A detection system, a terminal device and a detection control method

Abstract

The application discloses a kind of detection system, terminal equipment and detection control method, computer readable storage medium and computer program product, to solve the problem of low accuracy of detection system in prior art, applied in the field of automatic driving, intelligent driving, auxiliary driving or networked car etc..The detection system includes emitting module (301), receiving module (302), first scanning module (303) and second scanning module (304), the included angle between the first normal vector of the first reflecting surface of first scanning module (303) and the second normal vector of the second reflecting surface of second scanning module (304) is the first angle greater than 0 °, and the first reflecting surface and the second reflecting surface are adjacent reflecting surface, the included angle between the optical axis of emitting module (301) and the optical axis of receiving module (302) is the second angle greater than 0 °.Emitting module (301) is used to emit signal light, first scanning module (303) is used to reflect received signal light, second scanning module (304) is used to reflect echo signal obtained by at least one target reflected signal light to receiving module (302), and receiving module (302) is used to receive echo signal.Based on this, the accuracy of detection system detection can be improved.

Description

Technical Field

[0001] This application relates to the field of detection technology, and in particular to a detection system, terminal equipment and detection control method. Background Technology

[0002] With the development of science and technology, intelligent transportation equipment, smart home devices, robots, vehicles, and other intelligent terminals are gradually entering people's daily lives. Detection systems are playing an increasingly important role in these intelligent terminals. Because they can perceive their surroundings and identify and track moving targets based on this information, as well as recognize stationary scenes such as lane lines and signs, they can also perform route planning by combining navigation systems and map data. Therefore, detection systems are playing an increasingly vital role in intelligent terminals.

[0003] In practical applications, detection systems inevitably encounter targets with high or special reflectivity (called angular reflection) when sensing their surroundings. Examples include road signs, warning signs, road markers, roadside safety posts, guardrails, convex mirrors at corners, and vehicle license plates and high-reflectivity stickers. These targets generate strong scattered light, which can affect the actual echo signal. For instance, the detection system might falsely detect ghost images of targets with high or special reflectivity (angular reflection). The specific optical path is described below. Figure 1b This misinterpretation will reduce the accuracy of the detection system and may even lead to misjudgment of the detection area.

[0004] In summary, improving the accuracy of the detection system in detecting the detection area is a technical problem that urgently needs to be solved. Summary of the Invention

[0005] This application provides a detection system, terminal equipment, and detection control method to maximize the detection accuracy of the detection system.

[0006] In a first aspect, this application provides a detection system, which may include a transmitting module, a receiving module, a first scanning module, and a second scanning module. The angle between the first normal vector of the first reflecting surface of the first scanning module and the second normal vector of the second reflecting surface of the second scanning module is a first angle greater than 0°, and the first and second reflecting surfaces are adjacent reflecting surfaces; the angle between the optical axis of the transmitting module and the optical axis of the receiving module is a second angle greater than 0°. The transmitting module is used to transmit signal light, the first scanning module is used to reflect the signal light from the transmitting module, the second scanning module is used to reflect the received echo signal to the receiving module, and the receiving module is used to receive the echo signal, wherein the echo signal includes reflected light obtained after reflecting signal light from at least one target.

[0007] Based on this scheme, the angle between the first normal vector of the first reflecting surface of the first scanning module and the second normal vector of the second reflecting surface of the second scanning module is a first angle greater than 0°, and the angle between the optical axis of the transmitting module and the optical axis of the receiving module is a second angle greater than 0°. Therefore, the signal light initially reflected by the first scanning module to the detection area can be made as parallel as possible to the echo signal initially reflected by the second scanning module to the receiving module. This allows the second scanning module to reflect the echo signal obtained after the signal light initially reflected by the first scanning module to the detection area is reflected by the target (such as the second target) in the detection area into the receiving module, and also allows the second scanning module to reflect the echo signal corresponding to the signal light not initially reflected by the first scanning module to the target (such as the first target) to an area outside the receiving module. Consequently, the echo signal corresponding to the signal light not initially reflected by the first scanning module cannot be read by the detection system, thus helping to eliminate false detection of ghost images by the detection system and improving the accuracy of the detection system.

[0008] Here, the angle between the first normal vector of the first reflecting surface of the first scanning module and the second normal vector of the second reflecting surface of the second scanning module is called the first angle. This can be understood as the angle between the first normal vector of the first reflecting surface of the first scanning module and the second normal vector of the second reflecting surface of the second scanning module being a fixed first angle. That is, the first and second scanning modules are fixed together, and before rotating around the scanning axis, a relative rotational first angle already exists in the direction of rotation around the scanning axis. Alternatively, the first and second scanning modules can be separate, meaning they can rotate around their respective scanning axes. During the rotation of the first and second scanning modules around their respective scanning axes, the angle between the first normal vector of the first reflecting surface of the first scanning module and the second normal vector of the second reflecting surface of the second scanning module always remains at the first angle.

[0009] In one possible implementation, the detection system further includes a detection module, a second scanning module for reflecting a first echo signal obtained by reflecting the signal light from a first target among at least one target to a receiving module, and the receiving module for propagating the first echo signal to a currently non-gated first region in the detection module or a region outside the detection module. Alternatively, the second scanning module is used to reflect the first echo signal to a region outside the receiving module.

[0010] By using the second scanning module to propagate the first echo signal to the first area of ​​the detection module or an area outside the receiving module, the detection system can be unable to detect the first echo signal, thereby eliminating the false ghost image caused by the first target.

[0011] In one possible implementation, the detection system further includes a detection module, and at least one target capable of reflecting signal light includes a second target located in the detection region. A second scanning module is used to reflect a second echo signal obtained by reflecting the signal light from the second target in the detection region to a receiving module. The receiving module is used to propagate the second echo signal to a currently selected second region in the detection module. The detection module is used to perform photoelectric conversion on the received second echo signal to obtain an electrical signal used to determine the association information of the second target.

[0012] The second scanning module reflects the second echo signal to the receiving module as much as possible. The receiving module then propagates the second echo signal to the currently selected second region in the detection module. The currently selected second region in the detection module can perform photoelectric conversion based on the second echo signal, thereby obtaining the correlation information of the second target based on the converted electrical signal.

[0013] In one possible implementation, the scanning axes of the first scanning module and the second scanning module are a shared first scanning axis, and the first reflecting surface and the second reflecting surface are adjacent in a direction parallel to the first scanning axis.

[0014] By having the first scanning module and the second scanning module share the first scanning axis, the assembly of the detection system can be simplified, and the control of the rotation of the first scanning module and the second scanning module around the first scanning axis can be simplified.

[0015] In one possible implementation, the scanning axis of the first scanning module is the second scanning axis, the scanning axis of the second scanning module is the third scanning axis, the direction of the second scanning axis is parallel to the direction of the third scanning axis, or the extension line of the second scanning axis coincides with the extension line of the third scanning axis, and the first reflecting surface and the second reflecting surface are adjacent in a direction parallel to the second scanning axis or in a direction parallel to the third scanning axis.

[0016] By having the first and second scanning modules rotate around their respective scanning axes, the flexibility of controlling the first and second scanning modules can be improved.

[0017] In one possible implementation, the second angle is equal to twice the first angle.

[0018] By designing the second angle to be twice that of the first angle, the loss of the second echo signal can be minimized, and the impact of false ghost images caused by the first echo signal on the accuracy of the detection system can be minimized.

[0019] In one possible implementation, the first scanning module includes any one of a rotating mirror, a tilting mirror, or a microelectro-mechanical system (MEMS) mirror; and / or, the second scanning module includes any one of a mirror, a tilting mirror, or a MEMS mirror.

[0020] In one possible implementation, the transmitting module includes a light source array, and the detecting module includes a pixel array. Further, optionally, the light source array performs time-division multiplexing of light sources by column, and the pixel array performs time-division multiplexing of pixels accordingly.

[0021] By selecting the light source and corresponding pixel in a column-by-column time-division manner, the detection system can achieve a line scan and line receive mode.

[0022] In one possible implementation, the first region of the detection module consists of at least one column of non-gated pixels, and the second region consists of at least one column of gated pixels.

[0023] In one possible implementation, the first angle is greater than or equal to the first angular resolution of the detection system, where the first angular resolution is the angular resolution of the detection system in the direction corresponding to the column of the pixel array.

[0024] When the detection system scans column by column, by setting the first angle to be greater than or equal to the first angular resolution in the direction corresponding to the column of the pixel array of the detection system, it can ensure as much as possible that the receiving module will direct the first echo signal to the currently non-gated first region in the pixel array, thereby minimizing the entry into the currently gated second region in the pixel array, and thus eliminating the influence of false ghost images caused by the first echo signal.

[0025] In one possible implementation, the transmitting module includes a light source array, and the detecting module includes a pixel array. Further, optionally, the light source array time-division multiplexes the light sources by row, and the pixel array time-division multiplexes the pixels by row.

[0026] By selecting the light source and corresponding pixel in a column-by-column time-division manner, the detection system can achieve a line scan and line receive mode.

[0027] In one possible implementation, the first region of the detection module consists of at least one row of non-gated pixels, and the second region consists of at least one row of gated pixels.

[0028] In one possible implementation, the first angle is greater than or equal to the second angular resolution of the detection system, which is the angular resolution of the detection system in the direction corresponding to the row of the pixel array.

[0029] When the detection system scans row by row, by setting the first angle to be greater than or equal to the second angular resolution in the direction corresponding to the row of the pixel array of the detection system, it can ensure as much as possible that the receiving module directs the first echo signal to the currently non-gated first region in the pixel array row, thereby reducing the number of signals entering the currently gated second region in the pixel array, and thus minimizing the influence of false ghost images caused by the first echo signal.

[0030] In one possible implementation, the detection system further includes a processing control module for receiving electrical signals from the detection module and determining the association information of the second target based on the electrical signals.

[0031] Secondly, this application provides a terminal device that includes the detection system described in the first aspect or any one of the first aspects.

[0032] Furthermore, optionally, the terminal device may also include a processor, which can be used to receive electrical signals from the detection system and determine the association information of the second target based on the electrical signals; or, the processor can receive the association information of the second target from the detection system and perform path planning, etc., based on the association information of the second target.

[0033] In one possible implementation, the terminal device includes, but is not limited to: vehicles, smart home devices, smart manufacturing equipment, robots, drones, smart transportation equipment, or surveying equipment.

[0034] Thirdly, this application provides a detection control method applicable to a detection system. The detection system may include a transmitting module, a receiving module, a first scanning module, and a second scanning module. The angle between the first normal vector of the first reflecting surface of the first scanning module and the second normal vector of the second reflecting surface of the second scanning module is a first angle greater than 0°. The first and second reflecting surfaces are adjacent reflecting surfaces. The angle between the optical axis of the transmitting module and the optical axis of the receiving module is a second angle greater than 0°. The method includes controlling the transmitting module to emit signal light, controlling the first scanning module to reflect the signal light from the transmitting module, obtaining an echo signal from the signal light incident on the target after reflection by at least one target, and controlling the second scanning module to reflect the received echo signal to the receiving module.

