A detection device and a control method thereof

Abstract

The application provides a detection device, comprising: a transmitting assembly for transmitting a laser beam; a collimating and shaping assembly for processing the laser beam into a collimated linear laser beam; a scanning mirror assembly comprising at least one reflecting surface for reflecting the linear laser beam; a receiving assembly for receiving a target echo and converting the target echo from an optical signal into an electrical signal corresponding to the target echo, wherein the target echo comprises a reflected signal of the linear laser beam; and a synchronization assembly for obtaining a synchronization position of a working reflecting surface in the at least one reflecting surface, wherein the synchronization position represents a position at which the working reflecting surface initially receives the linear laser beam, and the working reflecting surface corresponds to an exit direction of the linear laser beam. The detection device provided by the application can improve the resolution of the detection device without increasing the cost and size of the detection device.

Description

[0001] This application is a divisional application. The original application has the application number 202110930106.1 and the original application date is August 13, 2021. The entire contents of the original application are incorporated herein by reference. Technical Field

[0002] This application relates to the field of lidar technology, and in particular to a detection device and its control method. Background Technology

[0003] Lidar technology is an optical measurement technique that measures parameters such as the distance to a target by shining a beam of light, typically a pulsed laser, at the target. For example, lidar measures the distance between a target and a light source by measuring the time difference between the emitted and received light (also known as the time of flight of light).

[0004] The output data of lidar, known as point clouds, has applications in 3D modeling, autonomous driving, surveying, archaeology, geography, geomorphology, seismology, forestry, remote sensing, and atmospheric physics. Furthermore, this technology is used in specific applications such as airborne laser mapping, laser altimetry, and lidar contour mapping.

[0005] Figure 1 This is a schematic diagram of the structure of a lidar system in the prior art, such as... Figure 1 As shown, existing lidar systems include a transmitting module, a receiving module, a rotating gimbal, and an internal control and algorithm module. Figure 1 (Not shown in the image) The transmitting module consists of multiple laser emitters, and the receiving module consists of multiple avalanche photodiode (APD) detectors. Each laser emitter in the transmitting module corresponds one-to-one with a detector in the receiving module. The emitted beam illuminates a space object, reflects off it, and is received by the detectors in the receiving module, forming a point cloud image of the object. Because this lidar uses a point-to-point scanning method, detectors must be configured in a one-to-one correspondence with laser emitters. To achieve high-precision vertical resolution, the number of laser emitters and detectors in both the receiving and transmitting modules needs to be increased. However, increasing the number of laser emitters and detectors inevitably increases the cost and size of the lidar. Summary of the Invention

[0006] The embodiments of this application provide a detection device and its control method, which improves the resolution of the detection device without increasing its cost and size by adopting a line-scanning and line-receiving scanning method.

[0007] In a first aspect, embodiments of this application provide a detection device, comprising: a transmitting component for transmitting a laser beam; a collimating and shaping component for processing the laser beam into a collimated linear laser beam or a planar laser beam; a scanning rotating mirror component including at least one reflecting surface for reflecting the linear laser beam or the planar laser beam; a receiving component for receiving a target echo, wherein the target echo includes a reflected signal of the linear laser beam or the planar laser beam; and a synchronization component for at least acquiring a synchronization position of a working reflecting surface among the at least one reflecting surface, the synchronization position representing the position where the working reflecting surface initially receives the linear laser beam or the planar laser beam, the working reflecting surface corresponding to the emission direction of the linear laser beam or the planar laser beam. Further optionally, the detection device may also include a control component for at least controlling the scanning rotating mirror component and the transmitting component according to the synchronization position acquired by the synchronization component.

[0008] This application embodiment achieves a significant improvement in the resolution of the detection device without increasing its cost or size by employing a line-scanning and line-receiving scanning method.

[0009] In one possible implementation, the emitting component includes a laser emitter array consisting of multiple laser emitters.

[0010] In another possible implementation, the laser emitter array includes at least one column of laser emitters, wherein the first column of the at least one column of laser emitters includes at least N groups of laser emitters, which are arranged alternately, collinearly, or non-collinearly, where N is a positive integer greater than 1. By employing a reasonable arrangement of multiple laser emitters, spatial isolation of the multiple laser emitters in the emission assembly is achieved, reducing laser crosstalk. It should be noted that the "first column of laser emitters" here refers to any column of the at least one column of laser emitters; the term "first" here does not imply any order or sequence, but is merely for the convenience of illustrating the technical solution.

[0011] In another possible implementation, the number of laser emitters in each of the N groups of laser emitters is the same, or there are at least two groups of laser emitters with different numbers of emitters.

[0012] In another possible implementation, the plurality of laser emitters includes edge-emitting laser emitters (EELs) and vertical-cavity surface-emitting lasers (VCSELs), which are arranged adjacent to each other. Alternatively, the plurality of lasers may consist only of VCSEL lasers.

[0013] In another possible implementation, the detection device further includes a processing component for controlling the emission parameters of each laser emitter in the laser emitter array, the emission parameters including at least one of emission switching parameters, emission power parameters, emission pulse / continuous light parameters, and repetition rate parameters.

[0014] The multiple laser emitters in the emission assembly of the detection device in this application embodiment adopt a combination of EEL and VCSEL, and the emission parameters of each laser emitter can be controlled individually, thereby improving the ranging accuracy and anti-interference performance of the detection device.

[0015] In another possible implementation, the collimation and shaping assembly includes a plurality of microlens assemblies, different microlens assemblies of which collimate and shape the laser beam into a linear laser beam with different energy distributions; the processing assembly is used to adjust the emission parameters of the individual laser emitters and / or the plurality of microlens assemblies to adjust the energy distribution of the linear laser beam.

[0016] The detection device in this application embodiment can dynamically change the energy distribution of the light spot based on the perception results of the previous frame or other needs. For example, it can improve the scanning accuracy / frequency of the region of interest (ROI) to achieve rapid positioning and high-precision scanning of the ROI (vehicle, person, building or random patch); and reduce the scanning accuracy and power of non-ROIs to achieve energy saving and environmental protection.

[0017] In another possible implementation, the at least one reflective surface is arranged parallel to the axis of rotation of the scanning mirror assembly.

[0018] In another possible implementation, any one of the at least one reflecting surface is inclined toward the rotation axis at the center of the reflecting surface in the axial direction along the rotation axis of the scanning rotating mirror assembly, thereby expanding the vertical scanning field of view of the detection device.

[0019] In another possible implementation, the transmitting component and the receiving component are located on the same side of the scanning rotating mirror component.

[0020] In another possible implementation, the transmitting component and the receiving component are located on opposite sides of the scanning rotating mirror component.

[0021] For example, the at least one reflecting surface includes a first working reflecting surface and a second working reflecting surface. The laser beam emitted by the emitting component is processed by the collimating and shaping component into a collimated linear or planar laser beam and irradiates the first working reflecting surface. The receiving component is used to receive the target echo reflected by the second working reflecting surface. The first working reflecting surface corresponds to the emission direction of the linear or planar laser beam, the target echo includes the reflected signal of the linear or planar laser beam, and the second working reflecting surface corresponds to the incident direction of the reflected signal of the linear or planar laser beam. The first and second working reflecting surfaces are perpendicular to each other. Alternatively, in other possible implementations, the angle between the first and second working reflecting surfaces is greater than 0 degrees but not completely perpendicular (e.g., nearly perpendicular), or the first and second working reflecting surfaces are parallel.

[0022] Specifically, when the scanning rotating mirror assembly has four reflective surfaces, the first working reflective surface and the second working reflective surface can be two adjacent and perpendicular reflective surfaces.

[0023] In another possible implementation, the receiving component includes at least a first receiving component and a second receiving component; the first receiving component and the transmitting component are located on the same side of the scanning rotating mirror assembly, and the second receiving component and the transmitting component are located on opposite sides of the scanning rotating mirror assembly.

[0024] For example, the at least one reflecting surface includes a third working reflecting surface and a fourth working reflecting surface. The laser beam emitted by the emitting component is processed by the collimating and shaping component into a collimated linear or planar laser beam, which then irradiates the third working reflecting surface. The first receiving component is used to receive the target echo reflected by the third working reflecting surface, and the second receiving component is used to receive the target echo reflected by the fourth working reflecting surface. The third working reflecting surface corresponds to the emission direction of the linear or planar laser beam, and the target echo includes the reflected signal of the linear or planar laser beam. The fourth working reflecting surface corresponds to the incident direction of the reflected signal of the linear or planar laser beam, and the third and fourth working reflecting surfaces are perpendicular to each other. Alternatively, in other possible implementations, the angle between the third and fourth working reflecting surfaces is greater than 0 degrees but not completely perpendicular, or the third and fourth reflecting surfaces are parallel.

[0025] Specifically, when the scanning rotating mirror assembly has four reflective surfaces, the third and fourth working reflective surfaces can be two adjacent and perpendicular reflective surfaces.

