodiments, the scanning module further includes at least one third driving module and at least one third optical module. The third driving module is used to drive the third optical module to move so as to change the direction of the light pulse sequence received from the second optical module and emit it from the third emission angle range.

[0278] In some embodiments, the type of the third optical module is the same as the type of the first optical module; or

[0279] The third optical module is of the same type as the second optical module.

[0280] Accordingly, this application also provides a control device for a detection device mounted on a drone. The detection device can emit scanning light pulse sequences from at least two different angle ranges into the external environment to form at least two different scanning fields of view. It then detects the at least two scanning fields of view based on at least a portion of the at least two scanning light pulse sequences reflected back from the external environment. Figure 28 As shown, the control device includes a processor 2801, a memory 2802, and a computer program stored in the memory 2802 that can be executed by the processor. When the processor 2801 executes the computer program, it performs the following steps:

[0281] Determine the current flight status information of the drone;

[0282] The detection status parameters of the detection device in the at least two scanning fields of view are adjusted according to the flight status information.

[0283] In some embodiments, the detection state parameters include the on / off state of the at least two scanning fields and / or the detection frequency of the at least two scanning fields.

[0284] In some embodiments, the flight status information includes flight direction, and the processor is configured to adjust the detection status parameters of the detection device in the at least two scanning fields of view based on the flight status information, specifically for:

[0285] The detection device is controlled to have its scanning field of view corresponding to the flight direction turned on.

[0286] In some embodiments, the flight status information includes the distribution of obstacles in the flight environment, and the scanning field of view corresponding to the direction in which obstacles are distributed in the flight environment is in an open state.

[0287] In some embodiments, the distribution of obstacles in the flight environment is determined based on one or more of the following data: image data acquired by the camera on the UAV, three-dimensional point cloud data of the flight environment measured by the detection device, and flight altitude data of the UAV acquired by the sensors on the UAV.

[0288] In some embodiments, the flight status information includes information indicating whether the UAV is in a target state, and the processor is configured to, when adjusting the detection status parameters of the detection device in the at least two scanning fields of view based on the flight status information, specifically for:

[0289] When the drone is in the target state, it controls at least two scanning fields of view to be in a closed state.

[0290] In some embodiments, when the drone is in the target state, the drone does not need to be aware of the state of the flight environment.

[0291] In some embodiments, the at least two optical pulse sequences are emitted by at least two types of light sources, the wavelengths of the optical pulse sequences emitted by different types of light sources are different, and the switching states of the at least two scanning fields of view are controlled by controlling the switching states of the light sources.

[0292] In some embodiments, the flight status information includes the flight direction of the UAV, and the processor is used to adjust the detection status parameters of the detection device in the at least two scanning fields of view based on the flight status information, specifically for:

[0293] The detection frequency of the detection device in the corresponding scanning field of view in the flight direction is controlled to be higher than the detection frequency of other scanning fields of view.

[0294] In some embodiments, the flight status information includes the flight speed of the UAV, and the processor is used to adjust the detection status parameters of the detection device in the at least two scanning fields of view based on the flight status information, specifically for:

[0295] The detection frequency of the detection device in the direction of the flight speed is controlled based on the flight speed, wherein the detection frequency of the scanning field of view in the direction of the flight speed is positively correlated with the magnitude of the flight speed.

[0296] In some embodiments, the flight state information includes the distribution of obstacles in the flight environment, and the processor, when adjusting the detection state parameters of the detection device in the at least two scanning fields of view based on the flight state information, is specifically used for:

[0297] The detection frequency of the detection device in the direction where obstacles are distributed in the flight environment is higher than the detection frequency of other scanning fields.

[0298] In some embodiments, the detection frequency of the scanning field of view is positively correlated with the field angle of the scanning field of view.

[0299] In some embodiments, the adjustment of the detection frequency is achieved by adjusting the emission frequency and / or reception frequency of the optical pulse sequence forming the scanning field of view; or

[0300] The detection frequency is adjusted by adjusting the rotation speed of the optical module in the detection device. The optical module is used to change the direction of the light pulse sequence emitted by the light source and form the at least two scanning fields of view.

[0301] In some embodiments, the detection device can form an approximately hemispherical scanning field of view on both the upper and lower surfaces of the UAV fuselage.

[0302] In some embodiments, the scanning field of view of the upper surface and the scanning field of view of the lower surface have an overlapping area.

[0303] In some embodiments, the distance between the overlapping area and the machine head is less than 4m.

[0304] In some embodiments, each approximately hemispherical scanning field of view is obtained by combining a first scanning field of view and a second scanning field of view, wherein the second scanning field of view is located in the central region of each approximately hemispherical scanning field of view, and the first scanning field of view is located in the edge region of each approximately hemispherical scanning field of view and is in a ring shape.

[0305] In some embodiments, when the processor adjusts the detection state parameters of the detection device in the at least two scanning fields of view based on the flight state information, it is specifically used for:

[0306] When the UAV is flying at high altitude, the first scanning field of view of the detection device is closed, and the second scanning field of view is open.

[0307] In some embodiments, the high-altitude flight state of the drone is determined based on the following methods:

[0308] Determined based on the flight altitude of the drone detected by its sensors; or

[0309] The determination is based on the three-dimensional point cloud of the flight environment obtained by the detection device.

[0310] In some embodiments, when the processor adjusts the detection state parameters of the detection device in the at least two scanning fields of view based on the flight state information, it is specifically used for:

[0311] When the UAV is flying vertically, the first scanning field of view of the detection device is in the open state, and the second scanning field of view is in the closed state.

[0312] In some embodiments, when the processor adjusts the detection state parameters of the detection device in the at least two scanning fields of view based on the flight state information, it is specifically used for:

[0313] When the UAV is flying forward, only the approximately hemispherical scanning field of view on the upper surface of the detection device is activated.

[0314] In some embodiments, the detection device includes a ranging module and at least one scanning module. The ranging module includes a light source and a detector, and the scanning module includes a first optical module, a second optical module, a first driving module, and a second driving module.

[0315] The light source is used to emit a sequence of light pulses to the first optical module;

[0316] The first driving module is used to drive the first optical module to move so that the light pulse sequence passing through the first optical module is scanned within a first emission angle range;

[0317] The second driving module is used to drive the second optical module to move, so as to change the light pulse sequence received by the second optical module from the first optical module to scan within at least two different second emission angle ranges, so as to form the at least two scanning fields of view;

[0318] The detector is used to receive at least a portion of the light pulse sequence of the at least two scanning fields of view reflected back by the object, and to detect the object in the at least two scanning fields of view based on the received light pulse sequence.

[0319] In some embodiments, the approximately hemispherical scanning field of view on the upper surface and the approximately hemispherical scanning field of view on the lower surface are formed by two scanning modules, and the two scanning modules share the ranging module by time-division multiplexing.

