Detection device, optical loop back method and terminal

Abstract

The embodiment of the invention provides a detection device, an optical loop back method and a terminal, and the detection device can be a laser radar and can be applied to the fields of detection, intelligent surveying and mapping, intelligent driving and the like. The detection device comprises a transmitting module, a receiving module, an optical module and an optical fiber. Light beams emitted by the emitting device are transmitted to the optical fiber through the optical module and transmitted to the receiving module through the optical fiber. A stable optical ring return path is constructed through the optical fiber and can be used for improving the detection precision of the detection device. The arrangement mode and the model selection of the optical fibers are flexible, the transmitting module and the receiving module can be adapted by adjusting the position and the angle of the optical fiber receiving end, the model of the optical fibers and the position of the emitting end, and the model selection difficulty is reduced. According to the embodiment of the invention, the stable optical ring return path is constructed based on the optical fiber, the structure of the detection device is simplified, the component adaptation difficulty is reduced, and the detection precision can be improved.

Description

A detection device, optical loopback method and terminal

[0001] This application claims priority to the international application filed with the International Bureau on November 29, 2022, with application number PCT / CN2022 / 135064 and invention name “A detection device, optical loopback method and terminal”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of detection technology, and in particular to a detection device, method and terminal. Background Art

[0003] LiDAR (light detection and ranging) is an optical measurement device that works by emitting a laser signal to an object and receiving the target echo signal reflected by the object. The target echo signal is then compared with the laser signal to obtain relevant detection parameters such as the object's position and distance.

[0004] The circuit drive signal is an electrical signal that drives the light source to emit light. The circuit drive signal drives the light source to emit light and generates a laser signal. The calculation of the detection parameters is based on the time when the circuit drive signal is generated. There is a certain delay from the generation of the circuit drive signal to the generation of the laser signal. The length of the delay will be affected by external temperature changes and system aging, thus resulting in reduced detection accuracy of objects.

[0005] Summary of the Invention

[0006] Embodiments of the present application provide a detection device, an optical loopback method, and a terminal for improving the detection accuracy of an object.

[0007] In the first aspect, an embodiment of the present application provides a detection device, which includes a transmitting module, an optical fiber and an optical module. The transmitting module emits a first light beam, the optical module transmits the first light beam to the optical fiber, and the first light beam is then transmitted to the receiving module by the optical fiber. Due to the total reflection characteristics of the optical fiber, the optical path from the transmitting module to the receiving module is constructed by the optical fiber, which can improve the stability of the optical path, and the layout and selection of the optical fiber are relatively flexible. The transmitting module and the receiving module can be adapted by adjusting the position and angle of the optical fiber receiving end, the optical fiber model, and the position of the output end, thereby reducing the difficulty of selection; using the optical fiber to construct the optical path can save the internal space of the device. The optical path used to measure the delay from the generation of the circuit drive signal to the laser signal is called an optical loopback. The delay will change due to external temperature changes and system aging. Measuring the delay from the issuance of the circuit drive signal to the issuance of the light signal by the light source through the optical loopback can improve the detection accuracy of the object.

[0008] In a possible implementation of the first aspect, the detection device also includes a processing module, which obtains a first electrical signal that causes the transmitting module to emit a first light beam, and the receiving module generates a second electrical signal corresponding to the first light beam after receiving the first light beam. The processing module obtains the second electrical signal and calculates the time difference between the first electrical signal and the second electrical signal.

[0009] The first electrical signal drives the transmitting module to emit a first light beam. The time from the emission of the first light beam to the generation of the second electrical signal can be ignored. Therefore, the time difference between the moment when the processing module obtains the first electrical signal and the moment when the second electrical signal is obtained is the delay from the generation of the circuit driving signal to the generation of the laser signal.

[0010] By calibrating the detection device and giving a calibration value that is appropriate to the delay, the impact of the delay on detection accuracy can be offset. When the delay changes due to external temperature changes and system aging, the error between the delay and the initial calibration value of the detection device will reduce detection accuracy. By constructing an optical loopback, the delay size can be obtained in real time, and the calibration value can be adjusted to improve detection accuracy.

[0011] In a possible implementation of the first aspect, the optical module includes a scanning module, which transmits the first light beam to the optical fiber at a first scanning angle, and the first scanning angle is an angle at which the detection device does not detect external targets.

[0012] For an optical module including a scanning module, the scanning module's scanning angle range within a scanning cycle includes a scanning angle range for detecting external targets and a scanning angle range for not detecting external targets. When the scanning angle of the scanning module is within the scanning angle range for detecting external targets, the scanning module is used to detect external targets. When the scanning angle of the scanning module is within the scanning angle range for not detecting external targets, the scanning module is used to transmit the first light beam to the optical fiber, thereby establishing an optical loopback path for the optical module including the scanning module, thereby not affecting the detection performance of the scanning module.

[0013] In a possible implementation of the first aspect, the optical module includes at least one reflector, and the first light beam passes through an optical path constructed by the optical module to detect an external target or perform optical loopback.

[0014] In a possible implementation of the first aspect, the energy loss value of the first light beam satisfies a range greater than a first threshold and less than a second threshold, and the energy loss value range of the first light beam is related to the transmission power of the transmission module and the receiving power range of the receiving module.

[0015] The energy loss value of the first light beam refers to the energy difference between the energy emitted by the transmitting end and the energy received by the receiving end. The first light beam emitted by the transmitting module has a certain power range, and the light beam power that the receiving module can receive has a certain range. Therefore, the energy loss value of the first light beam during transmission needs to meet a certain range to match the transmitting module and the receiving module, thereby successfully realizing the establishment of the optical loopback path.