[0026] In another possible implementation, the emitting component includes at least a first emitting component and a second emitting component, the collimating and shaping component includes at least a first collimating and shaping component and a second collimating and shaping component, and the receiving component includes at least a first receiving component and a second receiving component; the scanning rotating mirror component includes multiple reflecting surfaces, and the first emitting component, the first collimating and shaping component, and the first receiving component, the second emitting component, the second collimating and shaping component, and the second receiving component are respectively disposed on opposite sides of the scanning rotating mirror component; the first emitting component is used to emit a first laser beam, and the first collimating and shaping component is used to process the first laser beam into a collimated first linear laser beam or a first planar laser beam, and to collimate it to a first working reflecting surface. The first receiving component is used to receive a first target echo, wherein the first working reflector corresponds to the emission direction of the first linear laser beam or the first planar laser beam, and the first target echo includes the reflected signal of the first linear laser beam or the first planar laser beam; the second transmitting component is used to emit a second laser beam, and the second collimating and shaping component is used to process the second laser beam into a collimated second linear laser beam or a second planar laser beam, and to collimate it to the second working reflector; the second receiving component is used to receive a second target echo, wherein the second working reflector corresponds to the emission direction of the second linear laser beam or the second planar laser beam, and the second target echo includes the reflected signal of the second linear laser beam or the second planar laser beam. This application employs a scanning rotating mirror with multiple reflective surfaces, and double-sided lighting further expands the scanning field of view of the detection device while improving time utilization and detection rate.

[0027] In another possible implementation, the transmitting component includes at least a third transmitting component and a fourth transmitting component, the collimating and shaping component includes at least a third collimating and shaping component and a fourth collimating and shaping component, the receiving component includes at least a fifth receiving component and a sixth receiving component, and the at least one reflecting surface includes at least a seventh and an eighth working reflecting surface.

[0028] For example, the third transmitting component, the third collimating and shaping component, and the fifth receiving component, and the fourth transmitting component, the fourth collimating and shaping component, and the sixth receiving component are respectively disposed on both sides of the scanning rotating mirror component; the third transmitting component is used to emit a third laser beam, the third collimating and shaping component is used to process the third laser beam into a collimated third linear laser beam or a third planar laser beam, and collimate it to the seventh working reflecting surface, the sixth receiving component is used to receive the third target echo reflected by the eighth working surface, wherein the seventh working reflecting surface corresponds to the emission direction of the third linear laser beam or the third planar laser beam, the third target echo includes the reflected signal of the third linear laser beam or the third planar laser beam, and the eighth working reflecting surface... The incident direction of the reflected signal of the third linear laser beam or the third planar laser beam is corresponding to the seventh working reflecting surface and the eighth working reflecting surface. The seventh and eighth working reflecting surfaces are perpendicular to each other, or in other possible implementations, the angle between the seventh and eighth working reflecting surfaces is greater than 0 degrees but not completely perpendicular, or the seventh and eighth reflecting surfaces are parallel. The fourth emitting component is used to emit the fourth laser beam, the fourth collimating and shaping component is used to process the fourth laser beam into a collimated fourth linear laser beam or a fourth planar laser beam, and collimate it to the eighth working reflecting surface. The fifth receiving component is used to receive the fourth target echo reflected by the seventh working surface, wherein the fourth target echo includes the reflected signal of the fourth linear laser beam or the fourth planar laser beam.

[0029] Specifically, when the scanning rotating mirror assembly has four reflective surfaces, the seventh and eighth working reflective surfaces can be two adjacent and perpendicular reflective surfaces.

[0030] In another possible implementation, the detection device further includes a viewing window, the scanning rotating mirror assembly includes a rotation axis, the at least one reflecting surface rotates about the rotation axis, the rotation axis is disposed between a first plane and a second plane or curved surface, wherein the first plane is determined based on the optical axis direction of the linear laser beam or planar laser beam and the spot extension direction of the linear laser beam or planar laser beam, and the second plane or curved surface is the plane or curved surface where the viewing window is located.

[0031] In another possible implementation, the receiving component includes a single-photon avalanche detector pixel array, the single-photon avalanche detector pixel array comprising a plurality of pixels, each pixel comprising one or more single-photon avalanche detectors.

[0032] The detection device in this application uses a single-photon avalanche diode (SPAD) as the detector in the receiving component. It can realize SPAD binning as needed, which can improve the receiving resolution by utilizing the high density of the SPAD array, and can also improve the measuring distance and dynamic range by utilizing the high sensitivity of SPAD and the fact that SPADs are bound to a single pixel.

[0033] In another possible implementation, the detection device further includes a processing component for controlling the parameters of the single-photon avalanche detector pixel array according to the electrical signal corresponding to the target echo, so as to adjust the resolution of the receiving component. The parameters of the avalanche detector pixel array include the pixel spacing and / or the number of single-photon avalanche detectors in the pixel and / or the number of single-photon avalanche detectors included in the pixel. Based on the sensing structure of the previous frame, the pixel density of the SPAD is adjusted to achieve high pixel count in the ROI and improve the resolution of the ROI.

[0034] In another possible implementation, the receiving component includes a silicon photomultiplier array comprising a plurality of pixels, each pixel comprising one or more silicon photomultipliers.

[0035] In another possible implementation, the detection device further includes a processing component for controlling the parameters of the silicon photomultiplier tube array according to the electrical signal corresponding to the target echo, so as to adjust the resolution of the receiving component, wherein the parameters of the silicon photomultiplier tube array include the pixel spacing and / or the number of silicon photomultiplier tubes in the pixel and / or the number of silicon photomultiplier tubes included in the pixel.

[0036] In another possible implementation, the linear laser beam comprises N sub-linear laser beams, and the M sub-linear laser beams are spliced ​​together to form the linear laser beam; or, the planar laser beam comprises N sub-planar laser beams, and the M sub-planar laser beams are spliced ​​together to form the planar laser beam; wherein, M is a positive integer greater than or equal to 2.

[0037] In another possible implementation, adjacent sub-linear laser beams in the M sub-linear laser beams are connected or partially overlap in their extension direction; or, adjacent sub-planar laser beams in the M sub-planar laser beams are connected or partially overlap.

[0038] In another possible implementation, the spot of the M-segment linear laser beam extends along the vertical field of view of the detection device, and the spot of the M-segment linear laser beam is uniformly or non-uniformly distributed within the vertical field of view of the detection device.

[0039] In another possible implementation, the spot of the linear laser beam extends along the horizontal field of view of the detection device or is tilted relative to the horizontal field of view of the detection device.

[0040] In another possible implementation, the linear laser beam illuminates the solid surface to form a linear spot or a convex-shaped spot;

[0041] Alternatively, the M sub-planar laser beams irradiating the solid surface form light spots of the same shape, and the planar laser beams irradiating the solid surface form rectangular light spots; or, the M sub-planar laser beams irradiating the solid surface form light spots of at least two different shapes, and the planar laser beams irradiating the solid surface form irregularly shaped light spots.

[0042] In another possible implementation, the detection device further includes a driving device for driving the scanning mirror assembly to rotate about a rotation axis. The scanning mirror assembly includes multiple reflective surfaces surrounding an accommodating space, and the driving device is disposed within the accommodating space, further reducing the size of the detection device.

[0043] Secondly, embodiments of this application also provide a control method for a detection device, comprising: controlling an emitting component to emit a laser beam, wherein the laser beam is processed by a collimating and shaping component into a collimated linear laser beam; controlling a scanning rotating mirror component to rotate for scanning; and controlling a receiving component to receive a target echo, thereby converting the target echo into an electrical signal, wherein the target echo includes a reflected signal of the linear laser beam.

[0044] In one possible implementation, the emission parameters of each laser emitter and / or the plurality of microlens assemblies are controlled according to the electrical signal corresponding to the target echo to adjust the energy distribution of the linear laser beam.

[0045] The embodiments of this application achieve a significant improvement in the resolution of the detection device without increasing the cost and size of the detection device by using a line-scanning and line-receiving scanning method.

[0046] In one possible implementation, the parameters of the single-photon avalanche detector pixel array are adjusted according to the electrical signal corresponding to the target echo to adjust the resolution of the receiving component, wherein the parameters of the avalanche detector pixel array include the pixel spacing and / or the number of single-photon avalanche detectors in the pixels.

[0047] The control method of the detection device in this application embodiment dynamically changes the energy distribution of the light spot based on the perception results of the previous frame / other needs; for example, it improves the scanning accuracy / frequency of the region of interest (ROI) to achieve rapid positioning and high-precision scanning of the ROI (vehicle, person, building or random patch); and reduces the scanning accuracy and power of non-ROIs to achieve energy saving and environmental protection.

[0048] In one possible implementation, the control of the emitting component to emit a laser beam further includes: controlling the operation of a synchronization component and a scanning mirror component to obtain a synchronized position of the working reflective surface; and controlling the scanning mirror component and the emitting component to synchronize according to the synchronized position.

[0049] The control method of the detection device in this application adjusts the pixel density of SPAD according to the perception structure of the previous frame to increase the pixels of ROI and thus improve the resolution of ROI.

[0050] Thirdly, embodiments of this application also provide a chip including at least one processor and a communication interface, wherein the processor is used to execute the method described in the second aspect.

[0051] Fourthly, embodiments of this application also provide a computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, causes the computer to perform the method described in the second aspect.

[0052] Fifthly, embodiments of this application also provide a lidar system, which includes at least the detection device described in the first aspect.

[0053] Sixthly, embodiments of this application also provide a terminal, which includes at least the detection device described in the first aspect and the lidar system described in the fifth aspect. Attached Figure Description

[0054] The accompanying drawings used in the description of the embodiments or prior art are briefly introduced below.