[0035] In one possible implementation, a first echo signal is obtained by reflecting the signal light through a first target in at least one target. The method includes controlling a second scanning module to reflect the first echo signal to a receiving module, or controlling the second scanning module to reflect the first echo signal to a region outside the receiving module. The first echo signal is then propagated through the receiving module to a currently non-gated first region in the detection module.

[0036] In one possible implementation, at least one target further includes a second target located within the detection area. The signal light is reflected by the second target in the detection area to obtain a second echo signal. The method includes controlling a second scanning module to reflect the second echo signal to a receiving module. Furthermore, the method includes controlling the detection module to select a second region. The selected second region is used to perform photoelectric conversion on the received second echo signal to obtain an electrical signal used to determine the association information of the second target.

[0037] In one possible implementation, the detection module includes a pixel array, and the method further includes controlling the pixel array to screen a second region column by column, such that the screened second region is used to perform photoelectric conversion on the received second echo signal.

[0038] In one possible implementation, the transmitting module includes a light source array, and the detecting module includes a pixel array. The method further includes controlling the light source array to time-division multiplex the light sources by column. Correspondingly, the method also includes controlling the pixel array to time-division multiplex the second region by column.

[0039] In one possible implementation, the transmitting module includes a light source array, and the detecting module includes a pixel array. The method further includes controlling the light source array to time-division multiplex the light sources by row. Correspondingly, the method also includes controlling the pixel array to time-division multiplex the second region by row.

[0040] In one possible implementation, the method further includes determining the association information of the second target based on the electrical signal.

[0041] Fourthly, this application provides a control device for implementing the third aspect or any one of the methods described above. The control device includes corresponding functional modules, each used to implement the steps in the above methods. The functions can be implemented in hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the functions described above.

[0042] In one possible implementation, the control device is, for example, a chip, a chip system, or a logic circuit. The beneficial effects are described in the third aspect above and will not be repeated here. The control device may include a transceiver module and a processing module. The processing module can be configured to support the control device in performing the corresponding functions in the method of the third aspect above, and the transceiver module is used to support the interaction between the control device and various functional modules in the detection system. The transceiver module can be a separate receiving module, a separate transmitting module, a transceiver module with integrated transceiver functions, or an interface circuit. Optionally, the control device may also include a storage module, which can be coupled to the processing module and stores the necessary program instructions of the control device.

[0043] Fifthly, this application provides a chip including at least one processor and interface circuitry. Further, optionally, the chip may also include a memory, wherein the processor is configured to execute computer programs or instructions stored in the memory, causing the chip to perform the methods described in the third aspect or any possible implementation thereof.

[0044] The technical effects that can be achieved by any of the second to fifth aspects mentioned above can be referred to the description of the beneficial effects in the first aspect mentioned above, and will not be repeated here.

[0045] Sixthly, this application provides a computer-readable storage medium storing a computer program or instructions that, when executed by a control device, cause the control device to perform the method described in the third aspect or any possible implementation thereof.

[0046] In a seventh aspect, this application provides a computer program product comprising a computer program or instructions that, when executed by a control device, cause the control device to perform the method described in the third aspect or any possible implementation thereof. Attached Figure Description

[0047] Figure 1a This is a schematic diagram of the architecture of a detection system in the prior art;

[0048] Figure 1b This is a top view of a detection system in the prior art;

[0049] Figure 2 A schematic diagram illustrating a possible application scenario provided in this application;

[0050] Figure 3a A schematic diagram of the architecture of a detection system provided in this application;

[0051] Figure 3b A top view of a first scanning module and a second scanning module provided in this application;

[0052] Figure 3c This application provides a schematic diagram illustrating the positional relationship between a transmitting module and a receiving module.

[0053] Figure 4a This application provides an optical path diagram of a first scanning module projecting signal light onto a detection area at different scanning angles.

[0054] Figure 4b This application provides a schematic diagram of the scanning trajectory of signal light reflected by the first scanning module in the detection area.

[0055] Figure 4cA schematic diagram of the scanning trajectory of signal light reflected by the first scanning module in the detection area, as provided in this application;

[0056] Figure 5a A schematic diagram of the structure of a first scanning module and a second scanning module provided in this application;

[0057] Figure 5b Another schematic diagram of the structure of the first scanning module and the second scanning module provided in this application;

[0058] Figure 5c Another schematic diagram of the structure of the first scanning module and the second scanning module provided in this application;

[0059] Figure 6a This application provides a schematic diagram of the structure of a light source array;

[0060] Figure 6b A schematic diagram of another light source array provided in this application;

[0061] Figure 6c A schematic diagram of another light source array provided in this application;

[0062] Figure 7 This application provides a schematic diagram of the structure of a transmitting mirror assembly;

[0063] Figure 8 This application provides a schematic diagram of the structure of a transmitting module;

[0064] Figure 9 A schematic diagram of the structure of a receiving module provided in this application;

[0065] Figure 10a This application provides a schematic diagram of the structure of a pixel array;

[0066] Figure 10b This application provides a schematic diagram of the structure of a pixel array;

[0067] Figure 10c This application provides a schematic diagram of the structure of a pixel array;

[0068] Figure 11 A schematic diagram of the architecture of yet another detection system provided in this application;

[0069] Figure 12a This application provides a schematic diagram of an optical path based on a detection system;

[0070] Figure 12b This application provides another optical path diagram based on a detection system;

[0071] Figure 13This application provides a schematic diagram of the location of a lidar on a vehicle;

[0072] Figure 14 A schematic diagram of the structure of a terminal device provided in this application;

[0073] Figure 15 A schematic diagram of a detection and control method provided in this application;

[0074] Figure 16 This is a schematic diagram of the structure of a control device provided in this application;

[0075] Figure 17 This is a schematic diagram of the structure of a control device provided in this application. Detailed Implementation

[0076] The embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0077] The following provides explanations for some of the terms used in this application. It should be noted that these explanations are for the convenience of those skilled in the art and do not constitute a limitation on the scope of protection claimed in this application.

[0078] 1) First and Second Objectives

[0079] The first echo signal, obtained by reflecting the received signal light from the first target, has relatively high energy (or intensity). Even after traveling a long optical path, the remaining energy of this first echo signal remains relatively strong. In other words, the detector can still detect this first echo signal when it reaches the detector after a long optical path. The second echo signal, obtained by reflecting the received signal light from the second target, has weaker energy than the first echo signal. Even after traveling a long optical path, the remaining energy of this second echo signal is very weak, even negligible.

[0080] It should be noted that factors affecting the energy of the echo signal include, but are not limited to, the distance between the target and the detection system, the distribution of the echo signal reflected by the target (for example, a Lambertian target reflects the received signal light uniformly in all directions, i.e., the echo signal is uniformly distributed in all directions), and the reflectivity of the target.

[0081] For example, the first target may be a target relatively close to the detection system; or, the first target may be a target with high reflectivity; or, the first target may be a target whose reflected echo signal is concentrated along the direction of the detection system; or, the first target may be a target relatively close to the detection system and with high reflectivity; or, the first target may be a target relatively close to the detection system and whose reflected echo signal is concentrated along the direction of the detection system; or, the first target may be a target relatively close to the detection system and with high reflectivity, and whose reflected echo signal is concentrated along the direction of the detection system. Targets with high reflectivity include, but are not limited to, road signs, warning signs, road markings, roadside safety posts, guardrails, convex mirrors at corners, vehicle license plates, and high-reflectivity coating stickers on vehicle bodies.

[0082] For example, if the first and second targets are at the same distance from the detection system and their reflected echo signals have the same distribution (e.g., both are Lambertian reflectors), the reflectivity of the first target is greater than that of the second target. As another example, if the first and second targets have the same reflectivity and their reflected echo signals have the same distribution, the first target is closer to the detection system than the second target. Furthermore, if the first and second targets are at the same distance from the detection system and have the same reflectivity, the first target's first echo signal is more concentrated along the direction of the detection system (i.e., the first echo signal distribution along the direction of the detection system is more concentrated), with less first echo signal distribution in other directions; the second target's second echo signal distribution along the direction of the detection system is less, or the second echo signal distribution of the second target is uniform across all directions. These are just a few examples.

[0083] 2) Normal vector of the reflecting surface

[0084] The normal vector of a reflecting surface is the vector represented by a straight line perpendicular to the reflecting surface. A reflecting surface has infinitely many normal vectors, and if the reflecting surface is a plane, these infinitely many normal vectors are parallel to each other.

[0085] 3) Angular resolution

[0086] Angular resolution, also known as scanning resolution, refers to the smallest angle between adjacent light beams directed towards the detection area. The smaller the angular resolution, the more light spots can be directed towards the detection area, meaning more target points can be detected, resulting in higher detection clarity. Angular resolution includes vertical angular resolution and horizontal angular resolution.

[0087] 4) Selected pixels

[0088] In a pixel array, the row address can be the horizontal coordinate, and the column address can be the vertical coordinate. In this application, we will use an example where the rows of the pixel array correspond to the horizontal direction, and the columns correspond to the vertical direction. Row and column gating signals can be used to extract data from a specified location in memory; the pixel corresponding to the extracted specified location is the gated pixel. It should be understood that the pixels in the pixel array can store the detected signals in their corresponding memory locations.

[0089] Based on the above, please refer to Figure 1a A three-dimensional structural diagram of a prior art detection system is provided. The detection system includes a transmitting module, a receiving module, a scanner, and a viewing window. The optical axis of the receiving module is parallel to the optical axis of the transmitting module, meaning the angle between their optical axes is 0°. Both the transmitting and receiving modules are located on the same side of the scanner, and they share a single scanner. Alternatively, the scanner can be divided into a transmitting area and a receiving area. The transmitting area reflects the signal light from the transmitting module to the detection area, while the receiving area reflects the echo signal from the detection area back to the receiving module. The viewing window is used to isolate the detection system from the influence of the external environment.

[0090] Figure 1b The above is illustrated exemplarily. Figure 1a The diagram shows a top view and optical path diagram of the detection system. Based on this system, at a certain scanning angle, the signal light emitted by the transmitting module is directed towards the reflective surface of the scanner. The light is reflected by the scanner's reflective surface to the viewing window. The vast majority of the signal light is transmitted through the viewing window to the detection area, thus achieving scanning of the detection area. However, since the viewing window may not achieve 100% transmission, a small portion of the signal light is reflected back to the scanner, reflected again by the scanner's reflective surface, and then transmitted out again. If this re-transmitted signal light is directed towards the first target, due to the target's high reflectivity, the target reflects the signal light, resulting in a strong first echo signal. This first echo signal is transmitted through the viewing window to the scanner, reflected again by the scanner's reflective surface to the viewing window, and a portion of the first echo signal is reflected back to the scanner through the viewing window (it should be understood that a portion of the first echo signal is also transmitted out of the viewing window; since this portion is irrelevant to this solution, it will not be described in detail here). This portion of the first echo signal is then reflected back to the receiving module by the scanner's reflective surface. Furthermore, the detection system may also include a detection module (see above). Figure 1aThe receiving module focuses the first echo signal reflected back from the scanner onto the detection module. The detection module determines that the first echo signal returns from the location of the false ghost image (based on the principle that light travels in straight lines). In reality, there is no primary target at the location of the false ghost image, but the detection module falsely detects its presence, thus reducing the accuracy of the detection system in detecting the area. It should be understood that both the signal light reflected from the scanner's reflective surface and the echo signal follow the law of reflection.