[0016] In a possible implementation of the first aspect, the energy loss value β of the optical fiber segment of the first light beam satisfies the following formula: β=10×log(P_in / P_out)

[0017] Where P_in is the input energy of the optical fiber, and P_out is the output energy of the optical fiber. The energy loss value of the optical fiber segment of the first light beam is a portion of the energy loss value of the first light beam, representing the energy loss value of the first light beam before and after it passes through the optical fiber. The energy loss value of the first light beam can be adjusted by adjusting the energy loss value of the optical fiber segment. For example, the input energy can be affected by adjusting the position and angle of the optical fiber input end. For another example, the output energy can be adjusted by selecting different optical fiber models.

[0018] In one possible implementation of the first aspect, the receiving end of the optical fiber is fixed at a first position, and the angle at which the first light beam enters the optical fiber is a first angle θ. The first position of the optical fiber receiving end and the first angle θ at which the first light beam enters the optical fiber both affect the energy loss value of the first light beam by affecting the amount of energy input to the optical fiber. The first position and first angle can be selected based on the transmit power of the transmitting module and the receive power range of the receiving module. Selecting different first positions and first angles can result in different energy loss values ​​for the first light beam, thereby meeting the requirements of a wider operating range for the transmitting and receiving modules and reducing the difficulty of selection.

[0019] In a possible implementation of the first aspect, the receiving module includes a detector and a fixing device, the fixing device is provided with a through hole, the optical fiber output end is fixed at a second position, and the first light beam is transmitted to the detector through the through hole. The energy loss value of the first light beam is related to the second position, and the insertion depth of the optical fiber through the through hole affects the power of the first light beam received by the detector. The second position and the insertion depth of the optical fiber will affect the distance between the optical fiber output end and the detector. After the light beam is emitted from the optical fiber, the light beam is no longer concentrated. The distance between the output end and the detector will affect the size of the received energy of the detector. Therefore, the output power of the transmitting module and the receiving power of the receiving module can be matched by adjusting the insertion depth and the second position.

[0020] In one possible implementation of the first aspect, the energy loss value of the first light beam is related to fiber parameters, including the fiber core diameter and the fiber numerical aperture. Different types of optical fibers have different fiber parameters and may produce different energy losses. By selecting different types of optical fibers, the energy loss value of the first light beam can be adjusted to match the output power of the transmitter module with the received power of the receiver module.

[0021] In one possible implementation of the first aspect, the transmitting module may include one or more light-emitting elements. The multiple light-emitting elements may have different transmit powers to accommodate different detection scenarios. For example, a high-power light-emitting element may be used to detect targets at long distances, while a low-power light-emitting element may be used to detect targets at closer distances.

[0022] In one possible implementation of the first aspect, the detection device further includes a coupler capable of coupling multiple optical fibers into one optical fiber to transmit the first light beam to the receiving module. Multiple light sources can correspond to multiple optical fibers, with corresponding first positions and first angles matched according to their respective parameters to meet the energy loss requirements of different light beams for different light sources. After the coupler couples the multiple optical fibers into one optical fiber, the optical fibers are then transmitted to the receiving module, facilitating assembly on the receiving module side.

[0023] In one possible implementation of the first aspect, the detection device further includes a fixing module that can secure the optical fiber in a desired position. Optionally, the optical fiber fixing module can be a glass tube or an optical fiber clamp, wherein the optical fiber clamp is provided with a slot having an angle corresponding to the desired first angle, and the slot angle can be determined based on the desired first angle. The fixing device secures the optical fiber, thereby maintaining a fixed first position and first angle in the optical fiber device, maintaining the stability of the optical path, and ensuring the performance of the detection device.

[0024] In a second aspect, a detection device is provided, comprising a transmitter, a receiver, an optical fiber, and a first optical lens group, wherein the transmitter emits a first light beam, the first optical lens group transmits the first light beam to the optical fiber, and the optical fiber transmits the first light beam to the receiver, which receives the first light beam.

[0025] In a possible implementation of the second aspect, the detection device further includes a processor, which obtains a first electrical signal that causes the transmitter to emit a first light beam, and the receiver generates a second electrical signal corresponding to the first light beam after receiving the first light beam. The processor obtains the second electrical signal and calculates the time difference between the first electrical signal and the second electrical signal.

[0026] In a possible implementation of the second aspect, the detection device further includes a polygonal rotating mirror. The polygonal rotating mirror transmits the first light beam to the optical fiber at a first scanning angle, and the first scanning angle is an angle at which the detection device does not detect external targets. The polygonal rotating mirror can move as a whole to form reflection surfaces at various angles. For example, the overall movement includes movements such as swinging or rotating. The reflection surfaces at various angles formed by the polygonal rotating mirror can enable the detection device to detect a certain range externally, and form an optical path internally to realize a light loop to measure the delay to improve the ranging accuracy.

[0027] In a third aspect, the present application provides an optical loopback method, which is applied to a detection device, the detection device comprising a transmitting module, an optical fiber, and a first optical module, the transmitting module emitting a first light beam, the first optical module transmitting the first light beam to the optical fiber, and the first light beam being transmitted to the receiving module via the optical fiber. Optionally, the detection device is the detection device provided in the first aspect or any optional embodiment.

[0028] In a fourth aspect, an embodiment of the present application provides a detection device, which includes: a transmitting module, a receiving module, and an optical fiber; the transmitting module is used to transmit a detection beam, the detection beam includes a main light part and a residual light part, the main light part of the detection beam is used to detect external targets, and the residual light part of the detection beam is transmitted to the optical fiber; the optical fiber is used to transmit the residual light part of the detection beam to the receiving module; the receiving module is used to receive the residual light part of the detection beam.

[0029] In a possible implementation of the fourth aspect, the detection device also includes a processing module; the processing module is used to obtain a first electrical signal, and the first electrical signal is used to enable the transmitting module to emit a detection light beam; the processing module is used to receive a second electrical signal, and the second electrical signal corresponds to the residual light portion of the detection light beam received by the receiving module; the processing module is used to calculate the time difference between the first electrical signal and the second electrical signal.

[0030] In a possible implementation manner of the fourth aspect, the first emission angle of the emission module is used to transmit the residual light portion of the detection light beam to the optical fiber.