[0320] In some embodiments, the adjustment of the detection frequency is achieved by adjusting the duration for which the scanning module occupies the ranging module.

[0321] In some embodiments, one of the two scanning modules is located on the upper surface of the drone fuselage, and the other is located on the lower surface of the drone fuselage.

[0322] In some embodiments, the two scanning modules are located on the same straight line perpendicular to the direction of the drone's fuselage.

[0323] In some embodiments, the detection device includes a light source and a scanning module; wherein...

[0324] The light source is used to emit a sequence of light pulses, the sequence of light pulses including a first wavelength light pulse sequence and a second wavelength light pulse sequence;

[0325] The scanning module includes at least two optical modules, each of which is used to change the optical path of the light pulse sequence to form a scanning field of view. The first wavelength light pulse sequence forms a ring-shaped first scanning field of view, and the second wavelength light pulse sequence forms a second scanning field of view in the hollow part of the first scanning field of view.

[0326] In some embodiments, the detection device includes a light source and at least one scanning module, the light source being used to emit a sequence of light pulses, the sequence of light pulses including a first wavelength light pulse sequence and a second wavelength light pulse sequence;

[0327] The scanning module includes:

[0328] A first optical refractive element and a first driving module, wherein the first optical refractive element has two opposing, non-parallel optical surfaces for receiving a sequence of light pulses from the light source, and the first driving module is used to drive the first optical refractive element to rotate in order to change the emission direction of the light pulse sequence;

[0329] An optical refraction component is used to receive a sequence of light pulses from a first optical refraction element. The optical refraction component includes a second optical refraction element and a third optical refraction element that are attached to each other. A beam-splitting surface is provided between the second optical refraction element and the third optical refraction element. A first wavelength light pulse sequence from the first optical refraction element is reflected by the beam-splitting surface in the optical refraction component and refracted out by the second optical refraction element. A second wavelength light pulse sequence from the first optical refraction element is transmitted through the beam-splitting surface in the optical refraction component and refracted out by the third optical refraction element.

[0330] The second driving module is used to drive the second light refraction component to rotate, so that the first wavelength light pulse sequence emitted by the second light refraction component scans in the first scanning field of view, and the second wavelength light pulse sequence emitted by the third light refraction element scans in the second scanning field of view.

[0331] Accordingly, embodiments of this specification also provide a computer storage medium storing a program that, when executed by a processor, implements the control method of the detection device in any of the above embodiments.

[0332] The embodiments of this specification may take the form of a computer program product implemented on one or more storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing program code. Computer-usable storage media include permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information may be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to: phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transfer medium that can be used to store information accessible by a computing device.

[0333] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to in the description of the method embodiments. The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0334] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. The terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0335] The methods and apparatus provided in the embodiments of the present invention have been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the embodiments above are only for the purpose of helping to understand the methods and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A detection device, characterized in that, The detection device includes a light source and at least one scanning module. The light source is used to emit a sequence of light pulses, which includes a first wavelength light pulse sequence and a second wavelength light pulse sequence. The scanning module includes: A first optical refractive element and a first driving module, wherein the first optical refractive element has two opposing, non-parallel optical surfaces for receiving a sequence of light pulses from the light source, and the first driving module is used to drive the first optical refractive element to rotate in order to change the emission direction of the light pulse sequence; An optical refraction component is used to receive a sequence of light pulses from a first optical refraction element. The optical refraction component includes a second optical refraction element and a third optical refraction element that are attached to each other. A beam-splitting surface is provided between the second optical refraction element and the third optical refraction element. A first wavelength light pulse sequence from the first optical refraction element is reflected by the beam-splitting surface in the optical refraction component and refracted out by the second optical refraction element. A second wavelength light pulse sequence from the first optical refraction element is transmitted through the beam-splitting surface in the optical refraction component and refracted out by the third optical refraction element. The second driving module is used to drive the light refraction component to rotate, so that the first wavelength light pulse sequence is emitted from the second light refraction element into the external environment and scans objects in the external environment to form a first scanning field of view, and so that the second wavelength light pulse sequence is emitted from the third light refraction element into the external environment and scans objects in the external environment to form a second scanning field of view, wherein the first wavelength light pulse sequence and the second wavelength light pulse sequence are emitted into the external environment simultaneously to simultaneously form the first scanning field of view and the second scanning field of view.

2. The detection device according to claim 1, characterized in that, The light source includes a first emitting element array for emitting a first wavelength light pulse sequence and a second emitting element array for emitting a second wavelength light pulse sequence; in, The first transmitting element array and the second transmitting element array transmit in a time-division manner. And / or, In the first emitting element array, each emitting element has a different light emission angle, and the emitting elements emit light in a time-division manner. And / or, The light emission angles of each emitting element in the second emitting element array are different, and each emitting element emits light in a time-division manner.

3. The detection device according to claim 1, characterized in that, The light refraction component is generally wedge-shaped, and the beam splitting surface extends obliquely from the edge of the thickest part of the wedge-shaped light refraction component toward the first light refraction element.

4. The detection device according to any one of claims 1 to 3, characterized in that, The number of scanning modules is two, and the detection device also includes an optical path changing element; The two scanning modules share the same light source, and the optical path changing element is used to direct the light pulse sequence from the light source to different scanning modules at different times.

5. The detection device according to claim 4, characterized in that, Each scanning module can form a hemispherical scanning field of view, and the two scanning modules can form a spherical scanning field of view through time-division scanning.

6. A detection device, characterized in that, The detection device includes a ranging module and at least one scanning module. The ranging module includes a light source and a detector. The scanning module includes a first optical module, a second optical module, a first driving module, and a second driving module. The light source is used to emit a sequence of light pulses to the first optical module; The first driving module is used to drive the first optical module to move so that the light pulse sequence passing through the first optical module is scanned within a first emission angle range; The second driving module is used to drive the second optical module to move to form at least two different scanning fields of view. The at least two different scanning fields of view are formed by at least two beams separated from the light pulse sequence received by the second optical module from the first optical module. Each beam is emitted from a corresponding second emission angle range to form a corresponding scanning field of view. The at least two beams are emitted from the second optical module into the external environment at the same time and scan objects in the external environment to simultaneously form the at least two different scanning fields of view. The detector is used to receive at least a portion of the light pulse sequence of the at least two scanning fields of view reflected back by the target, and to detect the target within the at least two scanning fields of view based on the received light pulse sequence.

7. The detection device according to claim 6, characterized in that, The second optical module includes a beam-splitting surface for transmitting a portion of the light pulses in the light pulse sequence and reflecting a portion of the light pulses in the light pulse sequence.

8. The detection device according to claim 6, characterized in that, The optical pulse sequence includes a first wavelength optical pulse sequence within a first wavelength range and a second wavelength optical pulse sequence within a second wavelength range; The second optical module is used to reflect the first wavelength light pulse sequence to form a first scanning field of view, and to transmit the second wavelength light pulse sequence to form a second scanning field of view.