[0091] In view of this, this application proposes a detection system. This detection system can minimize the reception of stray echo signals, thereby reducing the impact of stray light on the detection accuracy. In particular, in scenarios where the signal light emitted by the detection system is reflected to the first target after a non-first reflection from the scanning module, the detection system provided in this application helps to minimize interference from the first target on the detection accuracy, thus improving the detection accuracy of the system.

[0092] The following describes some possible application scenarios for this application.

[0093] Please see Figure 2 The illustration shows a possible application scenario of this application. In this scenario, the detection system is installed on a vehicle traveling on a road. The signal light emitted by the detection system deployed on the vehicle may be reflected by the scanning module after the first reflection and then directed towards a first target (i.e., the propagation path of the signal light directed towards the first target is relatively long). The first target may be, for example, road signs, warning signs, road signs, roadside safety posts, guardrails, convex mirrors at corners, and vehicle license plates, high-reflective coating stickers on the vehicle body, etc. For a more detailed description of the first target, please refer to the aforementioned related introduction, which will not be repeated here. The vehicle may be, for example, an unmanned vehicle, an intelligent vehicle, an electric vehicle, or a digital vehicle. Figure 2 This example illustrates a detection system deployed at the front of a vehicle, capable of sensing objects such as... Figure 2 The fan-shaped area indicated by the dashed box can be referred to as the detection area (or detection field of view) of the detection system. It should be understood that the detection system can also be deployed at other locations on the vehicle, such as in any one or more directions (rear, left, right) to capture information about the vehicle's surrounding environment. It should be noted that the primary target may be located within the detection system's detection area, or it may be located outside the detection system's detection area.

[0094] In one possible implementation, the detection system can acquire the vehicle's latitude and longitude, speed, orientation, or associated information (e.g., target distance, target speed, target attitude, or target grayscale image) of a target within a certain range (e.g., a second target) in real time or periodically. The detection system or vehicle can determine the vehicle's position and / or plan its path based on this associated information. For example, latitude and longitude can be used to determine the vehicle's position, speed and orientation can be used to determine the vehicle's direction of travel and destination over a future period, or the distance to surrounding objects can be used to determine the number and density of obstacles around the vehicle. Further, optionally, combining this information with the functions of an advanced driving assistance system (ADAS) can achieve assisted driving or autonomous driving. It should be understood that the principle of the detection system detecting the associated information of a target is as follows: the detection system emits signal light in a certain direction; if a target (e.g., a second target) exists within the detection area of ​​the system, the target can reflect the received signal light back to the detection system (the reflected signal light can be called an echo signal), and the detection system then determines the target's associated information based on the echo signal.

[0095] It should be noted that the application scenarios described above are merely examples. The detection system provided in this application can also be applied to a variety of other possible scenarios, and is not limited to those listed above. For example, the detection system can also be installed on a drone as an airborne radar. Another example is that the detection system can be installed on an automated guided vehicle (AGV), where an AGV refers to a transport vehicle equipped with electromagnetic or optical automatic navigation devices, capable of traveling along a prescribed navigation path, and possessing safety protection and various transfer functions. Furthermore, the detection system can also be applied to scenarios such as telemedicine, remote training, multiplayer games, and multiplayer training. These will not be listed exhaustively here. Additionally, the first target given above is only an example; the first target can also be other targets that satisfy the following conditions: a strong first echo signal is obtained by reflecting the received signal light, and the remaining energy of the first echo signal remains relatively strong after traveling a long optical path.

[0096] It should be understood that the application scenarios described in this application are for the purpose of more clearly illustrating the technical solutions of this application, and do not constitute a limitation on the technical solutions provided in this application. As those skilled in the art will know, with the emergence of new application scenarios, the technical solutions provided in this application are also applicable to similar technical problems.

[0097] Based on the above, the application scenarios can be applied to fields such as unmanned driving, autonomous driving, assisted driving, intelligent driving, connected vehicles, security monitoring, remote interaction, surveying and mapping, or artificial intelligence.

[0098] Based on the above, the following is in conjunction with the appendix. Figure 3aTo be continued Figure 13 This paper will provide a detailed description of the detection system proposed in this application.

[0099] like Figure 3a The diagram shown is a schematic representation of the architecture of a detection system provided in this application. The detection system may include a transmitting module 301, a receiving module 302, a first scanning module 303, and a second scanning module 304. The transmitting module 301 is used to transmit signal light. The first scanning module 303 is used to reflect the signal light from the transmitting module 301 to scan the detection area. The second scanning module 304 is used to reflect the received echo signal to the receiving module 302, wherein the echo signal includes reflected light obtained after the signal light has been reflected by at least one target. The receiving module 302 is used to receive the echo signal. It should be noted that the reflection of the signal light on the reflecting surface of the first scanning module and the reflection of the echo signal on the reflecting surface of the second scanning module both follow the law of reflection.

[0100] Combination Figure 3b The top view further illustrates the architecture of the detection system provided in this application. The first normal vector of the first reflecting surface of the first scanning module 303 is shown. The second normal vector of the second reflecting surface of the second scanning module 304 The angle between them is greater than 0°, which is the first angle θ.

[0101] Please see Figure 3c The top view showing the positional relationship between the transmitting module and the receiving module indicates that the angle between the optical axes of the transmitting module and the receiving module is a second angle Φ greater than 0°. For details regarding the optical axes of the transmitting and receiving modules, please refer to the relevant descriptions below; they will not be repeated here. Those skilled in the art will understand that the external shapes of the transmitting and receiving modules are not specifically limited, as long as the angle between their optical axes meets the above-mentioned requirements.

[0102] It should be noted that the above example uses the cuboid shape of the first and second scanning modules as an example. It should be understood that the first and second scanning modules may also be other shapes, such as cubes or other possible polyhedra (such as octahedrons or hexahedrons), etc., and this application does not limit them.

[0103] Based on the aforementioned detection system, the angle between the first normal vector of the first reflecting surface of the first scanning module and the second normal vector of the second reflecting surface of the second scanning module is a first angle greater than 0°, and the angle between the optical axis of the transmitting module and the optical axis of the receiving module is a second angle greater than 0°. Therefore, the signal light initially reflected by the first scanning module to the detection area can be made as parallel as possible to the echo signal initially reflected by the second scanning module to the receiving module. This allows the second scanning module to reflect the echo signal obtained after the signal light initially reflected by the first scanning module to the detection area is reflected by the target (such as the second target) in the detection area into the receiving module, and also allows the second scanning module to reflect the echo signal corresponding to the signal light that was not initially reflected by the first scanning module to the target (such as the first target) to an area outside the receiving module. Consequently, the echo signal corresponding to the signal light that was not initially reflected by the first scanning module cannot be read by the detection system, thus helping to eliminate false detections of ghost images and improving the accuracy of the detection system. It should be understood that the propagation path of the signal light that is not emitted to the target for the first time by the first scanning module is longer than the propagation path of the signal light that is reflected to the target for the first time by the first scanning module.

[0104] In one possible implementation, the second angle Φ = 2 × the first angle θ. For example, the first angle is equal to 2° and the second angle is equal to 4°. Based on the relationship between the first and second angles, the loss of the second echo signal can be minimized as much as possible, and the impact of false ghost images on the detection accuracy of the detection system can be minimized as much as possible.

[0105] In one possible implementation, when the first and second scanning modules scan horizontally, i.e., the signal light from the transmitting module is projected horizontally onto the detection area (the light spot projected onto the detection area can be seen in 4b below), the first angle is greater than or equal to the horizontal angular resolution of the detection system. Based on this, the horizontal angular resolution of the detection system can be controlled by controlling the scanning angle of the first scanning module in the horizontal direction, and the angular resolution in the vertical direction is the angle between two adjacent signal lights. When the first and second scanning modules scan vertically, i.e., the signal light from the transmitting module is projected vertically onto the detection area (the light spot projected onto the detection area can be seen in 4c below), the first angle is greater than or equal to the vertical angular resolution. Based on this, the vertical angular resolution of the detection system can be controlled by controlling the scanning angle of the first scanning module in the vertical direction, and the angular resolution in the horizontal direction is the angle between two adjacent signal lights. The first scanning angle of the first scanning module can be preset. It should be noted that the horizontal angular resolution and the vertical angular resolution may be the same or different, and this application does not limit this.

[0106] The following is about Figures 3a-3c Each functional module shown is described in detail to provide an exemplary implementation scheme. For ease of explanation, the first scanning module, second scanning module, transmitting module, and receiving module are not labeled in the following text.

[0107] I. First Scanning Module and Second Scanning Module

[0108] In one possible implementation, a first scanning module corresponds to a transmitting module and is used to reflect signal light from the transmitting module. Specifically, by changing the scanning angle of the first scanning module, the propagation direction of the signal light from the transmitting module is changed, thereby reflecting the signal light to the detection area in different directions. That is, when the first scanning module is at one scanning angle, it can reflect the signal light to one direction of the detection area; when the first scanning module is at different scanning angles, it can reflect the signal light to different directions of the detection area, thus achieving scanning of the detection area. This first scanning module can be in one dimension (e.g., ... Figure 4a The horizontal direction shown or Figure 4a The scanning angle is changed in the vertical direction shown, and the signal light from the transmitting module is projected onto the detection area at each scanning angle. Figure 4a Taking the reflection of signal light to the detection area by the first scanning module at three different scanning angles as an example, one type of line represents the signal light reflected by the first scanning module at one scanning angle, and one type of filled pattern represents a spot of light reflected by the first scanning module to the detection area at one scanning angle. For example, if the first scanning module rotates horizontally around the scanning axis to change the scanning angle, it can reflect the signal light to the detection area in different directions, resulting in a pattern such as... Figure 4b The scanning trajectory is shown. If the first scanning module rotates around the scanning axis in the vertical direction to change the scanning angle, the signal light can be reflected to the detection area in different directions, and a result can be obtained in the detection area as shown. Figure 4c The scan trajectory shown.

[0109] It should be understood that the light spots projected onto the detection area can be adjacent to each other, or they can be spaced slightly apart (e.g., ...). Figure 4b or Figure 4c This application does not limit the shape of the light spot. In addition, this example uses a rectangular light spot, but this application does not limit the shape of the light spot. For example, the shape of the light spot can also be circular, elliptical, or other regular or irregular shapes.