[0055] Figure 1 This is a schematic diagram of the structure of a lidar system in the prior art;

[0056] Figure 2 This is a schematic diagram of the structure of a detection device provided in an embodiment of this application;

[0057] Figure 3 This is a possible arrangement of a row of laser emitters in the emission assembly of a detection device;

[0058] Figure 4 This is a possible arrangement of a row of laser emitters in the emission assembly of a detection device;

[0059] Figure 5 This refers to the arrangement of a single laser emitter, including EELs and VCSELs.

[0060] Figure 6 A schematic diagram of shaping a point laser beam into a line laser beam;

[0061] Figure 7a A schematic diagram of a laser beam emitted by the transmitting component of a detection device;

[0062] Figure 7b A schematic diagram of another laser beam emitted by the transmitting component of the detection device;

[0063] Figure 7c A schematic diagram of another spot energy distribution for the laser beam emitted by the transmitting component of the detection device;

[0064] Figure 7d A schematic diagram of another spot energy distribution for the laser beam emitted by the transmitting component of the detection device;

[0065] Figure 7e A schematic diagram of another laser beam emitted by the transmitting component of the detection device;

[0066] Figure 7f A schematic diagram of another laser beam emitted by the transmitting component of the detection device;

[0067] Figure 7g A schematic diagram of another laser beam emitted by the transmitting component of the detection device;

[0068] Figure 7h A schematic diagram of another laser beam emitted by the transmitting component of the detection device;

[0069] Figure 8 This is a schematic diagram of double-sided lighting for a multi-faceted mirror;

[0070] Figure 9 A schematic diagram showing the change in the direction of light emission when the multifaceted mirror is rotated by an angle θ2 for double-sided lighting.

[0071] Figure 10 This is a schematic diagram of double-sided lighting for a multifaceted mirror whose reflecting surface is not planar;

[0072] Figure 11 A schematic diagram of the structure of a multifaceted mirror in a detection device;

[0073] Figures 12a-12k This is a schematic diagram showing the deployment of the transmitting and receiving components of the detection device;

[0074] Figure 13 This is a schematic diagram of the SPAD detector array.

[0075] Figure 14 This is a schematic diagram of the SiPM array structure;

[0076] Figure 15 This is a schematic diagram illustrating the adjustment of the energy distribution of a linear laser beam using a detection device according to an embodiment of this application.

[0077] Figure 16 A control method for a detection device provided in this application embodiment;

[0078] Figure 17 Another control method for a detection device provided in the embodiments of this application;

[0079] Figure 18 This is a schematic diagram of the structure of a chip provided in an embodiment of this application. Detailed Implementation

[0080] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0081] In the description of this application, the terms “center,” “upper,” “lower,” “front,” “rear,” “left,” “right,” “vertical,” “horizontal,” “top,” “bottom,” “inner,” and “outer,” etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0082] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation", "connection" and "joining" should be interpreted broadly, for example, they can be fixed connections, detachable connections, mating connections or integral connections; those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0083] This application provides a detection device, including a transmitting component, a collimating and shaping component, a scanning rotating mirror component, a receiving component, a synchronization component, and a control component. The transmitting component emits a laser beam; the collimating and shaping component processes the laser beam into a collimated linear laser beam; the scanning rotating mirror component includes at least one reflecting surface for reflecting the linear laser beam; the receiving component receives a target echo, wherein the target echo includes a reflected signal of the linear laser beam; the synchronization component is at least used to acquire the synchronization position of a working reflecting surface among the at least one reflecting surface, the synchronization position representing the initial position where the working reflecting surface receives the linear laser beam, the working reflecting surface corresponding to the emission direction of the linear laser beam; and the control component is at least used to control the scanning rotating mirror component and the transmitting component based on the synchronization position acquired by the synchronization component.

[0084] The detection device in this application embodiment shapes the laser beam into a linear laser beam by setting a collimation and shaping component, so as to realize the linear scanning and retrieval of the detection device. High-precision vertical resolution of the detection device can be achieved without increasing the number of laser emitters.

[0085] Figure 2 This is a schematic diagram of a detection device provided in an embodiment of this application. Figure 2 As shown, the detection device includes at least: a transmitting component 21, a collimating and shaping component 22, a scanning rotating mirror component 23, a synchronization component 24, a receiving component 24, and a control component 26. The transmitting component 21 is used to emit a laser beam. The collimating and shaping component 22 is disposed on the laser beam transmission path and is used to process the laser beam into a collimated linear laser beam, and to collimate the linear laser beam to the scanning rotating mirror component 23. The scanning rotating mirror component 23 includes at least one reflecting surface for reflecting the linear laser beam to the target scanning space. This reflecting surface is rotatable about a rotation axis, and during the rotation of the reflecting surface, the emission direction of the linear laser beam is changed to achieve scanning of the target space. The synchronization component 24 is used to acquire the synchronization position of at least one working reflecting surface, whereby the synchronization position characterizes the initial position where the working reflecting surface receives the linear laser beam, and the working reflecting surface corresponds to the emission direction of the linear laser beam. The receiving component 24 is used to receive the target echo and convert the target echo from an optical signal into its corresponding electrical signal, wherein the target echo includes the reflected signal of the linear laser beam. The control component 26 is used at least to control the scanning mirror component and the transmission component based on the synchronization position obtained by the synchronization component.

[0086] It is understood that the working reflective surface mentioned in this embodiment is a reflective surface among at least one reflective surface that reflects a linear laser beam or a planar laser beam to the target detection space, or reflects the target echo to the receiving component to receive the target echo.

[0087] The emitting component includes at least one laser emitter, which emits a point laser beam. Therefore, a collimation and shaping component is needed to collimate and shape the point laser beam into a line laser beam to achieve the line scanning and receiving scanning method of the detection device.

[0088] In simple terms, a point laser beam refers to a laser beam that forms a point spot after illuminating the surface of an object. For example, a laser beam illuminating the reflective surface of a scanning mirror assembly forms a point spot, or a laser beam illuminating an object within the target scanning space forms a point spot, or a laser beam illuminating the detector of a receiving assembly forms a point spot; in this case, the laser beam is called a point laser beam. A line laser beam refers to a laser beam that forms a line spot after illuminating the surface of an object. For example, a laser beam illuminating the reflective surface of a scanning mirror assembly forms a line spot, or a laser beam illuminating an object within the target scanning space forms a line spot, or a laser beam illuminating the detector of a receiving assembly forms a line spot; in this case, the laser beam is called a line laser beam.

[0089] In one example, the emitting component includes a laser emitter array consisting of multiple laser emitters. This laser emitter array can have one column of laser emitters or multiple columns of laser emitters.

[0090] One column of laser emitters can consist of N groups of laser emitters, where each group contains X laser emitters, and N and X are both positive integers. The N groups of laser emitters can be arranged in various ways, such as multi-segment or interlaced arrangements. This application does not limit the number and arrangement of laser emitters in each column of the laser emitter array; they can be completely identical, partially identical, or completely different. The aforementioned column of laser emitters composed of N groups can be one or more columns of the aforementioned laser emitters.

[0091] The following example, using N=4 and X=4, illustrates the possible arrangements of a series of laser emitters. Figure 3 This illustrates a possible arrangement of a series of laser emitters, for example... Figure 3 The rightmost arrangement features four groups of laser emitters lined up in a row, forming a single laser emitter array. Figure 3 Other arrangements include at least two groups of laser emitters not collinearly arranged to form a column of laser emitters.

[0092] Additionally, the N groups of laser emitters in the laser emitter column can be arranged in an alternating pattern, for example... Figure 4 The arrangement of the laser emitters on the left side of the diagram involves some (e.g., three) laser emitters being arranged in a staggered pattern to increase the power density in the staggered areas. The number of laser emitters in each of the N groups can be the same or different, and at least two groups can have the same number of laser emitters, for example... Figure 4The arrangement of the laser emitters on the right side of the image.

[0093] It needs to be explained that, Figure 3 and Figure 4 The arrangement of laser emitters in the laser emitter array is only a partial example and is not limited to the above examples. They can be arranged reasonably according to needs to achieve spatial isolation of multiple laser emitters in the emission assembly and reduce the impact of laser crosstalk.

[0094] The laser emitter in the emitting component is not limited to any particular type of laser emitter. For example, the laser emitter can be at least one of the following: solid-state laser, semiconductor laser, gas laser, dye laser, infrared laser, X-ray laser, chemical laser, free-electron laser, excimer laser, fiber waveguide laser, etc. A suitable laser can be selected based on the specific circumstances.

[0095] Multiple laser emitters can include only one type of laser emitter, such as an EEL or a VCSEL. They can also include a mixture of at least two types of laser emitters. For example, an EEL and a VCSEL can be arranged adjacent to each other (see [link to documentation]). Figure 5 The system can control the emission of light at different times to detect the status of objects in the current field of view. Based on this status, it can achieve different emission powers (EEL / VCSEL) at near and far distances, thereby improving the power dynamic range. Specifically, the plurality of laser emitters may include at least one EEL and one VCSEL. Further optionally, the plurality of laser emitters may also include other laser emitters.

[0096] Back Figure 2 In one implementation, the collimation and shaping component 22 may include an optical lens / microlens assembly. By collimating the laser beam emitted by the emitting component 21, its divergence angle is reduced, and its energy is concentrated to achieve detection scanning at a greater distance. This is achieved by shaping the point laser beam emitted by the emitting component 21 into a line laser beam (see...). Figure 6 This lays the foundation for realizing line scanning of the detection device.