9. The detection device according to claim 7, characterized in that, The optical pulse sequence includes a first wavelength optical pulse sequence and a second wavelength optical pulse sequence; The second optical module further includes an incident light surface, and a first light emitting surface and a second light emitting surface located on both sides of the beam splitting surface, respectively; The second optical module is used to receive the first wavelength light pulse sequence and the second wavelength light pulse sequence through the light-incident surface, and to emit the first wavelength light pulse sequence to the first scanning field of view through the first light-out surface, and to emit the second wavelength light pulse sequence to the second scanning field of view through the second light-out surface.

10. The detection device according to claim 9, characterized in that, The angle between the beam-splitting surface and the incident surface of the second optical module is less than 45°.

11. The detection device according to claim 7, characterized in that, The second optical module also includes light refraction elements located on both sides of the beam-splitting surface; When the second driving module drives the second optical module to rotate, the light refraction elements on both sides of the beam splitter are used to change the optical path of the light pulse sequence.

12. The detection device according to claim 9, characterized in that, The second optical module includes a first prism and a second prism fixed to each other, with one surface of the first prism and one surface of the second prism in contact, and the beam-splitting surface located at the contact point between the first prism and the second prism.

13. The detection device according to claim 12, characterized in that, The beam-splitting surface includes a dichroic film.

14. The detection device according to claim 12, characterized in that, The angle between the emission angle of the first wavelength light pulse sequence and the optical axis direction perpendicular to the light source is less than 90°, and the angle between the emission angle of the second wavelength light pulse sequence and the optical axis direction parallel to the light source is less than 90°.

15. The detection device according to claim 13, characterized in that, After the first wavelength light pulse sequence is emitted from the first light-emitting surface, it is deflected to the side closer to the second light-emitting surface, so that the scanning field of view formed by the first wavelength light pulse sequence and the scanning field of view formed by the second wavelength light pulse sequence are continuous.

16. The detection device according to claim 13, characterized in that, In the first wavelength light pulse sequence, some light pulses are emitted from the first light-emitting surface and deflected to the side away from the second light-emitting surface, and the angle between the emission direction and the optical axis direction parallel to the light source is greater than 10°.

17. The detection device according to any one of claims 8 to 16, characterized in that, The first and second scanning fields of view may be seamlessly stitched together or have overlapping areas.

18. The detection device according to any one of claims 6 to 16, characterized in that, The combined scanning field of view of the at least two scanning fields is approximately hemispherical. The at least two scanning fields of view include a first scanning field of view located in the edge region of the hemisphere and in a ring shape, and a second scanning field of view located in the central region of the hemisphere.

19. The detection device according to claim 18, characterized in that, The wavelength of the light pulse sequence used to scan the second scanning field of view is higher than the wavelength of the light pulse sequence used to scan the first scanning field of view.

20. The detection device according to claim 19, characterized in that, The wavelength of the light pulse sequence used to scan the second scanning field of view is higher than 900 nm.

21. The detection device according to claim 8, characterized in that, The first wavelength optical pulse sequence includes an 850nm laser beam, and the second wavelength optical pulse sequence includes a 940nm laser beam.

22. The detection device according to any one of claims 8 to 16, characterized in that, The combined scanning field of view of the at least two scanning fields of view has a field of view angle of 360° in the horizontal direction and a field of view angle of more than 90° in the vertical direction.

23. The detection device according to claim 22, characterized in that, Filter elements are respectively provided in the non-multiplexed optical paths of the first wavelength optical pulse sequence and the second wavelength optical pulse sequence. The first wavelength optical pulse sequence is provided with a filter element for reflecting the second wavelength optical pulse sequence on the non-multiplexed optical path, and the second wavelength optical pulse sequence is provided with a filter element for reflecting the first wavelength optical pulse sequence on the non-multiplexed optical path.

24. The detection device according to claim 23, characterized in that, The non-multiplexed optical path includes the light-emitting surface of the optical pulse sequence in the second optical module and / or the surface of the detector.

25. The detection device according to any one of claims 8 to 16, characterized in that, The detector includes a first receiving element for receiving the reflected light from a first wavelength optical pulse sequence, and a second receiving element for receiving the reflected light from a second wavelength optical pulse sequence.

26. The detection device according to claim 25, characterized in that, The receiving areas of the first receiving element and the second receiving element are different, and / or, The number of the first receiving element and the number of the second receiving element in the detector are different.

27. The detection device according to claim 25, characterized in that, The receiving area of ​​the first receiving element is larger than the receiving area of ​​the second receiving element, and / or, The number of the first receiving elements is greater than the number of the second receiving elements.

28. The detection device according to claim 25, characterized in that, The first receiving element and the second receiving element are located on different planes.

29. The detection device according to claim 25, characterized in that, The light source includes an array of emitting elements, and the detector includes an array of receiving elements that correspond one-to-one with the array of emitting elements. Each receiving element is used to receive the reflected light from the light pulse emitted by the corresponding emitting element.

30. The detection device according to claim 25, characterized in that, The light source includes a first emitting element array for emitting the first wavelength light pulse sequence and a second emitting element array for emitting the second wavelength light pulse sequence; The detector includes a first receiving element array for receiving the reflected light from the optical pulse sequence emitted by the first transmitting element array, and a second receiving element array for receiving the reflected light from the optical pulse sequence emitted by the second transmitting element array. The first transmitting element array and the second transmitting element array transmit in a time-division manner, and the first receiving element array and the second receiving element array reuse some receiving elements.

31. The detection device according to claim 25, characterized in that, The light source includes an array of emitting elements for time-division multiplexing of light pulse sequences; The detector includes a receiving element corresponding to the emitting element array, used for time-division multiplexing of the reflected light from the light pulse sequence emitted by the emitting element array.

32. The detection device according to claim 8, characterized in that, The wavelength difference between the first wavelength light pulse sequence and the second wavelength light pulse sequence is greater than 80 nm.

33. The detection device according to claim 8, characterized in that, The temperature of the light source is controlled within a specified temperature range. When the temperature of the light source is within the specified temperature range, the wavelength shift of the light pulse sequence emitted by the light source is less than a preset threshold.

34. The detection device according to claim 8, characterized in that, Light pulse sequences of different wavelengths are emitted through different types of light sources, and the arrangement of these different types of light sources includes any of the following: Different types of light sources are arranged at intervals; or Different types of light sources are arranged on different sides, with light sources of the same type located on the same side; or Different types of light sources are stacked and arranged, with light sources of the same type located on the same layer.

35. The detection device according to claim 8, characterized in that, Different types of light sources are placed on different planes, or Different types of light sources are placed on the same plane, but the equivalent light-emitting points of different types of light sources are located on different planes.