[0110] Typically, the transmitting and receiving optical paths are two isolated optical paths, meaning they do not affect each other. In one possible implementation, a second scanning module corresponds to the receiving module and is used to reflect the received echo signal back to the receiving module. Specifically, by changing the scanning angle of the second scanning module, second echo signals received from different directions (i.e., from the detection area) can be reflected back to the receiving module, while first echo signals received can be reflected to an area outside the receiving module or back to the receiving module.

[0111] It should be noted that the first and second scanning modules can rotate in a continuous operation mode or in a stepping operation mode; this application does not limit this. In practical applications, the specific rotation mode can be preset.

[0112] In one possible implementation, the signal light is reflected at least twice by the first scanning module and then directed toward the first target. The direction pointed to by the signal light after at least two reflections by the first scanning module is different from the direction pointed to by the signal light after one reflection by the first scanning module. Alternatively, it can be understood that the signal light directed toward the first target is at least the signal light transmitted through the window a second time, and the direction pointed to by the signal light after the second transmission through the window is different from the direction pointed to by the signal light after the first transmission through the window. The first target reflects the received signal light to obtain a first echo signal. Since the angle between the first normal vector of the first reflecting surface of the first scanning module and the second normal vector of the second reflecting surface of the second scanning module is a first angle θ greater than 0°, when the first angle θ is small, the second scanning module can reflect the first echo to the receiving module. Furthermore, the receiving module can propagate the first echo signal to the currently non-gated first region in the detection module or to a region outside the detection module. For details, please refer to the description of the receiving module below; when the first angle θ is large, the second scanning module can reflect the first echo signal to a region outside the receiving module. It should be understood that the larger the first angle θ is, the less the first echo signal enters the receiving module, or even none at all. Therefore, the larger the first angle θ is, the stronger the detection system's ability to suppress false ghost images.

[0113] In another possible implementation, at least one target may further include a second target located within the detection area of ​​the detection system, the second target being at a different location from the first target. The signal light is initially reflected by the first scanning module and then directed towards the second target. That is, the signal light is initially transmitted through the window and then directed towards the second target. The second target reflects the received signal light to obtain a second echo signal. The second scanning module reflects the second echo signal to the receiving module. Furthermore, the receiving module propagates the received second echo signal to the currently selected second region within the detection module. For details, please refer to the description of the receiving module below; it will not be repeated here. It should be understood that a second target may or may not exist within the detection area. The first target may be located within the detection area of ​​the detection system or outside the detection area of ​​the detection system.

[0114] For example, in conjunction with the following Figure 12a or Figure 12b This section details the optical paths of the signal light, the first echo signal, and the second echo signal. The signal emitted by the transmitting module is initially reflected by the first scanning module and then directed towards the viewing window. Most of the signal light is transmitted through the viewing window and then directed towards the second target in the detection area. The second target reflects the received signal light to obtain the second echo signal. This second echo signal is reflected by the second scanning module to the receiving module. The angle between the first normal vector of the first reflecting surface of the first scanning module and the second normal vector of the second reflecting surface of the second scanning module is set to a first angle greater than 0°, and the angle between the optical axis of the transmitting module and the optical axis of the receiving module is set to a second angle greater than 0°. This satisfies the following conditions: the second echo signal received by the receiving module is parallel to the signal light emitted by the transmitting module, thus maximizing the entry of the second echo signal into the receiving module. Furthermore, the second echo signal propagates through the receiving module to the currently selected area in the detection module. A portion of the signal light directed towards the viewing window is reflected back to the first scanning module, reflected again by the first scanning module, and then transmitted through the viewing window to the first target. The first target reflects the received signal light to obtain a first echo signal. The first echo signal is reflected by the second scanning module to the receiving module or an area outside the receiving module. For the first echo signal reflected to the receiving module, since the angle between the first normal vector of the first reflecting surface of the first scanning module and the second normal vector of the second reflecting surface of the second scanning module is a first angle greater than 0°, and the angle between the optical axis of the transmitting module and the optical axis of the receiving module is a second angle greater than 0°, the second echo signal received by the receiving module is parallel to the signal light emitted by the transmitting module. Therefore, the first echo signal received by the receiving module is no longer parallel to the signal light emitted by the transmitting module. As a result, the first echo signal received by the receiving module will no longer be directed towards the currently selected area in the detection module. If the first angle is large, the first echo signal received by the receiving module may even be directed towards an area outside the detection module.

[0115] The following describes the different scenarios based on whether the first scanning module and the second scanning module share a scanning axis.

[0116] In scenario one, the first scanning module and the second scanning module share the same scanning axis.

[0117] In one possible implementation, the scanning axes of the first scanning module and the second scanning module are a shared first scanning axis. In other words, both the first scanning module and the second scanning module rotate around the first scanning axis. (Combined with the above...) Figure 5a This is a possible example where both the first scanning module and the second scanning module rotate around the first scanning axis.

[0118] Based on scenario one, the angle between the first normal vector of the first reflective surface of the first scanning module and the second normal vector of the second reflective surface of the second scanning module is the first angle. This can be understood as the first angle being pre-fixed (e.g., fixed at the factory when the detection system leaves the factory). In other words, the first scanning module and the second scanning module are fixed together (e.g., glued or integrally molded), and a relative first angle already exists in the rotational direction around the first scanning axis. Further, optionally, the first scanning module and the second scanning module can be controlled to rotate synchronously around the first scanning axis. For example, this can be achieved by driving the first scanning module and the second scanning module to rotate around the first scanning axis via a motor, so that the first scanning module and the second scanning module are at different scanning angles. By having the first scanning module and the second scanning module share the first scanning axis, the assembly of the detection system is simplified, and the control of the rotation of the first scanning module and the second scanning module around the first scanning axis is also simplified.

[0119] Please refer to the above. Figure 5a Based on scenario one, "adjacent to the first and second reflecting surfaces" means that the first and second reflecting surfaces are vertically adjacent in a direction parallel to the first scanning axis; or it can be understood as the first and second reflecting surfaces being vertically adjacent in a direction along the first scanning axis. For example, the first scanning module includes four first reflecting surfaces (reflecting surface A1, reflecting surface A2, reflecting surface A3, and reflecting surface A4), and the second scanning module includes four second reflecting surfaces (reflecting surface B1, reflecting surface B2, reflecting surface B3, and reflecting surface B4). The four first reflecting surfaces correspond one-to-one with the four second reflecting surfaces. First reflecting surface A1 and second reflecting surface B1 are adjacent reflecting surfaces, and the first normal vector of first reflecting surface A1... With the second normal vector of the second reflecting surface B1 The included angle between them is the first angle θ; the first reflecting surface A2 and the second reflecting surface B2 are adjacent reflecting surfaces, and the first normal vector of the first reflecting surface A2 is... With the second normal vector of the second reflecting surface B2 The included angle between them is the first angle θ; the first reflecting surface A3 and the second reflecting surface B3 are adjacent reflecting surfaces, and the first normal vector of the first reflecting surface A3 is... With the second normal vector of the second reflecting surface B3 The included angle between them is the first angle θ; the first reflecting surface A4 and the second reflecting surface B4 are adjacent reflecting surfaces, and the first normal vector of the first reflecting surface A4 is... With the second normal vector of the second reflecting surface B4 The angle between them is the first angle θ.

[0120] It should be noted that the adjacent first and second reflecting surfaces are a pair of corresponding reflecting surfaces. For example, if the transmitting module and the receiving module are on the same side of the scanning module, in the working state, the first reflecting surface is used to reflect the signal light from the transmitting module, and the second reflecting surface adjacent to the first reflecting surface can be used to reflect the echo signal corresponding to the aforementioned signal light from the detection area. In conjunction with the above... Figure 5a In certain working scenarios, the signal light is reflected by the first reflecting surface A1, and correspondingly, the echo signal of that signal light is reflected by the second reflecting surface B1. Furthermore, those skilled in the art will understand that... Figure 5a Surfaces A1 and B4 are also adjacent along the direction of the first scanning axis. Due to the existence of the first angle, A1 may indeed be adjacent to multiple surfaces along the direction of the first scanning axis. However, for the sake of clarity and to avoid redundancy, this application only refers to the first reflecting surface A1 of the first scanning module and the second reflecting surface B1 of the second scanning module as adjacent reflecting surfaces. Similarly, the first reflecting surface A2 of the first scanning module and the second reflecting surface B2 of the second scanning module are referred to as adjacent reflecting surfaces, the first reflecting surface A3 of the first scanning module and the second reflecting surface B3 of the second scanning module are referred to as adjacent reflecting surfaces, and the first reflecting surface A4 of the first scanning module and the second reflecting surface B4 of the second scanning module are referred to as adjacent reflecting surfaces.

[0121] Scenario 2: The first scanning module and the second scanning module do not share the same scanning axis.

[0122] In one possible implementation, the scanning axis of the first scanning module is the second scanning axis, and the scanning axis of the second scanning module is the third scanning axis. The extensions of the second and third scanning axes coincide (see [reference]). Figure 5b Alternatively, the direction of the second scan axis is parallel to but does not coincide with the direction of the third scan axis (see [link]). Figure 5c During the rotation of the first scanning module and the second scanning module, the angle between the first normal vector of the first reflecting surface of the first scanning module and the second normal vector of the second reflecting surface of the second scanning module is the first angle θ.

[0123] Based on this second scenario, the angle between the first normal vector of the first reflecting surface of the first scanning module and the second normal vector of the second reflecting surface of the second scanning module is the first angle θ. This can also be understood as the first scanning module and the second scanning module being separate. During the process of the first scanning module rotating around the second scanning axis and the second scanning module rotating around the third scanning axis, the angle between the first normal vector of the first reflecting surface of the first scanning module and the second normal vector of the second reflecting surface of the second scanning module is always maintained at the first angle θ.

[0124] Further, optionally, the first scanning module and the second scanning module rotate in the same direction (e.g., both clockwise or both counterclockwise). The angle of rotation of the first scanning module around the second scanning axis can be controlled to always be a first angle θ greater than the angle of rotation of the second scanning module around the third scanning axis; or, the angle of rotation of the first scanning module around the second scanning axis can be controlled to always be a first angle θ less than the angle of rotation of the second scanning module around the third scanning axis. For example, taking the first and second scanning modules as rotating in a stepping operation mode, if the angle between the first normal vector of the first reflecting surface of the first scanning module and the second normal vector of the second reflecting surface of the second scanning module is 0° when rotation has not started, then the rotation angle of the first scanning module is α, and the rotation angle of the second scanning module is α±θ. If the angle between the first normal vector of the first reflecting surface of the first scanning module and the second normal vector of the second reflecting surface of the second scanning module is β, then the rotation angle of the first scanning module is α, and the rotation angle of the second scanning module is α±(θ-β). It should be understood that the specific rotation methods of the first and second scanning modules given above are merely examples. Other rotation methods that can achieve the angle between the first normal vector of the first reflecting surface of the first scanning module and the second normal vector of the second reflecting surface of the second scanning module as the first angle θ are also possible. This application does not limit these methods.