[0097] It is worth noting that a "lens" can be several pieces of glass with different or identical shapes, thicknesses, and / or curvatures. A lens is not limited to a single piece of glass.

[0098] In one implementation, the collimation and beam-shaping assembly may include a collimator and a beam combiner. The collimator is used to collimate multiple laser beams emitted by the transmitting assembly to reduce their divergence angle; the beam combiner is used to shape the multiple laser beams into a linear or planar laser beam with continuous spot energy. The collimator or beam combiner may achieve the collimation or beam-shaping function by a reasonable arrangement of multiple lenses or microlenses.

[0099] It is easy to understand that N groups of laser emitters are arranged vertically to form a column of laser emitters. The laser beams emitted by the N groups of laser emitters are shaped into M segments of linear laser beams by a collimating and shaping component. The M segments of linear laser beams are spliced ​​together to form a single linear laser beam. Here, N equals M. When N=M=1, the linear laser beam is formed by the collimating and shaping component of the laser beam emitted by the 1 group of laser emitters. When N and M are both positive integers greater than or equal to 2, the linear laser beam is formed by splicing together the M segments of linear laser beams formed by the collimating and shaping component of the laser beams emitted by the N groups of laser emitters.

[0100] The linear laser beams formed by splicing together M segments of linear laser beams, which are shaped by collimation and shaping components, are different from the N groups of laser emitters arranged in different ways.

[0101] For example, when two groups of laser emitters are arranged collinearly to form a column of laser emitters (see reference). Figure 3 (In the rightmost arrangement), the laser beams emitted by the two sets of laser emitters are shaped into two sub-linear laser beams by a collimating and shaping component. The two sub-linear laser beams are joined to form a single linear laser beam, which illuminates the solid surface (e.g., the reflective surface of a scanning mirror) to form a linear spot with uniform energy distribution (see...). Figure 7a It should be noted that, as those skilled in the art will understand, the actual light spot generally exhibits an energy distribution of varying intensities. The core region has a higher energy density and a more distinct spot shape, while the edges gradually extend outwards, with less clear shapes and relatively lower discernibility near the edges as the energy intensity gradually decreases. Therefore, the light spot with a certain shape involved in this application can be understood as a light spot with easily identifiable boundaries formed by the portion with higher energy and density, rather than the entire light spot in a technical sense. For example, the maximum energy density can be used... To define the boundary of the light spot.

[0102] When two sets of laser emitters are arranged non-collinearly and staggered (see...) Figure 4 (As shown in the left-hand arrangement), the laser beams emitted by the two sets of laser emitters are shaped into two linear laser beams by a collimating and shaping component. These two linear laser beams partially overlap in their extension direction to form a single linear laser beam. This linear laser beam irradiates the solid surface, forming a linear spot with higher energy in the middle (i.e., the overlapping part) and lower energy on both sides (see...). Figure 7b Alternatively, when two sets of laser beam emitters are collinearly staggered, the laser beams emitted by the two sets of laser emitters are shaped into two sub-linear laser beams by a collimating and shaping component. The two sub-linear laser beams partially overlap in their extension direction to form a single linear laser beam. This linear laser beam irradiates the solid surface to form a convex-shaped linear spot with higher energy in the middle and bulging to one side (i.e., the overlapping part) and lower energy on both sides (see...). Figure 7c and Figure 7d This increases the detection range of the center field of view (FOV) of the detection device.

[0103] N groups of laser emitters can be arranged parallel or tilted relative to the horizontal plane. The emitted laser beams are shaped into linear laser beams by a collimation and shaping component. These linear laser beams illuminate the solid surface, forming linear light spots that are parallel or tilted relative to the horizontal plane (see [link]). Figure 7e-7g ).

[0104] In one example, each of the N groups of laser emitters has the same number of laser emitters, and the N groups of laser emitters are evenly arranged. The emitted laser beam is shaped into M segments of linear laser beams by a collimating and shaping component. When the N groups of laser emitters are arranged parallel to the horizontal plane, the M segments of linear laser beams evenly divide the horizontal FOV of the detection device; when the N groups of laser emitters are arranged perpendicular to the horizontal plane, the M segments of linear laser beams evenly divide the vertical FOV of the detection device.

[0105] In another example, the number of laser emitters in each of the N groups of laser emitters is different, and the N groups of laser emitters are arranged uniformly or non-uniformly. The emitted laser beam is shaped into M segments of linear laser beams by a collimating and shaping component. When the N groups of laser emitters are arranged parallel to the horizontal plane, the M segments of linear laser beams are non-uniformly distributed in the horizontal FOV of the detection device; when the N groups of laser emitters are arranged perpendicular to the horizontal plane, the M segments of linear laser beams are non-uniformly distributed in the vertical FOV of the detection device.

[0106] To ensure that the scanning of the detection device is gap-free, the energy of the laser beam after being shaped by the collimation and shaping component must be continuous. In addition to being a linear laser beam, the laser beam shaped by the collimation and shaping component can also be a planar laser beam. The planar laser beam irradiates the solid surface to form a planar spot, thereby achieving gap-free object scanning by the detection device.

[0107] The laser beams emitted by N laser emitters are shaped by collimation and shaping components to form M sub-surface laser beams. The M sub-surface laser beams are spliced ​​together to form a surface laser beam with continuous energy.

[0108] In one example, each of the N groups of laser emitters has the same arrangement and number of laser emitters. After being shaped by the collimation and shaping component, they form M sub-surface laser beams. The M sub-surface laser beams irradiate the solid surface to form M sub-surface light spots of the same shape. The M sub-surface light spots are spliced ​​together to form a surface light spot with a regular shape, such as a rectangular surface light spot, a square surface light spot, etc.

[0109] Alternatively, each of the N groups of laser emitters may have a different arrangement and / or the same number of emitters. After being shaped by a collimating and shaping component, these emitters form M sub-surface laser beams. These M sub-surface laser beams illuminate the solid surface, forming M sub-surface light spots of varying shapes. These M sub-surface light spots are then combined to form an irregularly shaped surface light spot, also known as a non-circular light spot. Here, a non-circular light spot refers to a light spot that is distinct from regularly shaped light spots such as rectangles, squares, circles, ellipses, and rhombuses. A non-circular light spot can be understood as a light spot that is continuously positioned but has an irregular shape (see [link to documentation]). Figure 7h ),

[0110] The detection device provided in this application embodiment, through the arrangement of multiple laser emitters and the shaping by the collimation and shaping assembly, enables the emitting assembly to emit a laser beam with a continuous energy spot, which can solve the crosstalk problem to a certain extent. The scanning rotating mirror assembly 23 includes a rotating mirror, which can be a single-sided mirror with one reflecting surface, or a multi-sided mirror with multiple reflecting surfaces, such as a tetrahedron with four reflecting surfaces (see...). Figure 2 The four mirrors are positioned along the transmission path of the linear laser beam. The emitting working reflective surface in the four mirrors emits the linear laser beam into the target space. The four mirrors rotate around the central axis of the device, changing the emission direction of the linear laser beam to achieve scanning of the target space. The emitting working reflective surface refers to one of the reflective surfaces in the four mirrors corresponding to the emission direction of the linear laser beam; that is, the reflective surface in the four mirrors illuminated by the linear laser beam collimated and shaped by the collimating and shaping component.

[0111] It is easy to understand that as the four mirrors rotate, the linear laser beam is directed towards different reflecting surfaces in the four mirrors. Therefore, the emitting working reflecting surface will switch to different reflecting surfaces in the four mirrors.

[0112] In one example, a complete rotation of the four mirrors generates four frames of data. Compared to a single mirror rotating once to generate one frame, this significantly increases the proportion of effective time of the scanning mirror assembly within the entire rotation cycle, allowing full utilization of the laser's repetition rate efficiency. Furthermore, compared to a tilting mirror, since the scanning mirror assembly always moves in one direction, the back-and-forth motion of the tilting mirror does not consume time in the scanning cycle, further increasing the proportion of effective time in the entire scanning cycle.

[0113] It is understandable that one frame of data from the detection device corresponds to the electrical signal of the target echo generated by scanning one working reflective surface of the rotating mirror in the scanning rotating mirror assembly. Therefore, when the four mirrors rotate one revolution (360°), the detection device forms four frames of data. However, when the rotating mirror in the scanning rotating mirror assembly is a single-sided reflective mirror, the single-sided reflective mirror only has one working reflective surface, so it can only form one frame of data when it rotates one revolution.

[0114] The time utilization rate of the detection device in this application is P. FOV / (360) 2), where P represents the number of reflecting surfaces of the multifaceted mirror, and FOV is the field of view angle corresponding to one reflecting surface. Therefore, the rotating mirror in the scanning rotating mirror assembly of the detection device of this application adopts a multifaceted mirror, which increases the time utilization rate by P times compared with the single-mirror detection device, greatly increasing the time utilization rate of the detection device.

[0115] Specifically, the scanning rotating mirror assembly also includes a rotating shaft and a drive device (such as a drive motor) that drives the rotating shaft to rotate, thereby causing the four mirrors to rotate around the rotating shaft.

[0116] In one example, the drive mechanism is housed inside the tetrahedron to further reduce the size of the detection device. For instance, the tetrahedron is formed by four mirrors enclosing a prism-like structure with an internal accommodating space, within which the drive mechanism is housed.