36. The detection device according to claim 35, characterized in that, The detection device also includes a collimating element for collimating the light pulse sequence emitted by the light source; The positions of the different types of light sources or the positions of the equivalent light-emitting points are determined based on the effective focal length of the collimating element relative to the light pulse sequence emitted by the different types of light sources.

37. The detection device according to any one of claims 6-16, characterized in that, The second optical module is used to change the light pulse sequence from the first optical module to different second angle ranges at different times for scanning, forming at least two time-division scanning fields of view.

38. The detection device according to claim 37, characterized in that, The light pulse sequences used to scan different scanning fields of view come from different emitting elements in the light source.

39. The detection device according to any one of claims 6-16, characterized in that, The detection device includes at least two scanning modules, with different scanning modules corresponding to different scanning fields of view.

40. The detection device according to claim 39, characterized in that, The at least two scanning modules share the ranging module through time-division multiplexing.

41. The detection device according to claim 40, characterized in that, The at least two scanning modules are placed in different positions, and the light pulse sequence emitted by the light source is directed to one of the at least two scanning modules through an optical path changing element.

42. The detection device according to claim 41, characterized in that, The optical path changing element includes a vibrating reflector, which, when rotated to different angles, reflects the light pulse sequence emitted by the light source to different scanning modules; or The optical path changing element includes at least two retractable mirrors, each mirror corresponding to a scanning module. When each mirror is extended, it can reflect the light pulse sequence emitted by the light source to the corresponding scanning module.

43. The detection device according to claim 39, characterized in that, The number of scanning modules is two, and the two scanning modules are distributed on the same straight line perpendicular to the optical axis of the light source.

44. The detection device according to claim 39, characterized in that, The two scanning modules include a first scanning module and a second scanning module. The scanning field of view of the first scanning module covers at least one hemisphere, and the scanning field of view of the second scanning module covers at least one hemisphere.

45. The detection device according to claim 44, characterized in that, The scanning field of view of the first scanning module and the scanning field of view of the second scanning module are combined to form a spherical scanning field of view.

46. ​​The detection device according to claim 39, characterized in that, After the light pulse sequence emitted by the light source is emitted to the two scanning modules, it is first changed in direction by the first optical module in the two scanning modules before being emitted to the second optical module in the two scanning modules.

47. The detection device according to claim 41, characterized in that, The number of scanning modules is two, and the second optical module in each scanning module is used to form two different scanning fields of view; Furthermore, the light source is used to emit two different wavelength light pulse sequences.

48. The detection device according to claim 47, characterized in that, The light source is used to emit the two different wavelength light pulse sequences in a time-division manner, and the optical path changing element is used to direct the light pulse sequences from the light source to different scanning modules at different times; or... The light source is used to simultaneously emit the two different wavelength light pulse sequences, and the optical path changing element is used to split the two different wavelength light pulse sequences from the light source into different scanning modules.

49. The detection device according to claim 6, characterized in that, The detection device includes at least two scanning modules, and the wavelength range of the light pulse sequence emitted by the light source is at least twice the number of the scanning modules. Each of the at least two scanning modules can receive light pulse sequences of at least two wavelengths emitted by the light source.

50. The detection device according to claim 49, characterized in that, The light pulse sequences of at least two wavelengths received by each scanning module are filtered by a filter and then led to each scanning module through an optical path changing element.

51. The detection device according to any one of claims 6-16, characterized in that, The scanning module further includes at least one third driving module and at least one third optical module. The third driving module is used to drive the third optical module to move so as to change the direction of the light pulse sequence received from the second optical module and emit it from the third emission angle range.

52. The detection device according to claim 51, characterized in that, The type of the third optical module is the same as the type of the first optical module; or The third optical module is of the same type as the second optical module.

53. A detection device, characterized in that, The detection device includes a light source and a scanning module; wherein... The light source is used to emit a sequence of light pulses, the sequence of light pulses including a first wavelength light pulse sequence and a second wavelength light pulse sequence; The scanning module includes at least two optical modules, each of which is used to change the optical path of the light pulse sequence to form a scanning field of view. The first wavelength light pulse sequence forms a ring-shaped first scanning field of view, and the second wavelength light pulse sequence forms a second scanning field of view in the hollow part of the first scanning field of view. One of the at least two optical modules includes a prism assembly, which includes a first prism and a second prism fixed to each other. A beam-splitting surface is provided between the first prism and the second prism for reflecting the first wavelength light pulse sequence and transmitting the second wavelength light pulse sequence. The detection device further includes a second driving module for rotating the prism assembly. When the second driving module rotates the prism assembly, the first wavelength light pulse sequence is reflected and refracted by the first prism and emitted into the external environment to scan objects in the external environment, thereby forming a first scanning field of view. The second wavelength light pulse sequence is refracted by the first prism, transmitted and refracted by the second prism and emitted into the external environment to scan objects in the external environment, thereby forming a second scanning field of view. The first wavelength light pulse sequence and the second wavelength light pulse sequence are emitted into the external environment simultaneously to simultaneously form the first scanning field of view and the second scanning field of view.

54. The detection device according to claim 53, characterized in that, The light sources of the first wavelength light pulse sequence and the second wavelength light pulse sequence are arranged at intervals.

55. The detection device according to claim 53, characterized in that, The light sources of the first wavelength light pulse sequence are arranged on one side, and the light sources of the second wavelength light pulse sequence are arranged on the other side.

56. The detection device according to claim 54, characterized in that, One surface of the first prism is attached to one surface of the second prism, and the beam-splitting surface is located at the point where the first prism and the second prism are attached.

57. The detection device according to claim 54, characterized in that, The beam-splitting surface includes a dichroic film.

58. The detection device according to any one of claims 54-57, characterized in that, The angle between the beam-splitting surface and the light incident surface of the first prism is less than 45 degrees.

59. The detection device according to claim 55, characterized in that, The light-emitting surface of the second prism is inclined from one edge of the first prism toward the light source.

60. The detection device according to claim 55, characterized in that, After the first wavelength light pulse sequence is emitted from the first prism, it is deflected toward the light source in the direction toward the edge of the first prism, so that the scanning field of view formed by the first wavelength light pulse sequence and the scanning field of view formed by the second wavelength light pulse sequence are continuous.

61. The detection device according to claim 55, characterized in that, After the first wavelength light pulse sequence is emitted from the first prism, it deflects towards the light source at a point on the edge of the first prism, and the angle between the emission direction of the first wavelength light pulse sequence and the incident surface of the first prism is greater than 10°.

62. The detection device according to claim 53 or 55, characterized in that, The at least two optical modules include scanning prisms with non-parallel light exit and light incident surfaces, located in the optical path of the light pulse sequence; The detection device further includes a first driving module for rotating the scanning prism. When the first driving module rotates the scanning prism, it enables the light pulse sequence passing through the scanning prism to form a scanning field of view.