[0125] In combination with the above Figure 5b or Figure 5c The first and second reflecting surfaces are adjacent in a direction parallel to the second scanning axis or in a direction parallel to the third scanning axis. For example, the first scanning module includes four first reflecting surfaces (reflecting surface A1, reflecting surface A2, reflecting surface A3, and reflecting surface A4), and the second scanning module includes four second reflecting surfaces (reflecting surface B1, reflecting surface B2, reflecting surface B3, and reflecting surface B4). The four first reflecting surfaces correspond one-to-one with the four second reflecting surfaces. First reflecting surface A1 and second reflecting surface B1 are adjacent reflecting surfaces. The first normal vector of first reflecting surface A1... With the second normal vector of the second reflecting surface B1 The included angle between them is the first angle θ; the first reflecting surface A2 and the second reflecting surface B2 are adjacent reflecting surfaces, and the first normal vector of the first reflecting surface A2 is... With the second normal vector of the second reflecting surface B2 The included angle between them is the first angle θ; the first reflecting surface A3 and the second reflecting surface B3 are adjacent reflecting surfaces, and the first normal vector of the first reflecting surface A3 is... With the second normal vector of the second reflecting surface B3 The included angle between them is the first angle θ; the first reflecting surface A4 and the second reflecting surface B4 are adjacent reflecting surfaces, and the first normal vector of the first reflecting surface A4 is... With the second normal vector of the second reflecting surface B4 The included angle between them is the first angle θ. The adjacency relationship between the first and second reflecting surfaces can be found in the aforementioned descriptions, and will not be repeated here.

[0126] In one possible implementation, the first scanning module can be, for example, a rotating mirror, a MEMS mirror, or a tilting mirror. The second scanning module can also be, for example, a rotating mirror, a MEMS mirror, or a tilting mirror. By utilizing the principles of geometric optics (e.g., the law of reflection) to scan the detection area, a large scanning field of view and high scanning efficiency are achieved.

[0127] It should be noted that this application does not limit the types of the first scanning module and the second scanning module. Any structure that can reflect the signal light emitted by the transmitting module and reflect the echo signal to the receiving module or an area outside the receiving module is acceptable. In addition, this application does not limit the specific shape of the rotating mirror, MEMS mirror, and tilting mirror.

[0128] For example, the first scanning module can be a rotating mirror, and the second scanning module can also be a rotating mirror; for another example, the first scanning module can be a tilting mirror, and the second scanning module can also be a tilting mirror; for another example, the first scanning module can be a MEMS mirror, and the second scanning module can also be a MEMS mirror; for another example, the first scanning module can be a rotating mirror, and the second scanning module can also be a tilting mirror; for another example, the first scanning module can be a MEMS mirror, and the second scanning module is a rotating mirror; for another example, the first scanning module can be a MEMS mirror, and the second scanning module is a tilting mirror; and so on, and will not be listed here.

[0129] II. Launch Module

[0130] In one possible implementation, the transmitting module is used to emit signal light. This signal light can be a line beam. Further, optionally, the transmitting module may include a light source assembly and a transmitting mirror assembly.

[0131] For ease of explanation, the accompanying drawings use a 3-line beam as an example to illustrate the signal light. It should be understood that the number of line beams in this application can be greater than 3 or less than 3. A 3-line beam refers to the transmitting module emitting 3 signal beams at a time, and these 3 beams are arranged in a line.

[0132] The following example, using a light source array as an example, illustrates three possible structures of light source components.

[0133] Structure 1: The light source component is a light source array, which includes 1 row and L columns of light sources, where L is an integer greater than 1.

[0134] like Figure 6a The diagram shown is a structural schematic of a light source assembly provided in this application. Figure 6a Taking L=3 as an example, the light source array includes 1×3 light sources. Specifically, this row and 3 columns of light sources can be selected at once, and the selected row and 3 columns of light sources can emit 3 beams of signal light, that is, 3 lines of signal light.

[0135] Structure 2, the light source component includes a light source array, the light source array includes K rows and 1 column light sources, where K is an integer greater than 1.

[0136] like Figure 6b The diagram shown is a structural schematic of another light source component provided in this application. Figure 6b Taking K=3 as an example, the light source array includes 3×1 light sources. Specifically, these 3 rows and 1 column of light sources can be selected at once, and the selected 3 rows and 1 column of light sources emit 3 beams of signal light, that is, 3 lines of signal light.

[0137] Structure 3: The light source component includes a light source array, which consists of M rows and N columns, where M and N are both integers greater than 1.

[0138] like Figure 6c The diagram shown is a structural schematic of another type of light source array provided in this application. Figure 6c Taking M=3 and N=3 as an example, the light source array includes 3×3 light sources. In one possible implementation, the light source array can select light sources by row or by column in a time-division multiplexing manner. Row-division multiplexing means selecting at least one row of light sources in the array at the same time. Column-division multiplexing means selecting at least one column of light sources in the array at the same time. In other words, a row of light sources selected by row can be a single row or multiple rows, and a column of light sources selected by column can be a single column or multiple columns; this application does not limit this. Taking selecting one row of light sources at the same time as an example, the first row of light sources in the array is selected at the first time, the second row at the second time, and the third row at the third time, with each selected row emitting signal light. Similarly, taking selecting one column of light sources at the same time as an example, the first column of light sources in the array is selected at the first time, the second column at the second time, and the third column at the third time, with each selected column emitting signal light. It should be understood that for this light source array, only a certain row or column can be selected.

[0139] It should be noted that the shapes of the light sources given above are merely examples, and this application does not limit them. For example, the shape of the light source can also be square, elliptical, or other possible shapes.

[0140] In one possible implementation, the light sources in the light source array can be, for example, vertical cavity surface emitting lasers (VCSELs), edge emitting lasers (EELs), diode-pumped solid-state lasers (DPSSs), or fiber lasers. The light sources in the array can be independently addressed; independent addressing means that the light sources in the array can be independently selected (or turned on, switched on, or powered on), and the selected light source can be used to emit signal light. The addressing method of the light source array is related to the physical connection relationship of the light sources. For example, if the light sources in the same column of the array are connected in series and those in different columns are connected in parallel, then the light sources can be selected column by column. Similarly, if the light sources in the same row of the array are connected in series and those in different rows are connected in parallel, then the light sources can be selected row by row. Furthermore, if the light sources in the array are connected in parallel, then the light sources can be selected in any way (e.g., by point or by region of interest).

[0141] Based on the aforementioned light source array, the emitting module may further include an emitting mirror group to shape and / or collimate and / or homogenize the signal light emitted by the light source array. Please refer to [link to relevant documentation]. Figure 7 This is a schematic diagram of a transmitting mirror assembly provided in this application. The transmitting mirror assembly is used to shape and / or collimate and / or homogenize the signal emitted by the light source array, and reflects the shaped and / or collimated and / or homogenized signal light to the detection area via a first scanning module. It should be understood that the shaped and / or collimated and / or homogenized signal light is a line beam. The transmitting mirror assembly includes at least one transmitting mirror, which may be, for example, a lens. Figure 7 Taking a transmitting lens assembly comprising three lenses as an example, these include concave-convex lens 1, concave-convex lens 2, and biconvex lens 3, in sequence. The optical axis of the transmitting module points to... Figure 7 The straight lines connecting the centers of the spheres of each lens shown.

[0142] It should be noted that this application does not limit the number of transmitting mirrors included in the transmitting mirror assembly, and the number can be more than the above. Figure 7 More, or even more than the above. Figure 7Furthermore, this application does not limit the type of emitting lens; the emitting lens may also include other lenses or combinations of other lenses, such as plano-convex lenses, plano-concave lenses, etc. Additionally, the emitting lens group may be rotationally symmetrical about its optical axis. For example, the emitting lens in the emitting lens group may be a single spherical lens or a combination of multiple spherical lenses. Alternatively, the emitting lens group may be non-rotationally symmetrical. For example, the emitting lens in the emitting lens group may be a single aspherical lens or a combination of multiple aspherical lenses. The combination of multiple spherical lenses and / or aspherical lenses helps to improve the imaging quality of the emitting lens group and reduce its aberrations.

[0143] In one possible implementation, the transmitting mirror in the transmitting mirror assembly can be made of optical materials such as glass, resin, or crystal. When the transmitting mirror is made of resin, it helps to reduce the mass of the detection system. When the transmitting mirror is made of glass, it helps to further improve the imaging quality of the detection system. Furthermore, to effectively suppress temperature drift, the transmitting mirror assembly includes at least one transmitting mirror made of glass.

[0144] like Figure 8 The diagram shown illustrates another type of transmitting module provided in this application. This transmitting module includes Q lasers and a beam adjustment assembly, where Q is a positive integer. Optionally, the transmitting module may also include a beam splitter. For ease of explanation, taking Q=1 as an example, the lasers are used to emit signal light, and the beam splitter can divide the emitted signal light into P beams, resulting in P beams of signal light. All P beams of signal light are then propagated to the beam adjustment assembly, where P is an integer greater than 1. The beam adjustment assembly is used to collimate and / or adjust the P beams of signal light, and can adjust the angle between adjacent signal lights, propagating the P beams of signal light to the first scanning module. It should be understood that when Q=P, the transmitting module may not include a beam splitter. Figure 8 Taking Q=1 and P=3 as an example.

[0145] The beam splitter, for example, can be a diffractive optical element (DOE). A DOE can uniformly split a single beam (i.e., a single line) of signal light from a laser into P beams. The propagation directions of the P beams may be different or the same. The beam adjustment assembly includes P optical fibers (i.e., optical waveguides) and a collimator. Each of the P optical fibers corresponds one-to-one with a P beam of signal light; that is, one signal light can be coupled into one fiber. For each of the P optical fibers, each fiber is used to receive the corresponding signal light from the beam splitter and transmit the received signal light to the collimator. The collimator is used to receive the P beams of signal light from the P optical fibers and to shape and / or collimate the P beams of signal light to obtain a line beam (i.e., a P-line). Furthermore, the exit ports of the P optical fibers are all located on the object-side focal plane of the collimator. The image-side focal plane and the object-side focal plane are both focal planes corresponding to the collimator. For example, the collimator can be a collimating lens. The spacing between the P optical fibers can be equal or unequal. For example, when the spacing between optical fibers is equal, the angle between any two adjacent signal beams in the P-beam signal light is equal. When the spacing between optical fibers is unequal, the angle between adjacent signal beams in the P-beam signal light is also unequal. Among them, the fiber spacing d, the focal length f of the collimator, and the angle θ between two adjacent signal beams satisfy the following formula (1).

[0146] θ = arctan(d / f) Formula (1)

[0147] Since the spot of the P-beam signal light emitted from the collimator coincides on the image-side focal plane of the collimator, the first scanning module can be set on the image-side focal plane of the collimating lens.

[0148] It should be noted that the above-described transmitting module is merely an example, and this application does not limit the possible structure of the transmitting module. Furthermore, in this application, the transmitting module can transmit one beam of signal light at a time, or it can transmit multiple beams of signal light at a time; this application does not limit this.