[0031] In a possible implementation of the fourth aspect, the energy loss value of the afterglow of the first partial light beam satisfies the condition that it is greater than the first threshold and less than the second threshold, and the energy loss value range of the afterglow of the detection light beam is related to the transmission power of the transmitting module and the receiving power range of the receiving module.

[0032] In a possible implementation of the fourth aspect, the energy loss value β of the optical fiber segment of the residual light portion of the detection beam satisfies the following formula β=10×log(P_in / P_out):

[0033] Among them, P_in is the input energy of the optical fiber, and P_out is the output energy of the optical fiber.

[0034] In a possible implementation of the fourth aspect, the receiving end of the optical fiber is fixed at a first position, the angle at which the residual light portion of the detection beam enters the optical fiber is a first angle θ, and the energy loss value of the residual light portion of the detection beam is related to at least one of the first position and the first angle θ.

[0035] In a possible implementation of the fourth aspect, the receiving module includes a detection element and a fixing device, the fixing device is provided with a through hole, the optical fiber output end is fixed at a second position, the first light beam is transmitted to the receiving module through the through hole, and the energy loss value of the residual light part of the detection light beam is related to the second position.

[0036] In a possible implementation of the fourth aspect, the energy loss value of the residual light portion of the detection beam is related to the optical fiber parameters, and the optical fiber parameters include the optical fiber core diameter and the numerical aperture of the optical fiber.

[0037] In a possible implementation of the fourth aspect, the transmitting module includes one or more light-emitting elements.

[0038] In a possible implementation of the fourth aspect, the residual light portion of the detection beam includes a first portion of residual light, which is emitted outside the transmitting module. The incident end of the optical fiber is located outside the transmitting module. The optical fiber is specifically used to receive the first portion of the residual light from the light-emitting element and transmit the first portion of the residual light to the receiving module; the receiving module is specifically used to receive the first portion of the residual light.

[0039] In a possible implementation of the fourth aspect, the residual light portion of the detection beam includes a second portion of residual light, the second portion of residual light is not emitted outside the transmitting module, the incident end of the optical fiber is located inside the transmitting module, and the optical fiber is specifically used to receive the second portion of residual light from the light-emitting element and transmit the second portion of residual light to the receiving module; the receiving module is specifically used to receive the second portion of residual light.

[0040] In a possible implementation of the fourth aspect, the device further includes a coupler, which is used to couple the multiple optical fibers into one optical fiber and transmit the residual light portion of the detection beam to the receiving module.

[0041] In a possible implementation of the fourth aspect, the device further includes an optical fiber fixing module, which is used to fix the optical fiber; the optical fiber fixing module is a glass tube or an optical fiber clamp, the optical fiber clamp is provided with a slot, and the first angle θ is related to the angle of the slot.

[0042] In a fifth aspect, an embodiment of the present application provides a detection device, which includes: a transmitting module, a receiving module, and an optical fiber; the transmitting module includes multiple light-emitting elements, the first light-emitting element among the multiple light-emitting elements is used to emit a second light beam and transmit the second light beam to the optical fiber; the optical fiber is used to transmit the second light beam to the receiving module; the receiving module is used to receive the second light beam.

[0043] In a possible implementation of the fifth aspect, the detection device also includes a processing module; the processing module is used to obtain a first electrical signal, and the first electrical signal is used to enable the transmitting module to emit a second light beam; the processing module is used to receive a second electrical signal, and the second electrical signal corresponds to the second light beam received by the receiving module; the processing module is used to calculate the time difference between the first electrical signal and the second electrical signal.

[0044] In a possible implementation of the fifth aspect, the second light beam is emitted outside the emission module, and the incident end of the optical fiber is located outside the emission module; or, the second light beam is not emitted outside the emission module, and the incident end of the optical fiber is located inside the emission module.

[0045] In a possible implementation manner of the fifth aspect, the first emission angle of the first light-emitting element is used to transmit the second light beam to the optical fiber.

[0046] In a sixth aspect, an embodiment of the present application provides a detection device, which includes: a transmitter, a receiver, and an optical fiber; the transmitter is used to emit a detection beam, the detection beam includes a main light part and a residual light part, the main light part of the detection beam is used to detect external targets, and the residual light part of the detection beam is transmitted to the optical fiber; the optical fiber is used to transmit the residual light part of the detection beam to the receiver; the receiver is used to receive the residual light part of the detection beam.

[0047] In a possible implementation of the sixth aspect, the detector also includes a processor; the processor is used to obtain a first electrical signal, which is used to enable the transmitter to emit a detection light beam; the processor is used to receive a second electrical signal, which corresponds to the residual light portion of the detection light beam received by the receiver; and the processor is used to calculate the time difference between the first electrical signal and the second electrical signal.

[0048] In a possible implementation manner of the sixth aspect, the first emission angle of the emitter is used to transmit the residual light portion of the detection light beam to the optical fiber.

[0049] In a possible implementation of the sixth aspect, the emitter includes one or more light-emitting elements.

[0050] In a possible implementation of the sixth aspect, the residual light portion of the detection beam includes a first portion of residual light, the first portion of residual light is emitted outside the transmitter, the incident end of the optical fiber is located outside the transmitter, and the optical fiber is specifically used to receive the first portion of residual light from the light-emitting element and transmit the first portion of residual light to the receiver; the receiver is specifically used to receive the first portion of residual light.

[0051] In a possible implementation of the sixth aspect, the residual light portion of the detection beam includes a second portion of residual light, the second portion of residual light is not emitted outside the transmitter, the incident end of the optical fiber is located inside the transmitter, and the optical fiber is specifically used to receive the second portion of residual light from the light-emitting element and transmit the second portion of residual light to the receiver; the receiver is specifically used to receive the second portion of residual light.