63. The detection device according to claim 62, characterized in that, Both the light-emitting surface and the light-incident surface of the scanning prism are inclined from the side of the scanning prism toward the direction away from the light source.

64. The detection device according to claim 53, characterized in that, The first scanning field of view and the second scanning field of view are seamlessly stitched together or partially overlapped.

65. The detection device according to claim 64, characterized in that, The combined scanning field of view of the first scanning field of view and the second scanning field of view is approximately hemispherical.

66. The detection device according to claim 53, characterized in that, The combined field of view of the first scanning field of view and the second scanning field of view has a field of view angle greater than 90 degrees along the optical axis of the light source.

67. The detection device according to claim 53 or 66, characterized in that, The combined field of view of the first scanning field of view and the second scanning field of view has a field of view angle of 360° in the direction perpendicular to the optical axis of the light source.

68. The detection device according to claim 53, characterized in that, The proportion of the second wavelength light pulse sequence in sunlight is lower than that of the first wavelength light pulse sequence in sunlight.

69. The detection device according to claim 53, characterized in that, The detection device also includes a detector. The detector is used to receive the reflected light from the first wavelength light pulse sequence and the second wavelength light pulse sequence, and to detect objects within the first scanning field of view and the second scanning field of view based on the received reflected light.

70. The detection device according to claim 69, characterized in that, The detector includes a first receiving element for receiving the reflected light from the first wavelength light pulse sequence and a second receiving element for receiving the reflected light from the second wavelength light pulse sequence.

71. The detection device according to claim 70, characterized in that, The receiving areas of the first receiving element and the second receiving element are different, and / or, The number of the first receiving element and the number of the second receiving element in the detector are different.

72. The detection device according to claim 70, characterized in that, The receiving area of ​​the first receiving element is larger than the receiving area of ​​the second receiving element, and / or, The number of the first receiving elements is greater than the number of the second receiving elements.

73. The detection device according to claim 70, characterized in that, The first receiving element and the second receiving element are located on different planes.

74. The detection device according to claim 69, characterized in that, The light source includes an array of emitting elements, and the detector includes an array of receiving elements that correspond one-to-one with the array of emitting elements. Each receiving element is used to receive the reflected light from the light pulse emitted by the corresponding emitting element.

75. The detection device according to claim 69, characterized in that, The light source includes a first emitting element array for emitting the first wavelength light pulse sequence and a second emitting element array for emitting the second wavelength light pulse sequence; The detector includes a first receiving element array for receiving the reflected light from the optical pulse sequence emitted by the first transmitting element array, and a second receiving element array for receiving the reflected light from the optical pulse sequence emitted by the second transmitting element array. The first transmitting element array and the second transmitting element array transmit in a time-division manner, and the first receiving element array and the second receiving element array reuse some receiving elements.

76. The detection device according to claim 69, characterized in that, The light source includes an array of emitting elements for time-division multiplexing of light pulse sequences; The detector includes a receiving element corresponding to the emitting element array, used for time-division multiplexing of the reflected light from the light pulse sequence emitted by the emitting element array.

77. The detection device according to any one of claims 69-76, characterized in that, The non-multiplexed optical paths of the first wavelength optical pulse sequence and the second wavelength optical pulse sequence are equipped with filter elements; The first wavelength optical pulse sequence is provided with a filter element for reflecting the second wavelength optical pulse sequence on the non-multiplexed optical path, and the second wavelength optical pulse sequence is provided with a filter element for reflecting the first wavelength optical pulse sequence on the non-multiplexed optical path.

78. The detection device according to claim 77, characterized in that, The non-multiplexed optical path includes the emitting surface of the first wavelength optical pulse sequence, the emitting surface of the second wavelength optical pulse sequence, and / or the surface of the detector.

79. The detection device according to claim 53, characterized in that, The wavelength of the second wavelength light pulse sequence is higher than the wavelength used for the first wavelength light pulse sequence.

80. The detection device according to claim 53, characterized in that, The wavelength of the second wavelength light pulse sequence is higher than 900 nm.

81. The detection device according to claim 53, characterized in that, The wavelength difference between the second wavelength light pulse sequence and the first wavelength light pulse sequence is greater than 80 nm.

82. The detection device according to claim 53, characterized in that, The first wavelength optical pulse sequence includes an 850nm laser beam, and the second wavelength optical pulse sequence includes a 940nm laser beam.

83. The detection device according to claim 53, characterized in that, The light sources of the first wavelength light pulse sequence and the second wavelength light pulse sequence are stacked and arranged in different layers.

84. The detection device according to claim 53, characterized in that, The light sources for the first wavelength light pulse sequence and the second wavelength light pulse sequence are positioned on different planes, or The light sources of the first wavelength light pulse sequence and the second wavelength light pulse sequence are disposed on the same plane, but the equivalent light emission points of the first wavelength light pulse sequence and the second wavelength light pulse sequence are located on different planes.

85. The detection device according to claim 84, characterized in that, The detection device also includes a collimating element for collimating the light pulse sequence emitted by the light source; The position of the light source and the position of the equivalent light-emitting point are determined based on the effective focal length of the collimating element relative to the first wavelength light pulse sequence or the second wavelength light pulse sequence.

86. The detection device according to claim 53, characterized in that, The detection device includes at least two scanning modules, with different scanning modules corresponding to different scanning fields of view.

87. The detection device according to claim 86, characterized in that, The detection device also includes a detector, and the at least two scanning modules share the light source and the detector through time-division multiplexing.

88. The detection device according to claim 87, characterized in that, The at least two scanning modules are placed in different positions, and the light pulse sequence emitted by the light source is directed to one of the at least two scanning modules through an optical path changing element.

89. The detection device according to claim 87, characterized in that, The optical path alteration element includes a vibrating reflector, which, when rotated to different angles, reflects the light pulse sequence emitted by the light source to different scanning modules; or The optical path changing element includes at least two retractable mirrors, each mirror corresponding to a scanning module. When each mirror is extended, it can reflect the light pulse sequence emitted by the light source to the corresponding scanning module.

90. The detection device according to claim 86, characterized in that, The number of scanning modules is two, and the two scanning modules are distributed on the same straight line perpendicular to the optical axis of the light source.

91. The detection device according to any one of claims 86 to 90, characterized in that, The two scanning modules include a first scanning module and a second scanning module. The scanning field of view of the first scanning module covers at least one hemisphere, and the scanning field of view of the second scanning module covers at least one hemisphere.

92. The detection device according to claim 91, characterized in that, The scanning field of view of the first scanning module and the scanning field of view of the second scanning module are combined to form a spherical scanning field of view.

93. The detection device according to claim 86, characterized in that, The number of scanning modules is two, and at least two optical modules in each scanning module are used to form two different scanning fields of view; Furthermore, the light source is used to emit two different wavelength light pulse sequences.