[0149] III. Receiving Module

[0150] In one possible implementation, the receiving module is used to propagate the received first echo signal to a currently unselected first region in the detection module or to a region outside the detection module. Furthermore, the receiving module is also used to propagate the received second echo signal to a currently selected second region in the detection module.

[0151] Please see Figure 9 This is a schematic diagram of a receiving module provided in this application. The receiving module includes at least one receiving mirror, which may be, for example, a lens. Figure 9 Taking a receiving module consisting of four lenses as an example, the optical axis of the receiving module refers to the axis that passes through... Figure 9 The straight lines connecting the centers of the spheres of each lens shown.

[0152] It should be noted that the receiving module can be rotationally symmetric about the optical axis. For example, the receiving mirror in the receiving module can be a single spherical lens or a combination of multiple spherical lenses (e.g., a combination of concave lenses, a combination of convex lenses, or a combination of convex and concave lenses, etc.). Alternatively, the receiving module can also be non-rotationally symmetric. For example, the receiving mirror in the receiving module can be a single aspherical lens or a combination of multiple aspherical lenses. Combining multiple spherical lenses and / or aspherical lenses helps improve the imaging quality of the detection system and reduce aberrations in the optical imaging system. It should be understood that there are many different types of convex and concave lenses; for example, convex lenses include biconvex lenses, plano-convex lenses, and concave-convex lenses, and concave lenses include biconcave lenses, plano-concave lenses, and concave-convex lenses.

[0153] In one possible implementation, the receiving mirror in the receiving module can be made of optical materials such as glass, resin, or crystal. When the receiving mirror is made of resin, it helps to reduce the mass of the detection system. When the receiving mirror is made of glass, it helps to further improve the imaging quality of the detection system. Furthermore, to effectively suppress temperature drift, the receiving module includes at least one receiving mirror made of glass.

[0154] In this application, the detection system may further include a detection module. Furthermore, it may also include a processing and control module. The detection module and the processing and control module are described below as examples.

[0155] III. Detection Module

[0156] In one possible implementation, the detection module performs photoelectric conversion on the second echo signal to obtain an electrical signal containing association information for determining the second target. This association information includes, but is not limited to, the target's distance, orientation, velocity, and / or grayscale information.

[0157] In one possible implementation, the detection module includes a pixel array. It should be noted that the pixel array corresponds one-to-one with the light source array.

[0158] Below, schematic diagrams of three possible pixel array structures are shown as examples.

[0159] Structure A is a pixel array consisting of 1 row and L columns of pixels, where L is an integer greater than 1.

[0160] Please see Figure 10a This is a schematic diagram of a pixel array structure provided in this application. Figure 10aTaking L=3 as an example, the pixel array includes 1×3 pixels. Specifically, this row and 3 columns of pixels can be selected at once. The area corresponding to this selected row and 3 columns of pixels is the second area of ​​the detection module, and the other areas in the detection module excluding the selected row and 3 columns of pixels constitute the first area of ​​the detection module. Furthermore, the first area of ​​the detection module is used to perform photoelectric conversion on the received second echo signal to obtain an electrical signal used to determine the correlation information of the second target.

[0161] If the light source array is structure 1 as described above, then the corresponding pixel array is structure A.

[0162] Structure B is a pixel array consisting of K rows and 1 column of pixels, where K is an integer greater than 1.

[0163] like Figure 10b The diagram shown is a schematic diagram of another pixel array structure provided in this application. Figure 10b Taking K=3 as an example, the pixel array consists of 3×1 pixels. Specifically, these 3 rows and 1 column of pixels can be selected at once. The area corresponding to these selected 3 rows and 1 column of pixels is the second area of ​​the detection module, and the other areas in the detection module excluding the selected 3 rows and 1 column of pixels are the first area of ​​the detection module.

[0164] If the light source array is structure 2 as described above, then the corresponding pixel array is structure B.

[0165] Structure C is a pixel array consisting of M rows and N columns, where M and N are both integers greater than 1.

[0166] like Figure 10c The diagram shown is a structural schematic of another pixel array provided in this application. Figure 10c Taking M=3 and N=3 as an example, the pixel array includes 3×3 pixels. In one possible implementation, the pixel array can select pixels by row or by column in a time-division manner. The row of pixels selected by row or the column of pixels selected by column is called the first region. Selecting pixels by row in a time-division manner means selecting at least one row of pixels in the pixel array at the same time. Selecting pixels by column in a time-division manner means selecting at least one column of pixels in the pixel array at the same time. In other words, a row of pixels selected by row can be one row or multiple rows of pixels, and a column of pixels selected by column can be one column or multiple columns of pixels; this application does not limit this. This pixel array is similar to the one described above. Figure 6cThe light source arrays shown are one-to-one. Specifically, taking the selection of a row of pixels at the same time as an example, at the first moment, the first row of pixels in the pixel array is selected, and the first row of light sources in the light source array is also selected; at the second moment, the second row of pixels in the pixel array is selected, and the second column of light sources in the light source array is also selected; at the third moment, the third row of pixels in the pixel array is selected, and the third row of light sources in the light source array is also selected. Alternatively, the light sources in the light source array can be selected row by row in a time-division manner, or only a specific row of pixels in the pixel array can be selected.

[0167] Taking the simultaneous selection of a column of pixels as an example, at the first moment, the first column of pixels in the pixel array is selected, and the first column of light sources in the light source array is also selected; at the second moment, the second column of pixels in the pixel array is selected, and the second column of light sources in the light source array is also selected; at the third moment, the third column of pixels in the pixel array is selected, and the third column of light sources in the light source array is also selected. Alternatively, the light sources in the light source array can be selected column by column in a time-sequential manner, or only a specific column of pixels in the pixel array can be selected.

[0168] It should be noted that the pixel shapes given above are merely examples, and this application does not limit them. For example, the shape of a pixel can also be oriented, elliptical, or other possible shapes.

[0169] Based on the column-selected pixels in structure A or structure C, i.e., the detection system scans column by column, the first angle is greater than or equal to the first angular resolution of the detection system. The first angular resolution is the angular resolution of the detection system in the direction corresponding to the column of the pixel array. The direction corresponding to the column of the pixel array is the vertical direction, and the angular resolution of the detection system in this direction can also be called the vertical angular resolution. By setting the first angle to be greater than or equal to the first angular resolution in the direction corresponding to the column of the pixel array, it is possible to ensure that the receiving module directs the first echo signal towards the currently non-selected first region in the pixel array, thereby minimizing the amount of signal entering the currently selected second region in the pixel array and eliminating the influence of false ghost images generated by the first echo signal.

[0170] Based on the row-gated light source in structure B or C above, i.e., the detection system scans row by row, the first angle is greater than or equal to the second angular resolution of the detection system. The second angular resolution is the angular resolution of the detection system in the direction corresponding to the row of the pixel array. Here, the direction corresponding to the row of the pixel array is the horizontal direction, and the angular resolution of the detection system in this direction can also be called the horizontal angular resolution. By setting the first angle to be greater than or equal to the second angular resolution in the direction corresponding to the row of the pixel array, it is possible to ensure as much as possible that the receiving module directs the first echo signal towards the currently non-gated first region in the pixel array row, thereby reducing the likelihood of it entering the currently gated second region in the pixel array, and thus minimizing the influence of false ghost images generated by the first echo signal.

[0171] IV. Processing and Control Module

[0172] In one possible implementation, the processing control module is used to plan the driving path based on the determined association information of the second target, such as avoiding obstacles on the path to be traveled.

[0173] Furthermore, optionally, the processing control module can also be used to control the rotation of the first scanning module and the second scanning module, and further, it can also be used to control the synchronization of the first scanning module with the light source assembly, and to control the synchronization of the second scanning module with the pixel array, etc.

[0174] In one possible implementation, the processing control module may include a processing unit and a control unit. The processing unit may be a general-purpose processor, a field-programmable gate array (FPGA), a digital signal processing (DSP) circuit, an application-specific integrated circuit (ASIC), or other programmable logic devices. The control unit includes drivers for the first and second scanning modules, the light source module, and the detection module, etc. These drivers may be integrated together or separate.

[0175] For example, the processing unit can send control signals to each drive of the control unit. For instance, based on scenario one above, the processing unit can send a first control signal to the drive that rotates the first scanning module and the second scanning module to control their rotation. Based on scenario two above, the processing unit can send a second control signal to the drive that rotates the first scanning module to control its rotation; and can send a third control signal to the drive that rotates the second scanning module to control its rotation. Furthermore, the processing unit can also send control signals to the drive of the detection module to control its operation; and can also send control signals to the drive of the light source assembly to control its operation; and so on.

[0176] Based on the above, the following section, in conjunction with a specific hardware structure, presents a concrete structure of the aforementioned detection system to facilitate further understanding of the system.

[0177] like Figure 11The diagram shown illustrates the architecture of another detection system provided in this application. This detection system may include a transmitting module, a receiving module, a first scanning module, a second scanning module, and a viewing window. In this example, the first scanning module and the second scanning module share a common first scanning axis. The first normal vector of the first reflecting surface of the first scanning module... The second normal vector of the second reflecting surface of the second scanning module The angle between the optical axes of the transmitting module and the receiving module is a first angle θ greater than 0°, and the angle between the optical axes of the transmitting module and the receiving module is a second angle Φ greater than 0°. For detailed information on the transmitting module, receiving module, first scanning module, second scanning module, and window, please refer to the aforementioned descriptions; they will not be repeated here.

[0178] Based on the above Figure 11 The detection system shown in the diagram involves a first target reflecting the received signal light to obtain a first echo signal. This first echo signal is then reflected by a second scanning module to a receiving module (see below). Figure 12a or areas outside the receiving module (see below) Figure 12b For the first echo signal reflected to an area outside the receiving module, it will not enter the detection module, thus eliminating false ghost images falsely detected by the detection system due to the first target. For the first echo signal reflected to the receiving module, since the angle between the first normal vector of the first reflecting surface of the first scanning module and the second normal vector of the second reflecting surface of the second scanning module is set to a first angle, and the angle between the optical axis of the transmitting module and the optical axis of the receiving module is set to a second angle, the first echo signal received by the receiving module and the signal light emitted by the transmitting module are no longer parallel. Furthermore, the first echo signal after passing through the receiving module will no longer be directed towards the currently selected area in the detection module. If the first angle is large, the first echo signal after passing through the receiving module may even be directed towards an area outside the detection module. In this way, false ghost images falsely detected by the detection system due to the first target can also be eliminated. Typically, since the first echo signal is not reflected to the receiving module for the first time by the second scanning module, the propagation optical path of the first echo signal is longer than that of the second echo signal. After the longer propagation optical path, the energy of the first echo signal is still strong and can still be detected by the detection module.

[0179] The following section provides a detailed explanation of the reasons for eliminating false ghost images, based on the aforementioned beneficial effects and the specific optical path.