[0052] In a seventh aspect, the present application provides an optical loopback method, wherein a detection device includes a transmitting module, a receiving module, and an optical fiber. The method includes: the transmitting module transmits a detection beam, the detection beam includes a main light portion and a residual light portion, the main light portion of the detection beam is used to detect an external target, and the residual light portion of the detection beam is transmitted to the optical fiber; the optical fiber transmits the residual light portion of the detection beam to the receiving module; and the receiving module receives the residual light portion of the detection beam. Optionally, the detection device is the detection device provided by any optional embodiment of the fourth aspect or the fifth aspect.

[0053] In an eighth aspect, embodiments of the present application provide a terminal, wherein the terminal includes the detection device described in any one of the first aspect, or the terminal includes the detection device described in any one of the second aspect, or the terminal includes the detection device described in any one of the fourth aspect, or the terminal includes the detection device described in any one of the fifth aspect. Optionally, the terminal is a vehicle, a drone, or a robot.

[0054] Regarding the effects brought about by the corresponding implementation methods of the second to eighth aspects, please refer to the introduction of the various implementation methods of the first aspect, which will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 is a schematic diagram of the application scenario of the detection device.

[0056] FIG2a is a schematic diagram of the transmission and reception timing of the detection device.

[0057] FIG2 b is a schematic diagram of the principle of the detection device.

[0058] FIG2c is a schematic diagram of the principle of the detection device.

[0059] FIG3 is a schematic diagram of a detection device provided in this application.

[0060] FIG4 a is a schematic diagram of a detection device provided in this application.

[0061] FIG4 b is a schematic diagram of a detection device provided in this application.

[0062] FIG4c is a schematic diagram of a coupler provided in this application

[0063] FIG5 is a schematic diagram of a detection device provided in this application.

[0064] FIG6 a is a schematic diagram of a detection device provided in this application.

[0065] FIG6 b is a schematic diagram of a detection device provided in this application.

[0066] FIG6c is a schematic diagram of a transmitting module provided in this application.

[0067] FIG6 d is a schematic diagram of a detection device provided in this application.

[0068] FIG6e is a schematic diagram of a detection device provided in this application.

[0069] FIG6f is a schematic diagram of a detection device provided in this application.

[0070] FIG6g is a schematic diagram of a detection device provided in this application.

[0071] FIG7 is a schematic diagram of a receiving module of the detection device provided in this application.

[0072] FIG8 is a schematic diagram of an optical loopback of a detection device provided in the present application.

[0073] FIG9 is a schematic diagram of a detection device provided in this application.

[0074] FIG10 a is a schematic diagram of an optical fiber structure.

[0075] FIG10 b is a schematic diagram of an optical fiber structure.

[0076] FIG11 is a schematic diagram of a detection device provided in this application.

[0077] FIG12 a is a schematic diagram of a fixing module provided in this application.

[0078] FIG12 b is a schematic diagram of a fixing module provided in this application. DETAILED DESCRIPTION

[0079] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the embodiments of the present application will be further described in detail below with reference to the accompanying drawings.

[0080] For ease of understanding, the following examples provide some explanations of concepts related to the embodiments of the present application for reference.

[0081] 1. Detection device

[0082] The detection device mentioned in the embodiments of the present application can be a lidar or other optical detection device, such as a fusion detection device (for example, a detection device integrating a radar detector and an image sensor). Its working principle is to detect the corresponding detection area by emitting a light signal and receiving a returned light signal.

[0083] The detection device in the embodiment of the present application can be used in various fields such as intelligent driving, intelligent transportation, intelligent manufacturing, environmental detection, surveying and mapping, drones, etc., and can complete one or more functions of target detection, distance measurement, speed measurement, target tracking, imaging recognition, etc.

[0084] The detection device in the embodiments of the present application can be applied to a vehicle-mounted detection device (such as the laser radar 100 in Figure 1), a roadside detection device (such as an intersection radar), etc., and can also be applied to other detection devices, such as a detection device installed on a drone, a robot, a rail car, a bicycle, a signal light, a speed measuring device, or a base station. The present application does not limit the location where the detection device is installed.

[0085] 2. Fiber optics

[0086] Optical fiber, also known as optical fiber, is a fiber made of glass or plastic that transmits light using the principle of total internal reflection (TIR) ​​within these fibers. Typically, the core of an optical fiber is made of high-refractive-index glass, while the cladding is made of low-refractive-index glass or plastic. Light propagates within the core and is continuously and totally reflected at the intersection of the cladding and the core.

[0087] 3. Halo

[0088] The optical path from the transmitting module to the receiving module constructed to correct the delay between the electrical drive signal and its corresponding optical signal is called optical loopback.

[0089] 4. Flight time

[0090] Time of Flight (ToF) refers to the time required for a laser transmitter to send a light pulse to a target object and then a detector to receive the light reflected from the target. The speed of light and ToF can be used to obtain the distance between the target object and the detection device. ToF measurement technologies can include single laser pulse technology, multi-laser pulse technology, etc. Among them, in single laser pulse technology, the measured flight time is the time it takes for a single pulse to return, which has high requirements for the signal-to-noise ratio (SNR, or S / N). In multi-laser pulse technology, the return time of multiple pulses is measured each time, and detection data is obtained through a photon counting histogram.

[0091] 5. Glue dispensing

[0092] Gluing (also known as bonding, gluing, cementing, or gluing) refers to the technique of joining homogeneous or heterogeneous surfaces using adhesives. Adhesives are natural or synthetic, organic or inorganic substances that connect two or more parts or materials through interfacial adhesion and cohesion. They are also called adhesives and are often referred to simply as glue.

[0093] Optionally, gluing may be achieved by using an optically clear adhesive (OCA).

[0094] One possible bonding method involves applying pressure to force the surfaces of two optical components together. In this case, the surfaces of the two optical components being bonded are typically clean, smooth, and have a consistent shape. In some cases, this method is also called optical bonding.

[0095] 6. Adaptation

[0096] Adaptation is the process of processing or preprocessing the signals transmitted or received by different components to enable them to work together. For example, if the transmitting module has high transmission power and the receiving module has low reception power, the signal from the transmitting module must be attenuated before being transmitted to the receiving module. Alternatively, if the transmitting module has low transmission power, the signal must be amplified before being transmitted to the receiving module.