[0117] It is understood that the rotating mirror in the scanning rotating mirror assembly in this application embodiment is a four-sided mirror only as an example. It can also be a multi-sided mirror with other numbers of reflective surfaces, such as a mirror with five, six, or eight reflective surfaces. The number of reflective surfaces of the multi-sided mirror is related to the frame rate, detection distance, field of view (FOV) specifications, etc. A suitable multi-sided mirror can be selected as the rotating mirror in the scanning rotating mirror assembly according to actual needs.

[0118] Multifaceted mirrors can use a metal coating as the reflective surface. The metal is not limited to aluminum / aluminum alloys, and the coating includes, but is not limited to, metal films and dielectric films. Alternatively, multifaceted mirrors can also be implemented by attaching a mirror to a frame. The frame and mirror can be made of glass or plastic.

[0119] The detection device in this application embodiment can employ either single-sided illumination of a multi-faceted mirror or multi-faceted illumination of the multi-faceted mirror, for example, simultaneous illumination of both sides (A1 and A2 sides) of the multi-faceted mirror, thereby achieving a larger field of view (FOV) (see...). Figures 8-9 ).

[0120] At least one of the multiple reflecting surfaces of the polygonal mirror is arranged parallel to the axis of rotation of the scanning rotating mirror assembly, that is, at least one of the multiple reflecting surfaces of the polygonal mirror is a plane (see...). Figure 8 or Figure 9 ).

[0121] The reflecting surface of the polygon mirror can also be designed in other shapes; for example, the reflecting surface may be inclined towards the rotation axis in the middle along the axial direction of the rotation axis. Optionally, the polygon mirror can be configured as a symmetrical inclined mirror, and the detection device can illuminate one side of the polygon mirror or illuminate multiple sides of the polygon mirror (see [link to relevant documentation]). Figure 10 ).

[0122] Alternatively, the reflecting surfaces of the polygonal mirror gradually tilt towards the axis of rotation, and each reflecting surface of the polygonal mirror is trapezoidal (see...). Figure 11 In this application embodiment, the shape of the reflecting surface of the multifaceted mirror is not limited, and a suitable shape of the reflecting surface can be designed as needed.

[0123] In one example, the reflective surface of the scanning rotating mirror assembly is positioned close to the viewing window to further increase the horizontal FOV of the detection device. For instance, the rotation axis of the scanning rotating mirror assembly is positioned between the plane defined by the optical axis direction of the linear or planar laser beam and the beam extension direction of the linear or planar laser beam, and the plane or curved surface where the viewing window is located. This allows the reflective surface of the rotating mirror to be closer to the viewing window, reflecting the laser beam shaped by the shaping assembly out of the viewing window at a larger angle, thus increasing the horizontal FOV of the detection device.

[0124] There are various ways to deploy the transmitting and receiving components. For example, one transmitting component and one receiving component can be deployed to achieve single transmission and single reception. The transmitting and receiving components can be deployed on the same side of the scanning rotating mirror component, i.e., transmitting and receiving on the same side, or the transmitting and receiving components can be deployed on opposite sides of the scanning rotating mirror component, i.e., transmitting and receiving on opposite sides. Alternatively, when the scanning rotating mirror is a multifaceted mirror and the multifaceted mirror has two mutually perpendicular reflecting surfaces (e.g., the multifaceted mirror is a tetrahedron, and the two adjacent reflecting surfaces of the tetrahedron are both 90°, i.e., mutually perpendicular), one transmitting component and two receiving components can be deployed. One receiving component is deployed on the same side as the transmitting component, and the other receiving component is deployed on the opposite side of the transmitting component, achieving one transmission and two receptions. Alternatively, multiple (e.g., two) transmitting components and multiple (e.g., two) receiving components can be deployed. The multiple transmitting components emit laser beams to different reflecting surfaces of the multifaceted mirror, and the multiple receiving components receive multiple target echoes, achieving multifaceted illumination of the multifaceted mirror and increasing the FOV of the detection device. The deployment method of the transmitting and receiving components can be determined according to the requirements, and this application does not impose any restrictions. It should be noted that, due to limitations in the manufacturing process, perfect verticality may not be achievable. However, errors caused by the manufacturing process can be disregarded in this application.

[0125] It should be explained that deploying two components on the same side of the scanning rotating mirror assembly means that the two components correspond to the same working reflective surface of the scanning rotating mirror assembly. Specifically, the two components reflect and / or receive incident light through the same working reflective surface of the scanning rotating mirror assembly. For example, if the emitting component and the receiving component are deployed on the same side of the scanning rotating mirror assembly, it means that the emitted light from the emitting component is reflected to the detection area by one of the working reflective surfaces of the scanning rotating mirror assembly, while the receiving component receives the reflected light from the same working reflective surface. Deploying two components on opposite sides of the scanning rotating mirror assembly means that the two components correspond to different working reflective surfaces of the scanning rotating mirror assembly. Specifically, the two components reflect and / or receive incident light through different working reflective surfaces of the scanning rotating mirror assembly. For example, if the emitting component and the receiving component are deployed on opposite sides of the scanning rotating mirror assembly, it means that the emitted light from the emitting component is reflected to the detection area by one of the working reflective surfaces of the scanning rotating mirror assembly, while the receiving component receives the reflected light from the other working reflective surface of the scanning rotating mirror assembly.

[0126] For example, see Figure 2 The detection device deploys a transmitting component and a receiving component, with the transmitting component 21 and the receiving component 25 positioned on the same side of the scanning rotating mirror assembly 23. The laser beam emitted by the transmitting component 21 is processed into a linear or planar laser beam by the collimating and shaping component 22 and collimated to the working reflective surface of the scanning rotating mirror assembly. This working reflective surface reflects the linear or planar laser beam into the target scanning space. When the linear or planar laser beam encounters an obstacle, it is reflected to form a target echo. The target echo is incident on the working reflective surface and reflected to the receiving component. In other words, with the transmitting and receiving components positioned on the same side of the scanning rotating mirror assembly, only one working reflective surface is needed to achieve the transmission and reception of the linear laser beam.

[0127] See another example. Figures 12a-12c The scanning mirror is a polygonal mirror with two mutually perpendicular emitting surfaces, such as a tetrahedron. The detection device deploys a emitting component and a receiving component, which are respectively deployed on opposite sides of the tetrahedron. The laser beam emitted by the emitting component is collimated and shaped by a collimating and shaping component (12a- in the figure). Figure 12cA linear or planar laser beam (not shown) is processed into a collimated beam and irradiated onto a first working reflector (surface A1 in the figure). A receiving component receives the target echo reflected from a second working reflector (surface A2 in the figure). The first working reflector corresponds to the emission direction of the linear or planar laser beam, and the target echo includes the reflected signal of the linear or planar laser beam. The second working reflector corresponds to the incident direction of the reflected signal of the linear or planar laser beam and reflects the reflected signal of the linear or planar laser beam to the receiving component for reception. The first and second working reflectors are perpendicular to each other. The transmitting and receiving components are located on opposite sides of the polygon mirror, which helps to reduce the size of the detection device.

[0128] See another example. Figures 12d-12f The scanning mirror is a multifaceted mirror with two mutually perpendicular emitting surfaces, such as a tetrahedron. The detection device deploys one emitting component and two receiving components. One receiving component and the emitting component are located on the same side of the multifaceted mirror, and the other receiving component and the emitting component are located on opposite sides of the multifaceted mirror. The laser beam emitted by the emitting component is processed by the collimating and shaping component (not shown in the figure) into a collimated linear laser beam or planar laser beam, which illuminates the third working reflecting surface. The receiving component on the same side as the emitting component receives the target echo reflected by the third working reflecting surface, and the receiving component on the opposite side of the emitting component receives the target echo reflected by the fourth working reflecting surface. The third working reflecting surface corresponds to the emission direction of the linear or planar laser beam, and the target echo includes the reflected signal of the linear or planar laser beam. The fourth working reflecting surface corresponds to the incident direction of the reflected signal of the linear or planar laser beam, and reflects the reflected signal of the linear or planar laser beam to the receiving component on the opposite side of the emitting component for reception. The third and fourth working reflecting surfaces are perpendicular to each other. In this way, the detection device makes full use of the laser beam emitted by the transmitting component, thereby increasing the field of view (FOV) of the detection device.

[0129] Understandable, Figures 12d-12f For simplicity, the transmitting component and the receiving component on the same side as the transmitting component are referred to as the transceiver component, which is used to transmit laser beams and receive target echoes.

[0130] See another example. Figure 12g-Figure 12iThe detection device deploys two transmitting components and two receiving components. The scanning rotating mirror assembly includes a multifaceted mirror with multiple reflective surfaces. The transmitting components include at least a first transmitting component and a second transmitting component. The collimating and shaping components include at least a first collimating and shaping component and a second collimating and shaping component (not shown in the figure). The receiving components include at least a third receiving component and a fourth receiving component. The first transmitting component, the first collimating and shaping component, and the first receiving component, as well as the second transmitting component, the second collimating and shaping component, and the second receiving component, are respectively arranged on opposite sides of the scanning rotating mirror assembly (or they can be arranged at any two different angles or sides of the scanning rotating mirror assembly; here, opposite sides are used as an example). The first transmitting component is used to emit a first laser beam. The first collimating and shaping component is used to process the first laser beam into a collimated first linear laser beam and collimate it to the fifth working reflective surface (A1 surface). The third receiving component receives the first target echo. The fifth working reflective surface corresponds to the emission direction of the first linear laser beam, and the first target echo includes the reflected signal of the first linear laser beam. The second transmitting component emits a second laser beam, and the second collimating and shaping component processes the second laser beam into a collimated second linear laser beam, aligning it to the sixth working reflective surface (A2 surface). The fourth receiving component receives the second target echo, wherein the sixth working reflective surface corresponds to the emission direction of the second linear laser beam, and the second target echo includes the reflected signal of the second linear laser beam. Thus, the transmitting and receiving components on the same side use the same working reflective surface to achieve detection scanning and receive the target echo, thereby realizing the coaxial optical path transmission and reception of the detection device. That is, according to the reversibility of the optical path, the emitted laser beam and the received target echo are coaxial with the transmitting and receiving components on the same side.