[0180] Please refer to Figure 12aThis is a schematic diagram of the optical path in a detection system provided in this application. At a certain scanning angle, the signal light emitted by the transmitting module is directed towards the reflecting surface of the first scanning module. After being reflected for the first time by the reflecting surface of the first scanning module, the signal light is transmitted to the viewing window. The vast majority of the signal light is transmitted through the viewing window to the detection area, thereby achieving scanning of the detection area. If a second target exists in the detection area, the second target can reflect the signal light to obtain a second echo signal. The second echo signal is reflected by the second scanning module to the receiving module. After being propagated by the receiving module, it is directed towards the second area currently selected by the detection module. The second area currently selected by the detection module performs photoelectric conversion on the received second echo signal to obtain the association information of the second target. However, since the viewing window may not achieve 100% transmission, a small portion of the signal light will be reflected back to the first scanning module. This light will then be reflected again by the reflective surface of the first scanning module and transmitted through the window. If this re-transmitted signal light hits the first target, due to the target's high reflectivity, it will reflect the signal light, resulting in a strong first echo signal. This first echo signal will be transmitted through the viewing window to the second scanning module, reflected again by the reflective surface of the second scanning module, and then partially reflected back to the second scanning module. After being reflected by the reflective surface of the second scanning module, it cannot re-enter the receiving module. Therefore, the first echo signal reflected from the first target has no effect on the detection module, thus allowing the detection system to eliminate false detections of ghost images. It should be understood that the larger the first angle, the stronger the suppression capability of false ghost images.

[0181] Please refer to Figure 12bThis is a schematic diagram of the optical path in another detection system provided in this application. At a certain scanning angle, the signal light emitted by the transmitting module is directed towards the reflecting surface of the first scanning module. After being reflected for the first time by the reflecting surface of the first scanning module, the signal light is transmitted to the viewing window. The vast majority of the signal light is transmitted through the viewing window to the detection area to achieve scanning of the detection area. If a second target exists in the detection area, the second target can reflect the signal light to obtain a second echo signal. The second echo signal is reflected by the second scanning module to the receiving module. After being propagated by the receiving module, it is directed towards the second area currently selected by the detection module. The second area currently selected by the detection module performs photoelectric conversion on the received second echo signal to obtain the association information of the second target. However, since the window may not achieve 100% transmission, a small portion of the signal light will be reflected back to the first scanning module. This light will then be reflected again by the reflective surface of the first scanning module back to the window, and then transmitted out again. If this re-transmitted signal light hits the first target, due to the target's high reflectivity, it will reflect the signal light, resulting in a strong first echo signal. This first echo signal will be transmitted through the window to the second scanning module, reflected again by the reflective surface of the second scanning module back to the window, and partially reflected back to the second scanning module. This first echo signal will then be reflected by the reflective surface of the second scanning module to the receiving module, which will then propagate the first echo signal to the currently non-selected first region of the detection module. In this example, the i-th column pixel is selected. In other words, the receiving module propagates the first echo signal to all regions of the detection module except the i-th column. Since the area outside the i-th column is non-gated, the first echo signal reflected by the first target will not be read by the detection module, and the detection system will not detect the false ghost image of the first target, thereby improving the detection accuracy of the detection system.

[0182] In one possible implementation, the detection system could be, for example, a lidar system. This detection system can be mounted on a vehicle; see [link to relevant documentation]. Figure 13 The location of the lidar on the vehicle in this example is merely illustrative; the lidar can also be placed at any possible location around the vehicle body, and this application does not limit this. Further, optionally, after the detection system determines the association information of the target, it can send it to the vehicle. The vehicle can then plan its driving path based on the determined target association information, such as avoiding obstacles on the path it is about to travel.

[0183] It should be noted that, Figure 13 The shape of the lidar shown is merely an example. Lidar can also have other shapes, such as rectangles, and this application does not impose any specific limitations on this.

[0184] Based on the architecture and functional principles of the detection system described above, this application can also provide a terminal device. For example... Figure 14The diagram shown is a structural schematic of a terminal device provided in this application. The terminal device 1400 may include the detection system 1401 in any of the above embodiments. Further, optionally, the terminal device may also include a processor 1402, which is used to call programs or instructions to control the detection system 1401 to acquire electrical signals. Further, the processor 1402 may also receive electrical signals from the detection system 1401 and determine the association information of a second target based on the electrical signals. Optionally, the terminal device may also include a memory 1403, which is used to store programs or instructions. Of course, the terminal device may also include other devices, such as a memory or a wireless control device.

[0185] The detection system 1401 can be found in the description of the detection system above, and will not be repeated here.

[0186] Processor 1402 may include one or more processing units. For example, processor 1402 may include an application processor (AP), a graphics processing unit (GPU), an image signal processor (ISP), a controller, a digital signal processor (DSP), etc. Different processing units may be independent devices or integrated into one or more processors.

[0187] The memory 1403 includes, but is not limited to, random access memory (RAM), flash memory, read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), registers, hard disks, portable hard disks, CD-ROMs, or any other form of storage medium known in the art. An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and the storage medium can reside within an ASIC.

[0188] In one possible implementation, the processor 1401 can also plan the driving path of the terminal device based on the determined target association information, such as avoiding obstacles on the driving path.

[0189] For example, the terminal device may be a vehicle (e.g., driverless car, smart car, electric car, or digital car), robot, surveying equipment, drone, smart home device (e.g., television, robot vacuum cleaner, smart lamp, audio system, smart lighting system, electrical control system, home background music, home theater system, intercom system, or video surveillance), smart manufacturing equipment (e.g., industrial equipment), smart transportation equipment (e.g., AGV, driverless vehicle, or truck), or smart terminal (mobile phone, computer, tablet, PDA, desktop computer, headphones, audio equipment, wearable device, in-vehicle device, virtual reality device, augmented reality device, etc.).

[0190] Based on the above content and the same concept, this application provides a detection control method. Please refer to [link / reference]. Figure 15 The introduction states that this detection and control method can be applied to the above-mentioned... Figures 3a to 13 The detection system shown in any embodiment. It can also be understood that it can be based on the above. Figures 3a to 13 The detection control method is implemented using the detection system shown in any embodiment. Alternatively, the detection control method can also be applied to the above-described... Figure 14 The terminal device shown. This can also be understood as being based on the above. Figure 14 The terminal device shown implements the detection and control method.

[0191] The detection method described below can be executed by the processing and control module in the detection system, or by the processor in the terminal device, or by other independent control devices (such as chips), and this application does not limit this. The detection control method includes the following steps:

[0192] Step 1501: Control the transmitting module to transmit signal light.

[0193] In one possible implementation, if the transmitting module includes the aforementioned light source array, the light source array can be controlled to select at least one column or at least one row of light sources. The selected light sources can emit signal light, as detailed in the descriptions of structures 1, 2, or 3 above, which will not be repeated here. For example, a lighting signal can be sent to the light source array to indicate which light sources are lit (i.e., selected).

[0194] If the transmitting module includes the aforementioned Q lasers, it can control at least one of the Q lasers to emit signal light, as described above. Figure 8 The details of the above will not be repeated here.

[0195] Step 1502: Control the first scanning module to reflect the signal light from the transmitting module.

[0196] Based on scenario one above, a first control signal can be sent to the drive that rotates the first and second scanning modules to control their rotation. Based on scenario two above, a second control signal can be sent to the drive that rotates the first scanning module to control its rotation, causing the first scanning module to be at different scanning angles.

[0197] Specifically, the first scanning module can be controlled to be at different scanning angles at different times, so that the first scanning module reflects the signal light to different positions in the detection area to achieve scanning of the detection area.

[0198] Step 1503: Control the second scanning module to reflect the received echo signal to the receiving module.

[0199] In one possible implementation, the second scanning module can be controlled to reflect the first echo signal to the receiving module, or the second scanning module can be controlled to reflect the first echo signal to an area outside the receiving module. Furthermore, the second scanning module can also be controlled to reflect the second echo signal to the receiving module.

[0200] Based on scenario one above, a first control signal can be sent to the drive that rotates the first and second scanning modules to control their rotation. Based on scenario two above, a third control signal can be sent to the drive that rotates the second scanning module to control its rotation, causing the second scanning module to be at different scanning angles.

[0201] The structure and positional relationship of the first scanning module and the second scanning module in step 1503 can be found in the aforementioned description.

[0202] If the first scanning module and the second scanning module share the first scanning axis, the first scanning module and the second scanning module can be controlled to rotate synchronously, so that the first scanning module reflects the signal light to the detection area, and the second scanning module reflects the first echo signal to the receiving module, or the second scanning module reflects the first echo signal to an area outside the receiving module.

[0203] If the first scanning module rotates around the second scanning axis and the second scanning module rotates around the third scanning axis, the first scanning module and the second scanning module can be controlled to rotate around their respective scanning axes to achieve a first angle θ between the first normal vector of the first reflecting surface of the first scanning module and the second normal vector of the second reflecting surface of the second scanning module. This allows the first scanning module to reflect the signal light to the detection area and the second scanning module to reflect the first echo signal to the receiving module, or the second scanning module to reflect the first echo signal to an area outside the receiving module.

[0204] A more detailed description of steps 1501 to 1503 above can be obtained directly from the relevant descriptions in the embodiments of the above detection system, and will not be repeated here.

[0205] In one possible implementation, if the detection module is a pixel array, at least one row in the pixel array (corresponding to row-by-row gating of the light source array) can be controlled to be selected. Further, the second scanning module can be controlled to reflect the second echo signal to the receiving module, and then propagate it through the receiving module to the at least one selected row of pixels in the detection module. Alternatively, at least one column in the pixel array (corresponding to column-by-column gating of the light source array) can be controlled to be selected. Further, the second scanning module can be controlled to reflect the second echo signal to the receiving module, and then propagate it through the receiving module to the at least one selected column of pixels in the detection module. Exemplarily, a gating signal can be sent to the pixel array to indicate which pixel locations' data should be extracted.

[0206] It is understood that, in order to achieve the functions in the above method embodiments, the control device includes hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should readily recognize that, based on the modules and method steps described in conjunction with the embodiments disclosed in this application, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed by hardware or by computer software driving hardware depends on the specific application scenario and design constraints of the technical solution.

[0207] Based on the above content and the same concept, Figure 16 and Figure 17 This is a schematic diagram of the possible control devices provided in this application. These control devices can be used to implement the methods described above, such as... Figure 15 The function in the above-mentioned method embodiment can thus achieve the beneficial effects described above. In this application, the control device can be the processing control module in the above-mentioned detection system, or it can be the above-mentioned... Figure 14 The processor in the terminal device, or other independent control devices (such as chips), etc.

[0208] like Figure 16 As shown, the control device 1600 includes a processing module 1601, and may further include a transceiver module 1602. The control device 1600 is used to implement the above-mentioned... Figure 15 The functionality of the method embodiments shown.

[0209] When the control device 1600 is used to achieve Figure 15The function of the method embodiment shown is as follows: the processing module 1601 is used to control the transmitting module to transmit signal light, control the first scanning module to reflect the signal light from the transmitting module, and control the second scanning module to reflect the received echo signal to the receiving module. Further, optionally, the transceiver module 1602 is used to send control signals to the transmitting module, the first scanning module, the second scanning module, etc., so that the transmitting module transmits signal light, the first scanning module reflects the signal light from the transmitting module, and the second scanning module reflects the received echo signal to the receiving module.