[0097] In the embodiments of the present application, for the number of nouns, unless otherwise specified, it means "singular noun or plural noun", that is, "one or more". "At least one" means one or more, and "plural" means two or more. "And / or" describes the association relationship of associated objects, indicating that there may be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. Unless otherwise specified, the character " / " generally indicates that the previous and next associated objects are in an "or" relationship. For example, A / B means: A or B. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c means: a, b, c, a and b, a and c, b and c, or a and b and c, where a, b, c can be single or multiple.

[0098] In the embodiments of the present application, ordinal numbers such as "first" and "second" are mentioned to distinguish multiple objects, and are not used to limit the size, content, order, timing, application scenario, priority or importance of multiple objects.

[0099] In the embodiments of the present application, "connection" can be a direct connection or an indirect connection; in addition, it can refer to an electrical connection or a communication connection; for example, the connection between two electrical components A and B can refer to a direct connection between A and B, or it can refer to an indirect connection between A and B through other electrical components or a connection medium, so that electrical signals can be transmitted between A and B; for another example, the connection between two devices A and B can refer to a direct connection between A and B, or it can refer to an indirect connection between A and B through other communication devices or communication media, as long as communication between A and B can be carried out.

[0100] In the various embodiments of the present application, unless otherwise specified or there is a logical conflict, the terms and / or descriptions between the various embodiments are consistent and can be referenced by each other. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0101] Those skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware, or by a program to instruct the relevant hardware, and the program may be stored in a computer-readable storage medium, which may be a read-only memory, a disk, or an optical disk, etc.

[0102] The above introduces some concepts involved in the embodiments of the present application. The following introduces the technical features of the embodiments of the present application.

[0103] Please refer to Figures 2a, 2b and 2c. Figure 2a is a schematic diagram of the timing of the detection device receiving and transmitting, and Figures 2b and 2c are schematic diagrams of the principle of the detection device. The timing interval of the circuit drive signal is T. After the circuit drive signal is issued, it drives the transmitting module to emit light. There is a certain delay △t1 from the issuance of the circuit drive signal to the issuance of the light signal by the transmitting module. After the light signal emitted by the transmitting module is reflected by the target object, it enters the receiving module and generates an echo signal. The time from the emission of the light signal by the transmitting module to the generation of the echo signal by the receiving module is △t2. The flight time is measured from the moment the circuit drive signal is issued to the moment the echo signal is obtained. The distance L can be calculated by the following formula: L=c*(△t1+△t2-△t1') / 2

[0104] Where △t1' is the calibration value of the detection device, c is the speed of light, and △t1'=△t1. When the actual △t1 changes due to external temperature changes or system aging, the size of △t1 will change, while △t1' remains the calibration value, so the ranging accuracy will be reduced.

[0105] To this end, the present application provides a detection device that can construct a stable optical loop through optical fiber, accurately measure the delay Δt1 through the optical loop, and provide a real-time measurement of Δt1' for correcting the delay value, thereby improving detection accuracy. Due to the flexibility of optical fiber placement and selection, the transmitting and receiving modules can be adapted by adjusting the position and angle of the optical fiber receiving end, the optical fiber model, and the position of the output end, reducing the difficulty of selection. Using optical fiber to construct the optical path can save internal space of the device.

[0106] Please refer to Figure 3, which is a schematic diagram of a detection device provided by the present application, including a transmitting module, a receiving module, an optical fiber and an optical module. The transmitting module emits a first light beam, as shown by the arrow line in Figure 3, the optical module transmits the first light beam to the optical fiber, the optical fiber transmits the first light beam to the receiving module, and the receiving module receives the first light beam. By constructing an optical path from the transmitting module to the receiving module through the optical fiber, it can be used to calculate the delay from the generation of the circuit drive signal to the generation of the optical signal, that is, △t1. The loop is inside the detection device, so the △t2 of the loop can be ignored. The size of △t1 can be measured through the loop optical path inside the detection device, thereby correcting errors caused by factors such as environmental changes and / or equipment aging, and more accurate detection results can be obtained when detecting external targets. Since the layout and selection of optical fibers are relatively flexible, the transmitting module and the receiving module can be adapted by adjusting the position and angle of the optical fiber receiving end, the optical fiber model, and the position of the output end, thereby reducing the difficulty of selection; using optical fibers to construct the optical path can save space inside the device.

[0107] The specific modules involved are described below.

[0108] The transmitting module includes a light-emitting element for converting an electrical signal into an optical signal. The transmitting module may include one or more light-emitting elements, and the light-emitting element may be a laser. For example, the transmitting module may include one or more of the following lasers: a semiconductor laser, a fiber laser, or a gas laser. Among them, the semiconductor laser may specifically include a laser diode (LD), a vertical cavity surface emitting laser (VCSEL), an edge-emitting laser (EEL), a distributed feedback laser (DFB-LD), a distributed Bragg reflection laser (DBR-LD), a grating coupled sampling reflection laser (GCSR-LD), a micro opto electro mechanical system laser (MOEMS-LD), and other light-emitting elements. The transmitting module in the embodiment of the present application is a logical concept, and the combination of functional components that realize the emission of optical signals is called a transmitting module. The present application does not limit its form and implementation. In one possible implementation, the transmitting module may include multiple light sources, as shown in Figures 4a and 4b. When the transmitting module includes two or more light-emitting elements, the emitted light beams may be transmitted through an optical module into the same optical fiber to the receiving module for optical loopback, as shown in Figure 4a, or transmitted through different optical fibers, as shown in Figure 4b.