94. The detection device according to claim 93, characterized in that, The light source is used to emit the two different wavelength light pulse sequences in a time-division manner, and the optical path changing element is used to direct the light pulse sequences from the light source to different scanning modules at different times; or... The light source is used to simultaneously emit the two different wavelength light pulse sequences, and the optical path changing element is used to split the two different wavelength light pulse sequences from the light source into different scanning modules.

95. The detection device according to claim 90, characterized in that, After the light pulse sequence emitted by the light source is emitted to the two scanning modules, it is first changed in direction by the first optical module in the two scanning modules before being emitted to the second optical module in the two scanning modules.

96. The detection device according to claim 75, characterized in that, The light source is also used to emit a third wavelength light pulse sequence in the third wavelength range and a fourth wavelength light pulse sequence in the fourth wavelength range. One of the two scanning modules is used to receive the first wavelength light pulse sequence and the second wavelength light pulse sequence, and the other scanning module is used to receive the third wavelength light pulse sequence and the fourth wavelength light pulse sequence.

97. The detection device according to claim 53, characterized in that, The scanning module further includes at least one third driving module and at least one third optical module. The third driving module is used to drive the third optical module to move so as to change the direction of the light pulse sequence received from the second optical module and emit it from the third emission angle range.

98. The detection device according to claim 97, characterized in that, The type of the third optical module is the same as the type of the first optical module; or The third optical module is of the same type as the second optical module.

99. An unmanned aerial vehicle (UAV), characterized in that, The drone is equipped with a detection device as described in any one of claims 1-98.

100. The UAV according to claim 99, characterized in that, The detection device includes two scanning modules, one of which is located on the upper surface of the drone fuselage and the other on the lower surface of the drone fuselage.

101. The UAV according to claim 100, characterized in that, The distance between the two scanning modules in the direction of the drone body is less than a preset distance.

102. The UAV according to claim 100, characterized in that, The two scanning modules are located on the same straight line perpendicular to the direction of the drone's fuselage.

103. The UAV according to claim 100, characterized in that, The two scanning modules respectively form an approximately hemispherical scanning field of view on the upper and lower surfaces of the UAV fuselage.

104. The UAV according to claim 103, characterized in that, There is an overlapping area between the scanning field of view of the upper surface and the scanning field of view of the lower surface.

105. The UAV according to claim 104, characterized in that, The distance between the overlapping area and the nose of the drone does not exceed 4m.

106. The UAV according to claim 99, characterized in that, The detection device is located at the nose of the UAV, and the nose of the UAV is equipped with a gimbal. The detection device and the gimbal are located on both sides of the nose of the UAV; or The detection device is located at the tail of the UAV.

107. The UAV according to claim 100, characterized in that, One of the two scanning modules is located on the lower surface of the nose of the drone, and the other is located on the upper surface of the tail of the drone.

108. A control method for a detection device, characterized in that, The detection device is mounted on a drone. It can separate a light pulse sequence into at least two light pulse sequences, simultaneously emitted from at least two different angle ranges into the external environment to scan objects within the environment, thus simultaneously forming at least two different scanning fields of view. The device then detects the at least two scanning fields of view based on at least a portion of the light pulse sequences reflected back from the external environment. The method includes: Determine the current flight status information of the drone; The detection status parameters of the detection device on the at least two scanning fields of view are adjusted according to the flight status information; the detection status parameters include the on / off status of the at least two scanning fields of view and / or the detection frequency of the at least two scanning fields of view.

109. The method according to claim 108, characterized in that, The flight status information includes the flight direction, and adjusting the detection status parameters of the detection device in the at least two scanning fields of view based on the flight status information includes: The detection device is controlled to have its scanning field of view corresponding to the flight direction turned on.

110. The method according to claim 108, wherein the flight state information includes the distribution of obstacles in the flight environment, and the scanning field of view corresponding to the direction in which obstacles are distributed in the flight environment is in an open state.

111. The method according to claim 110, characterized in that, The distribution of obstacles in the flight environment is determined based on one or more of the following data: image data collected by the camera on the UAV, three-dimensional point cloud data of the flight environment measured by the detection device, and flight altitude data of the UAV collected by the sensors on the UAV.

112. The method according to claim 108, characterized in that, The flight status information includes information indicating whether the UAV is in a target state, and adjusting the detection status parameters of the detection device in the at least two scanning fields of view based on the flight status information includes: When the drone is in the target state, it controls at least two scanning fields of view to be in a closed state.

113. The method according to claim 112, characterized in that, When the drone is in the target state, the drone does not need to be aware of the state of the flight environment.

114. The method according to any one of claims 108-112, characterized in that, The at least two optical pulse sequences are emitted by at least two types of light sources, and the wavelengths of the optical pulse sequences emitted by different types of light sources are different. The switching states of the at least two scanning fields of view are controlled by controlling the switching states of the light sources.

115. The method according to claim 108, characterized in that, The flight status information includes the flight direction of the UAV, and adjusting the detection status parameters of the detection device in the at least two scanning fields of view based on the flight status information includes: The detection frequency of the detection device in the corresponding scanning field of view in the flight direction is controlled to be higher than the detection frequency of other scanning fields of view.

116. The method according to claim 108, characterized in that, The flight status information includes the flight speed of the UAV, and adjusting the detection status parameters of the detection device in the at least two scanning fields of view based on the flight status information includes: The detection frequency of the detection device in the direction of the flight speed is controlled based on the flight speed, wherein the detection frequency of the scanning field of view in the direction of the flight speed is positively correlated with the magnitude of the flight speed.

117. The method according to claim 108, characterized in that, The flight status information includes the distribution of obstacles in the flight environment. Adjusting the detection status parameters of the detection device in the at least two scanning fields of view based on the flight status information includes: The detection frequency of the detection device in the direction where obstacles are distributed in the flight environment is higher than the detection frequency of other scanning fields.

118. The method according to claim 108, characterized in that, The detection frequency of the scanning field of view is positively correlated with the field angle of the scanning field of view.

119. The method according to any one of claims 115-118, characterized in that, The adjustment of the detection frequency is achieved by adjusting the emission frequency and / or reception frequency of the light pulse sequence that forms the scanning field of view.

120. The method according to any one of claims 115-118, characterized in that, The detection frequency is adjusted by adjusting the rotation speed of the optical module in the detection device. The optical module is used to change the direction of the light pulse sequence emitted by the light source and form the at least two scanning fields of view.

121. The method according to claim 109, characterized in that, The detection device can form an approximately hemispherical scanning field of view on both the upper and lower surfaces of the UAV fuselage.

122. The method according to claim 121, characterized in that, There is an overlapping area between the scanning field of view of the upper surface and the scanning field of view of the lower surface.

123. The method according to claim 122, characterized in that, The distance between the overlapping area and the nose of the drone is less than 4m.