[0210] It should be understood that the processing module 1601 in the embodiments of this application can be implemented by a processor or processor-related circuit components, and the transceiver module 1602 can be implemented by interface circuits and other related circuit components.

[0211] Based on the above content and the same concept, such as Figure 17 As shown, this application also provides a control device 1700. The control device 1700 may include a processor 1701, and optionally, may also include an interface circuit 1702. The processor 1701 and the interface circuit 1702 are coupled to each other. It is understood that the interface circuit 1702 may be an input / output interface. Optionally, the control device 1700 may also include a memory 1703 for storing computer programs or instructions executed by the processor 1701.

[0212] When the control device 1700 is used to achieve Figure 15 In the method shown, processor 1701 is used to execute the functions of the processing module 1601, and interface circuit 1702 is used to execute the functions of the transceiver module 1602.

[0213] Based on the foregoing and the same concept, this application provides a chip. The chip may include a processor and interface circuitry. Further, optionally, the chip may also include a memory. The processor executes computer programs or instructions stored in the memory, causing the chip to perform the aforementioned operations. Figure 15 The method in any possible implementation.

[0214] It is understood that the processor in the embodiments of this application may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. A general-purpose processor may be a microprocessor or any conventional processor.

[0215] The method steps in the embodiments of this application can be implemented in hardware or by a processor executing software instructions. The software instructions can consist of corresponding software modules, which can be stored in random access memory (RAM), flash memory, read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), registers, hard disks, portable hard disks, CD-ROMs, or any other form of storage medium known in the art. An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and storage medium can reside in an ASIC. Alternatively, the ASIC can reside in a control device. Of course, the processor and storage medium can also exist as discrete components in a control device, terminal device, or detection system.

[0216] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer programs or instructions. When the computer program or instructions are loaded and executed on a computer, the processes or functions described in the embodiments of this application are performed entirely or partially. The computer can be a general-purpose computer, a special-purpose computer, a computer network, a control device, a user equipment, or other programmable device. The computer program or instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another. For example, the computer program or instructions can be transferred from one website, computer, server, or data center to another website, computer, server, or data center via wired or wireless means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium, such as a floppy disk, hard disk, or magnetic tape; it can also be an optical medium, such as a digital video disc (DVD); or it can be a semiconductor medium, such as a solid-state drive (SSD).

[0217] In the various embodiments of this application, unless otherwise specified or in case of logical conflict, the terminology and / or descriptions of different embodiments are consistent and can be referenced by each other. The technical features of different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0218] In this application, "uniform" does not refer to absolute uniformity; a certain degree of engineering error is permissible. "Perpendicular" does not refer to absolute perpendicularity; a certain degree of engineering error is permissible. "At least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of singular or plural items. For example, at least one of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple. In the textual description of this application, the character " / " generally indicates that the preceding and following related objects are in an "or" relationship. In the formulas of this application, the character " / " indicates that the preceding and following related objects are in a "division" relationship. Furthermore, in this application, the term "exemplarily" is used to mean as an example, illustration, or description. Any embodiment or design described as an "example" in this application should not be construed as being more preferred or advantageous than other embodiments or designs. Alternatively, it can be understood that the use of the term "example" is intended to present concepts in a specific manner and does not constitute a limitation of this application.

[0219] It is understood that the various numerical designations used in this application are merely for descriptive convenience and are not intended to limit the scope of the embodiments of this application. The order of the process numbers described above does not imply the order of execution; the execution order of each process should be determined by its function and inherent logic. Terms such as "first," "second," and similar expressions are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion, such as including a series of steps or units. A method, system, product, or device is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to these processes, methods, products, or devices.

[0220] Although this application has been described in conjunction with specific features and embodiments, it is obvious that various modifications and combinations can be made therein without departing from the spirit and scope of this application. Accordingly, this specification and drawings are merely illustrative examples of the solutions defined by the appended claims and are to be considered as covering any and all modifications, variations, combinations, or equivalents within the scope of this application.

[0221] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of the invention. Therefore, if these modifications and variations of the embodiments of this application fall within the scope of the claims of this application and their equivalents, this application also intends to include these modifications and variations.

Claims

1. A detection system, comprising a transmitting module, a receiving module, a first scanning module, and a second scanning module, characterized in that: The transmitting module is used to transmit signal light; The first scanning module is used to reflect the signal light from the transmitting module; The second scanning module is used to reflect the received echo signal to the receiving module, the echo signal including reflected light obtained by reflecting the signal light through at least one target; The receiving module is used to receive the echo signal; Wherein, the angle between the first normal vector of the first reflective surface of the first scanning module and the second normal vector of the second reflective surface of the second scanning module is the first angle, the first reflective surface and the second reflective surface are adjacent reflective surfaces, the angle between the optical axis of the transmitting module and the optical axis of the receiving module is the second angle, and both the first angle and the second angle are greater than 0°; The detection system further includes a detection module, and the echo signal includes a first echo signal; The second scanning module is used to reflect the first echo signal to the receiving module, or to reflect the first echo signal to an area outside the receiving module, wherein the first echo signal is the reflected light of the signal light reflected by the first target among the at least one target; The receiving module is used to propagate the first echo signal to a first region of the detection module or a region outside the detection module, wherein the first region is the currently non-gated region in the detection module.

2. The system as described in claim 1, characterized in that, The echo signal also includes a second echo signal; The second scanning module is used to reflect the second echo signal to the receiving module, wherein the second echo signal is the reflected light of the signal light reflected by the second target located in the detection area of ​​the at least one target; The receiving module is used to propagate the second echo signal to a second region of the detection module, where the second region is the currently selected region in the detection module. The detection module is used to perform photoelectric conversion on the second echo signal to obtain an electrical signal, and the electrical signal is used to determine the association information of the second target.

3. The system as described in claim 1 or 2, characterized in that, The scanning axes of the first scanning module and the second scanning module are a shared first scanning axis; The first reflective surface and the second reflective surface are adjacent in a direction parallel to the first scanning axis.

4. The system as described in claim 1 or 2, characterized in that, The scanning axis of the first scanning module is the second scanning axis, and the scanning axis of the second scanning module is the third scanning axis. The direction of the second scanning axis is parallel to the direction of the third scanning axis, or the extension line of the second scanning axis coincides with the extension line of the third scanning axis. The first reflective surface and the second reflective surface are adjacent in a direction parallel to the second scanning axis or in a direction parallel to the third scanning axis.

5. The system as described in claim 1 or 2, characterized in that, The second angle is twice the first angle.

6. The system as described in claim 1 or 2, characterized in that, The first scanning module includes any one of a rotating mirror, a tilting mirror, or a microelectromechanical system (MEMS) mirror; and / or, The second scanning module includes any one of a mirror, a tilting mirror, or a microelectromechanical system (MEMS) mirror.

7. The system as described in claim 1 or 2, characterized in that, The emitting module includes a light source array, and the detecting module includes a pixel array; The light source array selects light sources in a column-by-column time-division manner, and the pixel array selects pixels in a column-by-column time-division manner.

8. The system as described in claim 7, characterized in that, The first region of the detection module consists of at least one column of non-gated pixels, and the second region consists of at least one column of gated pixels.

9. The system as described in claim 7, characterized in that, The first angle is greater than or equal to the first angular resolution of the detection system, where the first angular resolution is the angular resolution of the detection system in the direction corresponding to the column of the pixel array.

10. The system as described in claim 1 or 2, characterized in that, The emitting module includes a light source array, and the detecting module includes a pixel array; The light source array selects light sources in a row-time manner, and the pixel array selects pixels in a row-time manner.

11. The system as claimed in claim 10, characterized in that, The first region of the detection module consists of at least one row of non-gated pixels, and the second region consists of at least one row of gated pixels.

12. The system as described in claim 10, characterized in that, The first angle is greater than or equal to the second angular resolution of the detection system, where the second angular resolution is the angular resolution of the detection system in the direction corresponding to the row of the pixel array.

13. The system as described in claim 2, characterized in that, The detection system also includes a processing and control module; The processing control module is used to receive electrical signals from the detection module and determine the association information of the second target based on the electrical signals.

14. A terminal device, characterized in that, Including the detection system as described in any one of claims 1 to 13.

15. A detection and control method, characterized in that, The method includes: Control the transmitting module to emit signal light; The first scanning module is controlled to reflect the signal light from the transmitting module; The second scanning module is controlled to reflect the received echo signal to the receiving module, the echo signal including reflected light obtained by reflecting the signal light through at least one target; Wherein, the angle between the first normal vector of the first reflective surface of the first scanning module and the second normal vector of the second reflective surface of the second scanning module is the first angle, the first reflective surface and the second reflective surface are adjacent reflective surfaces, the angle between the optical axis of the transmitting module and the optical axis of the receiving module is the second angle, and both the first angle and the second angle are greater than 0°; The echo signal includes a first echo signal; The control of the second scanning module to reflect the received echo signal to the receiving module includes: The second scanning module is controlled to reflect the first echo signal to the receiving module, or the second scanning module is controlled to reflect the first echo signal to a region outside the receiving module. The first echo signal is the reflected light of the signal light reflected by the first target among the at least one target. The first echo signal is propagated through the receiving module to a first region of the detection module. The first region is the currently non-gated region in the detection module.

16. The method as described in claim 15, characterized in that, The echo signal includes a second echo signal; The control of the second scanning module to reflect the received echo signal to the receiving module includes: The second scanning module is controlled to reflect the second echo signal to the receiving module, wherein the second echo signal is the reflected light of the signal light reflected by the second target in the at least one target and located within the detection area; The method further includes: The control detection module selects a second region, which is used to perform photoelectric conversion on the received second echo signal to obtain an electrical signal. The electrical signal is used to determine the association information of the second target.

17. The method as described in claim 16, characterized in that, The detection module includes a pixel array; The control and detection module selects the second region, including: Control the pixel array to select the second region column by column.

18. The method as described in claim 17, characterized in that, The transmitting module includes a light source array; The control transmitter module transmits signal light, including: The light source array is controlled to select light sources in a column-by-column manner.

19. The method as described in claim 16, characterized in that, The detection module includes a pixel array; The control and detection module selects the second region, including: Control the pixel array to select the second region row by row.

20. The method as described in claim 18, characterized in that, The transmitting module includes a light source array; The control transmitter module transmits signal light, including: The light source array is controlled to select light sources in a row-by-row time-division manner.

21. The method according to any one of claims 16 to 20, characterized in that, The method further includes: The association information of the second target is determined based on the electrical signal.

22. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program or instructions that, when executed by a control device, cause the control device to perform the method as described in any one of claims 15 to 21.

23. A computer program product, characterized in that, The computer program product includes a computer program or instructions that, when executed by a control device, cause the control device to perform the method as described in any one of claims 15 to 21.

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