[0109] The transmitting module includes multiple light-emitting elements and can be more widely adapted to different usage scenarios, such as using lower-power light-emitting elements to detect closer areas and using higher-power light-emitting elements to detect farther areas. The use of multiple optical fibers can adapt to different light sources and receiving modules, reducing the difficulty of component selection, which is conducive to reducing production costs and dependence on component supply. For a possible implementation, please refer to Figure 4c, the detection device also includes a coupler, and the coupler is used to couple multiple optical fibers into one optical fiber to transmit the first light beam to the receiving module. The coupler couples multiple optical fibers into one optical fiber and then transmits the first light beam to the receiving module, which can reduce the difficulty of assembling the optical fiber on the receiving module side, can reduce production costs and save internal space of the detection device.

[0110] The optical module changes the propagation path of the light beam by reflecting or refracting the light beam, so that the light beam propagates along the desired path. The optical module can include one or more optical elements, such as windows, reflectors, lenses, polarizers, filters, or light diffusers. Optionally, the optical module includes at least one reflector, as shown in Figure 5. In the detection device involved in the embodiments of the present application, there is no further limitation on the number, placement, placement order, size, etc. of the optical elements in the detection device.

[0111] In one possible embodiment, referring to FIG. 6a , the optical module further comprises a scanning module. The scanning module has a first scanning angle configured to transmit the first light beam to the optical fiber. The first scanning angle of the scanning module is an angle at which the detection device does not detect external targets. When the detection device detects a target, the scanning module is configured to reflect the light beam out of the viewing window. When the scanning module is configured to establish an optical loopback, the scanning module reflects the light beam to the optical fiber. The scanning angle is an angle at which the detection device does not detect external targets.

[0112] The scanning module is used to change the propagation direction of light. For example, the scanning module can change the propagation direction of a light signal from a light source and / or the scanning module can change the propagation direction of a light signal from an object within the field of view.

[0113] Alternatively, referring to FIG6b , the first light beam is transmitted from the transmitting module to the optical fiber without passing through the scanning module. In this case, the angle of the scanning module is the first scanning angle. The first scanning angle does not necessarily cause the first light beam to be reflected by the scanning module.

[0114] A possible implementation method, please refer to Figure 6c, the transmitting module includes a circuit board for controlling the light-emitting element, and one or more light-emitting elements can be set on the circuit board, and the one or more light-emitting elements are used to emit a detection light beam, a part of the detection light beam is emitted outside the transmitting module, and the other part of the detection light beam is not emitted outside the transmitting module. The detection light beam includes a main light part and a residual light part, wherein the main light part is used to detect external targets, and according to whether the residual light part is emitted outside the transmitting module, the residual light part can be further divided into a first part of residual light and a second part of residual light, wherein the first part of residual light is the residual light emitted outside the transmitting module, and the second part of residual light is the residual light not emitted outside the transmitting module. Then, based on these two types of residual light, the embodiment of the present application also proposes the following detection device.

[0115] Optionally, please refer to Figure 6d. The detection device may include a transmitting module, a receiving module and an optical fiber, wherein the transmitting module, the receiving module and the optical fiber; the transmitting module is used to transmit a detection light beam, the detection light beam includes a main light portion and a residual light portion, the main light portion of the detection light beam is used to detect external targets, and the first part of the residual light of the residual light portion of the detection light beam is transmitted to the optical fiber; the incident end of the optical fiber is located outside the transmitting module, and the optical fiber is used to transmit the first part of the residual light to the receiving module; the receiving module is used to receive the first part of the residual light. The light beam emission angle of the transmitting module is used to transmit the first part of the residual light to the optical fiber, that is, the transmitting module can adjust the light beam emission angle by itself so that the first part of the residual light can be incident on the optical fiber. As for the main light portion of the detection light beam, the transmitting module can also adjust the light beam emission angle by itself to reflect the main light portion of the detection light beam outside the window.

[0116] Optionally, please refer to Figure 6e. The detection device may include a transmitting module, a receiving module and an optical fiber, wherein the transmitting module, the receiving module and the optical fiber; the transmitting module is used to transmit a detection beam, the detection beam includes a main light portion and a residual light portion, the main light portion of the detection beam is used to detect external targets, and the second part of the residual light of the residual light portion of the detection beam is transmitted to the optical fiber; the incident end of the optical fiber is located inside the transmitting module, and the optical fiber is used to transmit the second part of the residual light to the receiving module; the receiving module is used to receive the second part of the residual light. The light beam emission angle of the transmitting module is used to transmit the second part of the residual light to the optical fiber, that is, the transmitting module can adjust the light beam emission angle by itself so that the second part of the residual light can be incident on the optical fiber. As for the main light portion of the detection beam, the transmitting module can also adjust the light beam emission angle by itself to reflect the main light portion of the detection beam outside the window.

[0117] Optionally, referring to FIG6f , the detection device may include a transmitting module, a receiving module, and an optical fiber, wherein the transmitting module includes a circuit board for controlling light-emitting elements, and a plurality of light-emitting elements may be provided on the circuit board. The plurality of light-emitting elements include a first light-emitting element, the first light-emitting element being configured to emit a second light beam and transmit the second light beam to the optical fiber, wherein the second light beam is emitted outside the transmitting module; the incident end of the optical fiber is located outside the transmitting module, and the optical fiber is configured to transmit the second light beam to the receiving module; and the receiving module is configured to receive the second light beam. The first emission angle of the first light-emitting element is configured to enable the second light beam to be transmitted to the optical fiber, i.e., the first light-emitting element can automatically adjust the first emission angle so that the second light beam can be incident on the optical fiber.

[0118] Optionally, referring to FIG6g , the detection device may include a transmitting module, a receiving module, and an optical fiber, wherein the transmitting module includes a circuit board for controlling the light-emitting element, and a plurality of light-emitting elements may be provided on the circuit board, wherein the plurality of light-emitting elements include a first light-emitting element, wherein the first light-emitting element is used to emit a second light beam and transmit the second light beam to the optical fiber; the incident end of the optical fiber is located inside the transmitting module, and the optical fiber is used to transmit the second light beam to the receiving module; and the receiving module is used to receive the second light beam. It can be seen that the second light beam is not emitted outside the transmitting module by the first light-emitting element, but remains inside the transmitting module to be received by the optical fiber. The first emission angle of the first light-emitting element is used to transmit the second light beam to the optical fiber, that is, the first light-emitting element can adjust the first emission angle by itself so that the second light beam can be incident on the optical fiber.