[0131] Understandable, Figure 12g-Figure 12i For simplicity, the transmitting component and the receiving component on the same side as the transmitting component are referred to as the transceiver component, which is used to transmit laser beams and receive target echoes.

[0132] See another example. Figures 12j-12kThe detection device is equipped with two transmitting components and two receiving components. The scanning mirror is a multifaceted mirror with two mutually perpendicular emitting surfaces, such as a tetrahedron. The transmitting components include at least a third transmitting component and a fourth transmitting component. The collimating and shaping components include at least a third collimating and shaping component and a fourth collimating and shaping component (not shown in the figure). The receiving components include at least a fifth receiving component and a sixth receiving component. The third transmitting component, the third collimating and shaping component, and the fifth receiving component, as well as the fourth transmitting component, the fourth collimating and shaping component, and the sixth receiving component, are respectively disposed on both sides of the multifaceted mirror. The third transmitting component emits a third laser beam. The third collimating and shaping component processes the third laser beam into a collimated third linear laser beam or a third planar laser beam and collimates it to a seventh working reflecting surface. The sixth receiving component... The component receives the third target echo reflected from the eighth working surface. The seventh working reflector corresponds to the emission direction of the third linear or planar laser beam, and the third target echo includes the reflected signal of the third linear or planar laser beam. The eighth working reflector corresponds to the incident direction of the reflected signal of the third linear or planar laser beam, and the seventh and eighth working reflector surfaces are perpendicular to each other. The fourth transmitting component emits a fourth laser beam, and the fourth collimating and shaping component processes the fourth laser beam into a collimated fourth linear or planar laser beam and aligns it to the eighth working reflector surface. The fifth receiving component receives the fourth target echo reflected from the seventh working surface, where the fourth target echo includes the reflected signal of the fourth linear or planar laser beam. Thus, different working reflector surfaces are used to achieve the detection and scanning of the same linear or planar laser beam and the reception of the target echo, achieving cross-transmission and reception. That is, the optical paths of the linear or planar laser beam emitted by the transmitting component are not coaxial with the optical paths of its target echo, achieving off-axis transmission and reception of the linear or planar laser beam.

[0133] Understandable, Figures 12j-12k For simplicity, the transmitting component and the receiving component on the same side as the transmitting component are referred to as the transceiver component, which is used to transmit laser beams and receive target echoes.

[0134] It should be noted that the scanning rotating mirror assembly mentioned above can rotate during the operation of the detection device. Therefore, those skilled in the art will understand that the above illustrations are only for illustrating the positional relationship between the reflective surface of the scanning rotating mirror assembly and the transmitting and receiving components, as well as the corresponding optical path, during actual operation, and do not represent a fixed positional relationship.

[0135] Back Figure 2 The function of the synchronization component 24 is to obtain the synchronization position of the working reflective surface in at least one of the reflective surfaces of the rotating mirror. The synchronization position represents the position where the working reflective surface initially receives the linear laser beam. When the synchronization component detects that the rotating mirror has rotated to the synchronization position, the control component controls the scanning rotating mirror component to continue rotating and the emission component to work and emit the laser beam.

[0136] In one example, the synchronization component may include a code disk for detecting the rotation angle of the rotating mirror. The rotation angle is obtained through the code disk, thus determining the synchronization position of the working reflective surface. Alternatively, the synchronization component may include a laser transceiver component. By setting a mark on the edge of the multifaceted mirror, the laser transceiver component shines light onto the edge of the multifaceted mirror. When the laser transceiver component illuminates the mark, the synchronization position of the working reflective surface is determined. This application does not specifically limit the method by which the synchronization component obtains the synchronization position; the synchronization position can be obtained in various possible ways.

[0137] When the rotating mirror is a polyhedron, the synchronization device can also determine which reflective surface of the polyhedron will be used as the working reflective surface. This information, combined with the transmitting and receiving components, allows for control as needed. For example, by determining which reflective surface of the polyhedron will be used as the working reflective surface, the synchronizing device can, in conjunction with the transmitting and receiving components, achieve different laser emission waveforms, pulse codes, or different ROIs (Regions of Interest) and resolutions when that reflective surface is used as the working reflective surface compared to other reflective surfaces.

[0138] In one example, the receiving component 25 includes a SPAD detector pixel array, comprising one or more pixels, each pixel including one or more SPADs. The receiving working reflective surface in the scanning rotating mirror component 23 reflects the target echo signal onto one or more pixels of the SPAD detector pixel array to form a line spot. The SPAD detector pixel array converts the target echo signal from an optical signal into an electrical signal, realizing line scanning and line reception of the detection device. It should be explained that the receiving working reflective surface of the scanning rotating mirror component is the reflective surface of at least one reflective surface corresponding to the incident direction of the target echo signal, that is, the receiving working reflective surface is the reflective surface of at least one reflective surface illuminated by the target echo.

[0139] Unlike existing gimbal-mounted lidar receiving systems, which use separate detectors (one detector per pixel) resulting in large pixel gaps, low resolution, and low integration, the receiving component of the detection device in this application uses a detector array IC. This reduces the gap between adjacent pixels and increases resolution. Considering that the transmitting component's light source forms a line light source through a collimating element, while the receiving component uses an array receiving method with many pixels, the receiving energy of a single pixel decreases compared to a point-to-point transmission and reception mode, thus affecting the detection range. The detection range can be improved in three ways: First, the receiving component uses SPAD technology to improve the sensitivity to weak signals, thereby increasing the detection range. Second, multiple SPAD units form a SPAD group, increasing the pixel photosensitive area and further improving the detection range. Third, by using multi-pulse laser emission from each laser in the transmitting component, the repetition rate of the laser is fully utilized to increase the emission power. Through these methods, a longer detection range is achieved (see [link to relevant documentation]). Figure 13 ).

[0140] In another example, the receiving component 25 includes a silicon photomultiplier (SiPM) array comprising a plurality of pixels, each pixel including at least one silicon photomultiplier, see [link to example]. Figure 14 In the diagram, each square represents a pixel. One or more SiPMs form a pixel, and multiple SiPM pixels are arranged to form a SiPM pixel array. The receiving working reflective surface in the scanning rotating mirror assembly 23 reflects the target echo signal onto one or more pixels of the SiPM pixel array to form a line spot. The SiPM pixel array converts the target echo signal from an optical signal into an electrical signal, realizing line scanning and line receiving of the detection device. Of course, the transceiver components of the detection device in this application embodiment are not limited to SPAD detectors or SiPM arrays; APD detector arrays or a hybrid SPAD and APD detector array can also be used.

[0141] The detection device in this application embodiment further includes a processing component, which can adjust the energy distribution of the linear laser beam by adjusting the emission parameters of each laser emitter and / or the parameters of the collimation and shaping component (see...). Figure 15 This allows for dynamic changes in the energy distribution of the laser spot based on the electrical signal corresponding to the target echo, or changes in the energy distribution of the laser spot based on other possible needs. For example, before the detection device leaves the factory, the processing component adjusts the emission parameters of each laser emitter and / or the parameters of the collimation and shaping component to calibrate the parameters of the detection device.

[0142] For example, the emission parameters of each laser emitter in the laser emitter array can be controlled by a processing component. These emission parameters include at least one of emission switching parameters, emission power parameters, emission pulse / continuous beam parameters, and repetition rate parameters. The processing component controls the emission parameters of each laser emitter in the laser emitter array to further adjust the energy distribution of the linear laser beam or to achieve other possible requirements.

[0143] As is easily understood, the transmit switch parameter characterizes the on or off state of each laser emitter in the laser emitter array, and is used to control the on or off state of each laser emitter; the transmit power parameter characterizes the transmit power of each laser emitter in the laser emitter array, and is used to control the transmit power of the laser beam emitted by each laser emitter; the transmit pulse / continuous light parameter characterizes whether each laser emitter emits pulsed or continuous laser light, and is used to control whether each laser emitter emits pulsed or continuous laser light; the repetition rate parameter characterizes the number of pulses generated per second when each laser emitter in the laser emitter array emits pulsed laser light, and is used to control the number of pulses emitted per second by each laser emitter.

[0144] The collimation and shaping assembly includes multiple microlens assemblies, each of which collimates and shapes the laser beam into a linear laser beam with different energy distributions. The processing assembly achieves different energy distributions of the linear laser beam by adjusting and / or replacing different microlens assemblies among the multiple microlens assemblies.

[0145] For example, the processing component can also adjust the energy distribution of the linear laser beam or meet other possible requirements by adjusting the emission parameters of each laser emitter in the laser emitter array and the parameters of the collimation and shaping components, such as by adjusting and / or replacing different microlens components in multiple microlens assemblies.