124. The method according to claim 121, characterized in that, Each approximately hemispherical scanning field of view is obtained by combining a first scanning field of view and a second scanning field of view. The second scanning field of view is located in the central region of each approximately hemispherical scanning field of view, and the first scanning field of view is located in the edge region of each approximately hemispherical scanning field of view and is in a ring shape.

125. The method according to claim 124, characterized in that, Adjusting the detection status parameters of the detection device in the at least two scanning fields of view based on the flight status information includes: When the UAV is flying at high altitude, the first scanning field of view of the detection device is closed, and the second scanning field of view is open.

126. The method according to claim 125, characterized in that, The high-altitude flight status of the drone is determined based on the following method: Determined based on the flight altitude of the drone detected by its sensors; or The three-dimensional point cloud of the UAV's flight environment is determined based on the detection device.

127. The method according to claim 124, characterized in that, Adjusting the detection status parameters of the detection device in the at least two scanning fields of view based on the flight status information includes: When the UAV is flying vertically, the first scanning field of view of the detection device is in the open state, and the second scanning field of view is in the closed state.

128. The method according to claim 124, characterized in that, The step of adjusting the detection state parameters of the detection device on the at least two scanning fields of view according to the flight state information includes: when the UAV is in a forward flight state, controlling only the approximately hemispherical scanning field of view on the upper surface of the detection device to be turned on.

129. The method according to any one of claims 124-128, characterized in that, The detection device includes a ranging module and at least one scanning module. The ranging module includes a light source and a detector. The scanning module includes a first optical module, a second optical module, a first driving module, and a second driving module. The light source is used to emit a sequence of light pulses to the first optical module; The first driving module is used to drive the first optical module to move so that the light pulse sequence passing through the first optical module is scanned within a first emission angle range; The second driving module is used to drive the second optical module to move, so as to change the light pulse sequence received by the second optical module from the first optical module to scan within at least two different second emission angle ranges, so as to form the at least two scanning fields of view; The detector is used to receive at least a portion of the light pulse sequence of the at least two scanning fields of view reflected back by the object, and to detect the object in the at least two scanning fields of view based on the received light pulse sequence.

130. The method according to claim 129, characterized in that, The approximately hemispherical scanning field of view on the upper surface and the approximately hemispherical scanning field of view on the lower surface are formed by two scanning modules, and the two scanning modules share the ranging module by time-division multiplexing.

131. The method according to claim 130, characterized in that, The detection frequency is adjusted by adjusting the duration for which the scanning module occupies the ranging module.

132. The method according to claim 130, characterized in that, One of the two scanning modules is located on the upper surface of the drone's fuselage, and the other is located on the lower surface of the drone's fuselage.

133. The method according to claim 132, characterized in that, The two scanning modules are located on the same straight line perpendicular to the direction of the drone's fuselage.

134. The method according to claim 108, characterized in that, The detection device includes a light source and a scanning module; wherein, The light source is used to emit a sequence of light pulses, the sequence of light pulses including a first wavelength light pulse sequence and a second wavelength light pulse sequence; The scanning module includes at least two optical modules, each of which is used to change the optical path of the light pulse sequence to form a scanning field of view. The first wavelength light pulse sequence forms a ring-shaped first scanning field of view, and the second wavelength light pulse sequence forms a second scanning field of view in the hollow part of the first scanning field of view.

135. The method according to claim 108, characterized in that, The detection device includes a light source and at least one scanning module. The light source is used to emit a sequence of light pulses, which includes a first wavelength light pulse sequence and a second wavelength light pulse sequence. The scanning module includes: A first optical refractive element and a first driving module, wherein the first optical refractive element has two opposing, non-parallel optical surfaces for receiving a sequence of light pulses from the light source, and the first driving module is used to drive the first optical refractive element to rotate in order to change the emission direction of the light pulse sequence; An optical refraction component is used to receive a sequence of light pulses from a first optical refraction element. The optical refraction component includes a second optical refraction element and a third optical refraction element that are attached to each other. A beam-splitting surface is provided between the second optical refraction element and the third optical refraction element. A first wavelength light pulse sequence from the first optical refraction element is reflected by the beam-splitting surface in the optical refraction component and refracted out by the second optical refraction element. A second wavelength light pulse sequence from the first optical refraction element is transmitted through the beam-splitting surface in the optical refraction component and refracted out by the third optical refraction element. The second driving module is used to drive the light refraction component to rotate, so that the first wavelength light pulse sequence emitted by the second light refraction element scans in the first scanning field of view, and the second wavelength light pulse sequence emitted by the third light refraction element scans in the second scanning field of view.

136. A control device for a detection apparatus, characterized in that, The detection device is mounted on a drone. It can separate a light pulse sequence into at least two light pulse sequences, simultaneously emitted from at least two different angle ranges into the external environment to scan objects in the environment, thus simultaneously forming at least two different scanning fields of view. The device detects the at least two scanning fields of view based on at least a portion of the light pulse sequences reflected back from the external environment. The control device includes a processor, a memory, and a computer program stored in the memory that can be executed by the processor. When the processor executes the computer program, it performs the following steps: Determine the current flight status information of the drone; The detection status parameters of the detection device on the at least two scanning fields of view are adjusted according to the flight status information; the detection status parameters include the on / off status of the at least two scanning fields of view and / or the detection frequency of the at least two scanning fields of view.

137. The apparatus according to claim 136, characterized in that, The flight status information includes the flight direction. The processor, when adjusting the detection status parameters of the detection device in the at least two scanning fields of view based on the flight status information, specifically performs the following: The detection device is controlled to have its scanning field of view corresponding to the flight direction turned on.

138. The apparatus according to claim 136, wherein the flight state information includes the distribution of obstacles in the flight environment, and the scanning field of view corresponding to the direction in which obstacles are distributed in the flight environment is in an open state.

139. The apparatus according to claim 138, characterized in that, The distribution of obstacles in the flight environment is determined based on one or more of the following data: image data collected by the camera on the UAV, three-dimensional point cloud data of the flight environment measured by the detection device, and flight altitude data of the UAV collected by the sensors on the UAV.

140. The apparatus according to claim 136, characterized in that, The flight status information includes information indicating whether the UAV is in a target state. The processor, when adjusting the detection status parameters of the detection device in the at least two scanning fields of view based on the flight status information, specifically performs the following: When the drone is in the target state, it controls at least two scanning fields of view to be in a closed state.

141. The apparatus according to claim 140, characterized in that, When the drone is in the target state, the drone does not need to be aware of the state of the flight environment.

142. The apparatus according to any one of claims 136-140, characterized in that, The at least two optical pulse sequences are emitted by at least two types of light sources, and the wavelengths of the optical pulse sequences emitted by different types of light sources are different. The switching states of the at least two scanning fields of view are controlled by controlling the switching states of the light sources.