[0119] In addition, for the detection devices shown in Figures 6f and 6g, the multiple light-emitting elements of the transmitting module also include a second light-emitting element. The second light-emitting element is used to emit the first light beam outside the transmitting module, while the first light beam is used to detect external targets. The second light-emitting element can also automatically adjust the second emission angle to emit the first light beam outside the viewing window.

[0120] In the embodiments of the present application, the scanning module includes at least one reflective surface. By varying the angle of the reflective surface, the light signal from the light source can be directed to different locations within the field of view, thereby detecting the detection area and / or establishing an internal optical path within the detection device. The scanning process is implemented by the scanning module, which can be moved by rotation, swinging, or electrically controlled.

[0121] Optionally, the scanning module may be a polygonal mirror, a prism, a reflector group, a lens or a lens group.

[0122] When the detection device detects a target, when the transmitting module transmits an optical signal to the target, the angle at which the scanning module is located is a working angle. When the optical signal emitted by the transmitting module does not pass through the external target, the angle at which the scanning module is located is a non-working angle. When the optical signal emitted by the transmitting module passes through the optical module without passing through the external target, is transmitted to the optical fiber through the optical module, and is finally transmitted to the receiving module, the angle at which the scanning module is located is a first scanning angle. During the operation of the detection device, the first scanning angle may be one or more fixed angles or ranges. This application does not limit the number and range of the first scanning angles.

[0123] The receiving module is used to receive the optical signal. Further, the receiving module can obtain an electrical signal based on the optical signal. Optionally, the electrical signal can be output as an echo signal, or the electrical signal can be processed to obtain an echo signal before output.

[0124] Optionally, the receiving module may include one or more detection elements. For example, the receiving module may include one or more of the following detection elements: at least one of a single-photon avalanche diode (SPAD), a silicon photomultiplier (SiPM), a semiconductor avalanche photodiode (APD), a multi-pixel photon counter (MPPC), or an electron multiplying charge-coupled device (EMCCD).

[0125] Furthermore, when the receiving module includes multiple detection elements, the multiple detection elements can be arranged in an array. For example, the array can be a 1×2 array, a 2×3 array, or a 3×3 array. This application does not limit the number of rows and columns of the array arrangement. Optionally, when the receiving module includes multiple detection elements, when the receiving module is operating, it is possible that only some of the detection elements are in an operating state, while the other detection elements are in a non-operating state (for example, a reserved state).

[0126] During the reception process, the optical signal may optionally pass through one or more optical elements. Optionally, when obtaining an electrical signal based on the optical signal, the optical signal may be converted to an electrical signal by a detection element in the receiving module, or by a conversion unit other than the detection element in the receiving module, without specific limitation. It should be understood that the number and installation positions of the transmitting modules, receiving modules, optical elements, etc. in the embodiments of the present application are not limited.

[0127] A possible implementation method, please refer to Figure 7, the receiving module includes a detection element and a fixing device, the fixing device fixes the optical fiber output end at a second position, the fixing device is provided with a through hole, the optical fiber passes through the through hole to transmit the first light beam to the detection element, and the energy loss value of the first light beam is related to the second position.

[0128] As shown in Figure 7, the optical fiber output end is located at the second position. The second position affects the optical power received by the receiving module. When the second position is closer to the detection device, the optical power received by the detection device is greater, which affects the loss value of the first light beam. Therefore, the second position and insertion depth can be adjusted to adapt the output optical power of the first light beam to the receiving power range of the receiving module.

[0129] Optionally, as shown in FIG8 , the optical fiber output end may not be directly aligned with the detection element of the receiving module. The optical fiber output light may be further adjusted in optical power and optical path by an optical module before being transmitted to the detection element. For example, after reflection by a reflector, the optical power may be adjusted to be within a desired range. Furthermore, the optical power and optical path of the first light beam may be changed by a prism or other lens assembly before being finally transmitted to the detection element. This application does not limit the form or quantity of the optical modules.

[0130] In a possible implementation manner, the energy loss value of the first light beam satisfies the condition that it is greater than a first threshold value and less than a second threshold value, and the energy loss value range of the first light beam is related to the transmission power of the transmission module and the receiving power range of the receiving module. The transmission module and the receiving module have their own transmission and receiving power ranges. The optical path constructed by the optical fiber can be adapted to the transmission module and the receiving module to work normally by adjusting the optical fiber arrangement and optical fiber parameters as well as the optical module arrangement. The arrangement of the optical fiber is flexible and can be arranged inside or outside the detection device as needed, which can eliminate the need for complex optical path structure design, simplify the device, and help reduce the size of the device and reduce the process difficulty and production cost.

[0131] In a possible implementation, the receiving end of the optical fiber is fixed at a first position, the angle at which the first light beam enters the optical fiber is a first angle θ, and the energy loss value of the first light beam is related to at least one of the first position and the first angle θ.

[0132] Referring to Figure 9, the first position of the optical fiber receiving end and the first angle θ at which the first light beam enters the optical fiber both affect the energy loss of the first light beam by influencing the amount of energy input to the optical fiber. The first position and first angle can be selected based on the transmit power of the transmitter module and the receive power range of the receiver module. Different first positions and first angles can produce different energy loss values ​​for the first light beam, meeting the requirements of a wider operating range for the transmitter and receiver modules and reducing the difficulty of model selection.

[0133] In a possible implementation manner, the energy loss value β of the first light beam fiber segment satisfies the following formula: β = 10 × log (P_in / P_out)

[0134] Wherein, the P_in is the input energy of the optical fiber, and the P_out is the output energy of the optical fiber.