[0146] The detection device in this application embodiment can dynamically change the energy distribution of the light spot based on the perception results of the previous frame or other needs. For example, it can improve the scanning accuracy / frequency of the region of interest (ROI) to achieve rapid positioning and high-precision scanning of the ROI (vehicle, person, building or random patch); and reduce the scanning accuracy and power of non-ROIs to achieve energy saving and environmental protection.

[0147] In another example, the processing component can also control and adjust the parameters of the single-photon avalanche detector pixel array or SiPM array according to the electrical signal corresponding to the target echo to adjust the resolution of the receiving component. The parameters of the avalanche detector pixel array include the pixel spacing and / or the number of single-photon avalanche detectors in the pixel and / or the number of single-photon avalanche detectors included in the pixel. The parameters of the SiPM array include the pixel spacing and / or the number of silicon photomultiplier tubes in the pixel and / or the number of silicon photomultiplier tubes included in the pixel. Based on the sensing structure of the previous frame, the pixel density of the SPAD or SiPM is adjusted to achieve high pixel count in the ROI and improve the resolution of the ROI.

[0148] For example, for a Region of Interest (ROI), the pixel density of a SPAD or SiPM can be increased by reducing the spacing between pixels corresponding to the ROI, or by increasing the number of single-photon avalanche detectors (SPADs) or silicon photomultipliers (SiPs) in a pixel; or by dynamically adjusting the SPADs or SiPs included in a pixel. That is, by adjusting the pixel boundaries, such as adjusting the start and end positions of the pixel boundaries. In other words, the avalanche detector pixel array or SiPM array has a sliding window function. By sliding the pixel border, different SPADs or SiPs can be selected by the pixel, or the pixel boundaries can be expanded to select more SPADs or SiPs. This ensures that the target echo corresponding to the ROI is located in the same pixel, achieving high pixel count in the ROI and improving the ROI resolution.

[0149] This application also provides a control method for a detection device.

[0150] Figure 16 This application provides a control method for a detection device. This method can be applied to... Figure 2 The detection device shown, such as Figure 16 As shown, the control method includes at least steps S1201-S1203.

[0151] In step S1201, the emission assembly is controlled to emit a laser beam, which is then processed by the collimation and shaping assembly into a collimated linear laser beam.

[0152] In step S1202, the scanning rotating mirror assembly is controlled to rotate for scanning.

[0153] For example, the control component controls the drive device to drive the rotating shaft to rotate, which in turn drives the rotating mirror to rotate. The working reflective surface of the rotating mirror changes its angle, thereby changing the emission direction of the linear laser beam, so that the detection device can scan the target scanning space.

[0154] In step S1203, the receiving component receives the target echo to convert the target echo into an electrical signal, wherein the target echo includes the reflected signal of the linear laser beam.

[0155] In one example, such as Figure 17 As shown, the control method of the detection device also includes steps S1204-S1205.

[0156] In step S1204, the energy distribution of the linear laser beam is adjusted according to the electrical signal corresponding to the target echo.

[0157] For example, the processing component adjusts the energy distribution of the linear laser beam by controlling the emission parameters of each laser emitter in the laser emitter array. Alternatively, the processing component achieves different energy distributions of the linear laser beam by adjusting and replacing different microlens components in multiple microlens assemblies. Alternatively, the processing component can also adjust the energy distribution of the linear laser beam by adjusting the emission parameters of each laser emitter in the laser emitter array and by adjusting and replacing different microlens components in multiple microlens assemblies.

[0158] The detection device in this application embodiment can dynamically change the energy distribution of the light spot according to the perception results of the previous frame / other needs; for example, it can improve the scanning accuracy / frequency of the region of interest (ROI) to achieve rapid positioning and high-precision scanning of the ROI (vehicle, person, building or random patch); and reduce the scanning accuracy and power of non-ROI to achieve energy saving and environmental protection.

[0159] In step S1205, the parameters of the SPAD detector pixel array are adjusted according to the electrical signal corresponding to the target echo in order to adjust the resolution of the receiving component.

[0160] For example, the processing component controls and adjusts the parameters of the single-photon avalanche detector pixel array according to the electrical signal corresponding to the target echo, so as to adjust the resolution of the receiving component. The parameters of the avalanche detector pixel array include the pixel spacing and / or the number of single-photon avalanche detectors in the pixels. According to the sensing structure of the previous frame, the pixel density of the SPAD is adjusted to achieve high pixel count in the ROI and improve the resolution of the ROI.

[0161] In another example, step S1200, which controls the synchronization of the scanning mirror assembly and the transmission assembly, is included before step S1201.

[0162] For example, during the rotation of the scanning mirror assembly, the position of the scanning mirror assembly is obtained through the synchronization component. When the scanning mirror assembly rotates to the synchronization position, the transmitting component is controlled to pass through, thereby achieving synchronization between the transmitting component and the scanning mirror assembly.

[0163] This application embodiment also provides a chip, including at least one processor and a communication interface, wherein the processor is used to execute... Figure 16 and / or Figure 17 The method described.

[0164] Figure 18 This is a schematic diagram of the structure of a chip provided in an embodiment of this application.

[0165] like Figure 18 As shown, the chip 1400 includes at least one processor 1401, a memory 1402, and a communication interface 1403. The processor 1401, memory 1402, and communication interface 1403 are communicatively connected, or can communicate via wireless transmission or other means. The communication interface 1403 is used to receive signals from the synchronization component and / or send control signals to the transmitting component to adjust transmission parameters and / or send control signals to the receiving component to adjust the parameters of the receiving detector pixel array. The memory 1402 stores executable program code, and the processor 1401 can call the program code stored in the memory 1402 to execute the control method of the detection device in the aforementioned method embodiment.

[0166] It should be understood that, in the embodiments of this application, the processor 1401 may be a central processing unit (CPU), or it may be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor.

[0167] The memory 1402 may include read-only memory and random access memory, and provides instructions and data to the processor 1401. The memory 1402 may also include non-volatile random access memory.

[0168] The memory 1402 can be volatile memory or non-volatile memory, or it can include both. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (SLDRAM), and direct rambus RAM (DRRAM).

[0169] It should be understood that the chip 1400 according to the embodiments of this application can perform the implementation of the embodiments of this application. Figure 16-17 The method shown is described in detail above, and will not be repeated here for the sake of brevity.

[0170] This application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, causes the computer to perform any of the methods described above.

[0171] This application also provides a computer program or computer program product that includes instructions that, when executed, cause a computer to perform any of the methods described above.

[0172] This application also provides a lidar system including one or more of the above-mentioned detection devices, which performs target detection.

[0173] This application also provides a terminal that includes the aforementioned detection device or lidar system. This terminal includes, but is not limited to, intelligent transportation equipment deployed with the aforementioned detection device or lidar system, such as vehicles, drones, robots, etc.; surveying equipment deployed with the aforementioned detection device or lidar system; and transportation infrastructure deployed with the aforementioned detection device or lidar system.

[0174] Taking motor vehicles as an example, this paper explains the application of detection devices or lidar systems on motor vehicles. A lidar system is installed on the motor vehicle, and the lidar system can communicate with the intelligent driving or autonomous driving system on the motor vehicle. Detection devices are installed at multiple locations on the motor vehicle (preferably with detection points covering the entire panorama around the motor vehicle, but detection points can also be deployed according to actual needs). The detection device at each detection point completes spatial scanning and obtains spatial point cloud data for each detection point. The autonomous driving system of the motor vehicle merges the spatial point cloud data of each detection point together to form spatial point cloud information of the vehicle's surrounding environment, thereby perceiving the surrounding environment information.

[0175] In the description of this specification, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0176] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A detection device, characterized in that, include: A emitting assembly for emitting a laser beam, the emitting assembly comprising a laser emitter array consisting of a plurality of laser emitters, the laser emitter array comprising at least one column of laser emitters, wherein the first column of the at least one column of laser emitters comprises at least N groups of laser emitters, the N groups of laser emitters being arranged alternately, and N being a positive integer greater than 1; A collimation and shaping assembly is used to process the laser beams emitted by the N sets of laser emitters into collimated linear or planar laser beams. The linear laser beam comprises M segments of linear laser beams, which are spliced ​​together to form the linear laser beam. Alternatively, the planar laser beam may comprise M sub-planar laser beams, which are spliced ​​together to form the planar laser beam. M is a positive integer greater than or equal to 2; The scanning rotating mirror assembly includes at least one reflective surface for reflecting the linear laser beam or the planar laser beam; A receiving component for receiving a target echo, wherein the target echo includes the reflected signal of the linear laser beam or the planar laser beam.

2. The detection device according to claim 1, characterized in that, The detection device further includes: a synchronization component, used to acquire at least the synchronization position of the working reflective surface in the at least one reflective surface, the synchronization position representing the position where the working reflective surface initially receives the linear laser beam or the planar laser beam, the working reflective surface corresponding to the emission direction of the linear laser beam or the planar laser beam.

3. The detection device according to claim 1, characterized in that, The number of laser emitters in each of the N groups of laser emitters is the same, or there are at least two groups of laser emitters with different numbers of laser emitters.

4. The detection device according to claim 1, characterized in that, The plurality of laser emitters include edge-emitting laser emitters and vertical-cavity surface-emitting laser emitters, which are arranged adjacent to each other.