143. The apparatus according to claim 136, characterized in that, The flight status information includes the flight direction of the UAV. The processor, when adjusting the detection status parameters of the detection device in the at least two scanning fields of view based on the flight status information, specifically performs the following: The detection frequency of the detection device in the corresponding scanning field of view in the flight direction is controlled to be higher than the detection frequency of other scanning fields of view.

144. The apparatus according to claim 136, characterized in that, The flight status information includes the flight speed of the UAV. The processor, when adjusting the detection status parameters of the detection device in the at least two scanning fields of view based on the flight status information, specifically performs the following: The detection frequency of the detection device in the direction of the flight speed is controlled based on the flight speed, wherein the detection frequency of the scanning field of view in the direction of the flight speed is positively correlated with the magnitude of the flight speed.

145. The apparatus according to claim 136, characterized in that, The flight status information includes the distribution of obstacles in the flight environment. The processor, when adjusting the detection status parameters of the detection device in the at least two scanning fields of view based on the flight status information, specifically performs the following: The detection frequency of the detection device in the direction where obstacles are distributed in the flight environment is higher than the detection frequency of other scanning fields.

146. The apparatus according to claim 136, characterized in that, The detection frequency of the scanning field of view is positively correlated with the field angle of the scanning field of view.

147. The apparatus according to any one of claims 143-146, characterized in that, The adjustment of the detection frequency is achieved by adjusting the emission frequency and / or reception frequency of the light pulse sequence that forms the scanning field of view.

148. The apparatus according to any one of claims 143-146, characterized in that, The detection frequency is adjusted by adjusting the rotation speed of the optical module in the detection device. The optical module is used to change the direction of the light pulse sequence emitted by the light source and form the at least two scanning fields of view.

149. The apparatus according to claim 136, characterized in that, The detection device can form an approximately hemispherical scanning field of view on both the upper and lower surfaces of the UAV fuselage.

150. The apparatus according to claim 149, characterized in that, There is an overlapping area between the scanning field of view of the upper surface and the scanning field of view of the lower surface.

151. The apparatus according to claim 150, characterized in that, The distance between the overlapping area and the nose of the drone is less than 4m.

152. The apparatus according to claim 149, characterized in that, Each approximately hemispherical scanning field of view is obtained by combining a first scanning field of view and a second scanning field of view. The second scanning field of view is located in the central region of each approximately hemispherical scanning field of view, and the first scanning field of view is located in the edge region of each approximately hemispherical scanning field of view and is in a ring shape.

153. The apparatus according to claim 152, characterized in that, When the processor adjusts the detection status parameters of the detection device in the at least two scanning fields of view based on the flight status information, it is specifically used for: When the UAV is flying at high altitude, the first scanning field of view of the detection device is closed, and the second scanning field of view is open.

154. The apparatus according to claim 153, characterized in that, The high-altitude flight status of the drone is determined based on the following method: Determined based on the flight altitude of the drone detected by its sensors; or The three-dimensional point cloud of the UAV's flight environment is determined based on the detection device.

155. The apparatus according to claim 152, characterized in that, When the processor adjusts the detection status parameters of the detection device in the at least two scanning fields of view based on the flight status information, it is specifically used for: When the UAV is flying vertically, the first scanning field of view of the detection device is in the open state, and the second scanning field of view is in the closed state.

156. The apparatus according to claim 153, characterized in that, When the processor adjusts the detection status parameters of the detection device in the at least two scanning fields of view based on the flight status information, it is specifically used for: When the UAV is flying forward, only the approximately hemispherical scanning field of view on the upper surface of the detection device is activated.

157. The apparatus according to any one of claims 153-156, characterized in that, The detection device includes a ranging module and at least one scanning module. The ranging module includes a light source and a detector. The scanning module includes a first optical module, a second optical module, a first driving module, and a second driving module. The light source is used to emit a sequence of light pulses to the first optical module; The first driving module is used to drive the first optical module to move so that the light pulse sequence passing through the first optical module is scanned within a first emission angle range; The second driving module is used to drive the second optical module to move, so as to change the light pulse sequence received by the second optical module from the first optical module to scan within at least two different second emission angle ranges, so as to form the at least two scanning fields of view; The detector is used to receive at least a portion of the light pulse sequence of the at least two scanning fields of view reflected back by the object, and to detect the object in the at least two scanning fields of view based on the received light pulse sequence.

158. The apparatus according to claim 157, characterized in that, The approximately hemispherical scanning field of view on the upper surface and the approximately hemispherical scanning field of view on the lower surface are formed by two scanning modules, and the two scanning modules share the ranging module by time-division multiplexing.

159. The apparatus according to claim 158, characterized in that, The detection frequency is adjusted by adjusting the duration for which the scanning module occupies the ranging module.

160. The apparatus according to claim 158, characterized in that, One of the two scanning modules is located on the upper surface of the drone's fuselage, and the other is located on the lower surface of the drone's fuselage.

161. The apparatus according to claim 160, characterized in that, The two scanning modules are located on the same straight line perpendicular to the direction of the drone's fuselage.

162. The apparatus according to claim 136, characterized in that, The detection device includes a light source and a scanning module; wherein... The light source is used to emit a sequence of light pulses, the sequence of light pulses including a first wavelength light pulse sequence and a second wavelength light pulse sequence; The scanning module includes at least two optical modules, each of which is used to change the optical path of the light pulse sequence to form a scanning field of view. The first wavelength light pulse sequence forms a ring-shaped first scanning field of view, and the second wavelength light pulse sequence forms a second scanning field of view in the hollow part of the first scanning field of view.

163. The apparatus according to claim 136, characterized in that, The detection device includes a light source and at least one scanning module. The light source is used to emit a sequence of light pulses, which includes a first wavelength light pulse sequence and a second wavelength light pulse sequence. The scanning module includes: A first optical refractive element and a first driving module, wherein the first optical refractive element has two opposing, non-parallel optical surfaces for receiving a sequence of light pulses from the light source, and the first driving module is used to drive the first optical refractive element to rotate in order to change the emission direction of the light pulse sequence; An optical refraction component is used to receive a sequence of light pulses from a first optical refraction element. The optical refraction component includes a second optical refraction element and a third optical refraction element that are attached to each other. A beam-splitting surface is provided between the second optical refraction element and the third optical refraction element. A first wavelength light pulse sequence from the first optical refraction element is reflected by the beam-splitting surface in the optical refraction component and refracted out by the second optical refraction element. A second wavelength light pulse sequence from the first optical refraction element is transmitted through the beam-splitting surface in the optical refraction component and refracted out by the third optical refraction element. The second driving module is used to drive the light refraction component to rotate, so that the first wavelength light pulse sequence emitted by the second light refraction element scans in the first scanning field of view, and the second wavelength light pulse sequence emitted by the third light refraction element scans in the second scanning field of view.

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