5. The detection device according to claim 1, characterized in that, The detection device further includes a processing component for controlling the emission parameters of each laser emitter in the laser emitter array. The emission parameters include at least one of emission switch parameters, emission power parameters, emission pulse / continuous light parameters, and repetition rate parameters.

6. The detection device according to claim 5, characterized in that, The collimation and shaping assembly includes multiple microlens assemblies, and different microlens assemblies collimate and shape the laser beam into linear laser beams with different energy distributions. The processing component is used to adjust the emission parameters of the individual laser emitters and / or the plurality of microlens assemblies.

7. The detection device according to claim 1, characterized in that, The at least one reflective surface is arranged parallel to the axis of rotation of the scanning rotating mirror assembly.

8. The detection device according to claim 1, characterized in that, The at least one of the reflecting surfaces is inclined toward the rotation axis at its center along the axial direction of the rotation axis of the scanning rotating mirror assembly.

9. The detection device according to any one of claims 1-8, characterized in that, The transmitting component and the receiving component are located on the same side of the scanning rotating mirror component.

10. The detection device according to any one of claims 1-8, characterized in that, The transmitting component and the receiving component are located on opposite sides of the scanning rotating mirror component; The at least one reflecting surface includes two mutually perpendicular reflecting surfaces. The laser beam emitted by the emitting component is processed by the collimating and shaping component into a collimated linear laser beam or a planar laser beam, which then irradiates the first working reflecting surface. The receiving component is used to receive the target echo reflected by the second working reflecting surface. The first working reflecting surface corresponds to the emission direction of the linear laser beam or the planar laser beam, and the target echo includes the reflected signal of the linear laser beam or the planar laser beam. The second working reflecting surface corresponds to the incident direction of the reflected signal of the linear laser beam or the planar laser beam, and the first working reflecting surface and the second working reflecting surface are perpendicular to each other.

11. The detection device according to any one of claims 1-8, characterized in that, The receiving component includes at least a first receiving component and a second receiving component; The first receiving component and the transmitting component are located on the same side of the scanning rotating mirror assembly, and the second receiving component and the transmitting component are located on opposite sides of the scanning rotating mirror assembly. The at least one reflecting surface includes two mutually perpendicular reflecting surfaces. The laser beam emitted by the emitting component is processed by the collimating and shaping component into a collimated linear laser beam or a planar laser beam, which is then irradiated onto the third working reflecting surface. The first receiving component is used to receive the target echo reflected by the third working reflecting surface, and the second receiving component is used to receive the target echo reflected by the fourth working reflecting surface. The third working reflecting surface corresponds to the emission direction of the linear laser beam or the planar laser beam, and the target echo includes the reflected signal of the linear laser beam or the planar laser beam. The fourth working reflecting surface corresponds to the incident direction of the reflected signal of the linear laser beam or the planar laser beam, and the third and fourth working reflecting surfaces are mutually perpendicular.

12. The detection device according to any one of claims 1-8, characterized in that, The transmitting component includes at least a first transmitting component and a second transmitting component, the collimating and shaping component includes at least a first collimating and shaping component and a second collimating and shaping component, and the receiving component includes at least a third receiving component and a fourth receiving component; The scanning rotating mirror assembly includes multiple reflective surfaces, and the first transmitting component, the first collimating and shaping component, and the third receiving component, the second transmitting component, the second collimating and shaping component, and the fourth receiving component are respectively disposed on both sides of the scanning rotating mirror assembly; The first emitting component is used to emit a first laser beam, the first collimating and shaping component is used to process the first laser beam into a collimated first linear laser beam or a first planar laser beam, and collimate it to a fifth working reflective surface, the third receiving component is used to receive a first target echo, wherein the fifth working reflective surface corresponds to the emission direction of the first linear laser beam or the first planar laser beam, and the first target echo includes the reflected signal of the first linear laser beam or the first planar laser beam; The second emitting component is used to emit a second laser beam, the second collimating and shaping component is used to process the second laser beam into a collimated second linear laser beam or a second planar laser beam, and collimate it to a sixth working reflector, the fourth receiving component is used to receive a second target echo, wherein the sixth working reflector corresponds to the emission direction of the second linear laser beam or the second planar laser beam, and the second target echo includes the reflected signal of the second linear laser beam or the second planar laser beam.

13. The detection device according to any one of claims 1-8, characterized in that, The transmitting component includes at least a third transmitting component and a fourth transmitting component, the collimating and shaping component includes at least a third collimating and shaping component and a fourth collimating and shaping component, and the receiving component includes at least a fifth receiving component and a sixth receiving component; The at least one reflecting surface includes at least two mutually perpendicular reflecting surfaces, and the third transmitting component, the third collimating and shaping component, and the fifth receiving component, as well as the fourth transmitting component, the fourth collimating and shaping component, and the sixth receiving component are respectively disposed on both sides of the scanning rotating mirror component; The third emitting component is used to emit a third laser beam, the third collimating and shaping component is used to process the third laser beam into a collimated third linear laser beam or a third planar laser beam, and collimate it to the seventh working reflecting surface, the sixth receiving component is used to receive the third target echo reflected by the eighth working reflecting surface, wherein the seventh working reflecting surface corresponds to the emission direction of the third linear laser beam or the third planar laser beam, the third target echo includes the reflected signal of the third linear laser beam or the third planar laser beam, the eighth working reflecting surface corresponds to the incident direction of the reflected signal of the third linear laser beam or the third planar laser beam, and the seventh working reflecting surface and the eighth working reflecting surface are perpendicular to each other; The fourth emitting component is used to emit a fourth laser beam, the fourth collimating and shaping component is used to process the fourth laser beam into a collimated fourth linear laser beam or a fourth planar laser beam, and collimate it to the eighth working reflecting surface, the fifth receiving component is used to receive the fourth target echo reflected by the seventh working reflecting surface, wherein the fourth target echo includes the reflected signal of the fourth linear laser beam or the fourth planar laser beam.

14. The detection device according to any one of claims 1-8, characterized in that, The detection device further includes a viewing window, and the scanning rotating mirror assembly includes a rotating shaft. The at least one reflecting surface rotates around the rotating shaft, and the rotating shaft is disposed between a first plane and a second plane or curved surface. The first plane is determined based on the optical axis direction of the linear laser beam or planar laser beam and the spot extension direction of the linear laser beam or planar laser beam. The second plane or curved surface is the plane or curved surface where the viewing window is located.

15. The detection device according to any one of claims 1-8, characterized in that, The receiving component includes a single-photon avalanche detector pixel array, which includes multiple pixels, and each pixel includes one or more single-photon avalanche detectors.

16. The detection device according to claim 15, characterized in that, It also includes a processing component for controlling the parameters of the single-photon avalanche detector pixel array according to the electrical signal corresponding to the target echo, so as to adjust the resolution of the receiving component, wherein the parameters of the avalanche detector pixel array include the pixel spacing and / or the number of single-photon avalanche detectors in the pixel and / or the number of single-photon avalanche detectors included in the pixel.

17. The detection device according to any one of claims 1-8, characterized in that, The receiving component includes a silicon photomultiplier array, the silicon photomultiplier array includes a plurality of pixels, and the pixels include one or more silicon photomultipliers.

18. The detection device according to claim 17, characterized in that, It also includes a processing component for controlling the parameters of the silicon photomultiplier tube array according to the electrical signal corresponding to the target echo, so as to adjust the resolution of the receiving component, wherein the parameters of the silicon photomultiplier tube array include the pixel spacing and / or the number of silicon photomultiplier tubes in the pixel and / or the number of silicon photomultiplier tubes included in the pixel.

19. The detection device according to any one of claims 1-8, characterized in that, In the M-segment sub-linear laser beam, adjacent sub-linear laser beams are connected or partially overlap in their extension direction. Alternatively, adjacent sub-surface laser beams among the M sub-surface laser beams may be connected or partially overlap.

20. The detection device according to any one of claims 1-8, characterized in that, The spot of the M-segment linear laser beam extends along the vertical field of view of the detection device, and the spot of the M-segment linear laser beam is uniformly or non-uniformly distributed within the vertical field of view of the detection device.

21. The detection device according to any one of claims 1-8, characterized in that, The spot of the linear laser beam extends along the horizontal field of view of the detection device or is tilted relative to the horizontal field of view of the detection device.

22. The detection device according to any one of claims 1-8, characterized in that, The linear laser beam is used to form linear or convex-shaped light spots; Alternatively, the M sub-planar laser beams form light spots of the same shape, and the planar laser beams are used to form rectangular light spots; Alternatively, among the light spots formed by the M sub-planar laser beams, there are at least light spots with different shapes, and the planar laser beams are used to form irregularly shaped light spots.

23. The detection device according to any one of claims 1-8, characterized in that, It also includes a driving device for driving the scanning mirror assembly to rotate around a rotation axis. The scanning mirror assembly includes multiple reflective surfaces surrounding an accommodating space, and the driving device is disposed within the accommodating space.

24. The detection device according to any one of claims 1-8, wherein the emitting assembly comprises two sets of laser emitter arrays; The two sets of laser emitters are arranged collinearly to form two columns of laser emitters. The laser beams emitted by the two sets of laser emitters are shaped into two sub-linear laser beams by a collimation and shaping component. The two sub-linear laser beams are connected to form a single linear laser beam.

25. A lidar system, characterized in that, It includes at least the detection device as described in any one of claims 1-24.

26. A terminal, characterized in that, It includes at least the detection device as described in any one of claims 1-24, or the lidar system as described in claim 25.

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