[0135] In one possible implementation, the energy loss value of the first light beam is related to the optical fiber parameters, which include the optical fiber core diameter and the numerical aperture of the optical fiber. The optical fiber core diameter is the diameter of the optical fiber core. Generally speaking, the larger the optical fiber core diameter, the better the light collection effect, which is more conducive to long-distance transmission. Not all light incident on the optical fiber end face can be transmitted by the optical fiber. Only light incident within a certain angle range can be transmitted. The sine value of this angle α is called the numerical aperture of the optical fiber. As shown in Figure 10b, only light incident within the critical light cone can be transmitted by the optical fiber.

[0136] The core diameter and numerical aperture of an optical fiber affect the optical throughput and output light quality. Figure 10a shows a schematic diagram of the optical fiber structure. A larger optical fiber core diameter allows for greater optical throughput, which can affect the loss of the first beam by influencing the incident optical power. At the output end, a larger optical fiber core diameter results in lower optical beam concentration, which affects the optical power received by the receiving module. Therefore, by selecting different optical fiber types, the loss of the first beam can be adjusted to match the transmitting and receiving modules.

[0137] In one possible embodiment, the detection device further includes a processing module. Referring to Figure 11 , the processing module is connected to the transmitting module and the receiving module. The processing module is configured to obtain a first electrical signal, which is used to cause the transmitting module to emit a first light beam. The processing module is also configured to obtain a second electrical signal, which corresponds to the first light beam received by the receiving module. The processing module is configured to calculate the time difference between the first electrical signal and the second electrical signal. This time difference is used to offset the delay Δt1 from the issuance of the circuit drive signal to the emission of the light signal by the light-emitting element when calculating the detection distance, thereby improving detection accuracy.

[0138] The processing module is used to process the output data (such as electrical signals or echo signals, etc.) obtained by the detection device, or the processing module can also be used to control components in the detection device.

[0139] The processing module may include one or more processors. It should be understood that in the embodiment of the present application, for the convenience of explaining the computing function, it is described as a processor. In the specific implementation process, the processor may include a device with a computing function. For example, at least one processor may include one or more of the following devices: a central processing unit (CPU), an application processor (AP), a time-to-digital converter (TDC), a filter, a graphics processing unit (GPU), a microprocessor (MPU), an application specific integrated circuit (ASIC), an image signal processor (ISP), a digital signal processor (DSP), a field programmable gate array (FPGA), a complex programmable logic device (CPLD), a coprocessor (to assist the central processing unit in completing the corresponding processing and application), a microcontroller unit (MCU), and / or a neural-network processing unit (NPU), etc.

[0140] Optionally, the processing module may be located inside the detection device or outside the detection device.

[0141] Alternatively, in some designs, the processing module may include multiple components, some of which are located inside the detection device and some of which are located outside the detection device. For example, the processing module may include a digital-to-analog conversion module, a filtering module, a time-of-flight (TOF) solution module, and a point cloud generation module, wherein the digital-to-analog conversion module, the filtering module, and the TOF solution module are located inside the detection device, while the point cloud generation module is located outside the detection device.

[0142] In one possible embodiment, the detection device further includes an optical fiber fixing module, which is a glass tube or an optical fiber clamp, as shown in FIG12a . The optical fiber is sleeved in the glass tube and fixed by glue. The glass tube can be stuck in the slot of the transmitting module, and the connection can be fixed by glue.

[0143] Optionally, the fixing module is a fiber clamp, as shown in Figure 12b. The fiber clamp is provided with a slot for clamping the optical fiber, and the slot angle can be determined according to the desired first angle. Optionally, the fiber clamp is fixed to the side wall of the launch module barrel.

[0144] The fixing module fixes the optical fiber at the corresponding position and angle as needed, which can ensure the stability of the optical loop and thus improve the detection accuracy of the detection device.

[0145] The present application also provides an optical loopback method, which is applied to a detection device. Please refer to Figure 3. The detection device includes a transmitting module, a receiving module, an optical fiber and an optical module. The method includes the transmitting module of the detection device emitting a first light beam, the optical module transmitting the first light beam to the optical fiber, the optical fiber transmitting the first light beam to the receiving module, and the receiving module receiving the first light beam. The detection device adopts this method to construct an optical loopback optical path, so that the optical loopback is stable and reliable, which can improve the ranging accuracy of the detection device, and the optical fiber can be flexibly laid out and can be flexibly adapted to the transmitting module and the receiving module, which can reduce the difficulty of component selection.

[0146] In one possible implementation, the detection device further includes a processing module, and the method further includes: the processing module acquires a first electrical signal, wherein the first electrical signal is used to enable the transmitting module to emit a first light beam; the processing module receives a second electrical signal, wherein the second electrical signal corresponds to the first light beam received by the receiving module; and the processing module calculates the time difference between the first electrical signal and the second electrical signal.

[0147] In a possible implementation, the optical module includes a scanning module, which transmits the first light beam to the optical fiber at a first scanning angle. The first scanning angle of the scanning module is an angle at which the detection device does not detect external targets.

[0148] In a possible implementation manner, the energy loss value β of the first light beam fiber segment satisfies the following formula: β = 10 × log (P_in / P_out)

[0149] Wherein, the P_in is the input energy of the optical fiber, and the P_out is the output energy of the optical fiber.

[0150] In a possible implementation, the receiving end of the optical fiber is fixed at a first position, the angle at which the first light beam enters the optical fiber is a first angle θ, and the energy loss value of the first light beam is related to at least one of the first position and the first angle θ.

[0151] In one possible embodiment, the receiving module includes a detection element and a fixing device, the fixing device is provided with a through hole, the optical fiber output end is fixed at a second position, the first optical fiber is transmitted to the detection element through the through hole, and the energy loss value of the first light beam is related to the second position.

[0152] In a possible implementation manner, the first light beam energy loss value is related to optical fiber parameters, and the optical fiber parameters include the optical fiber core diameter and the numerical aperture of the optical fiber.

[0153] In a possible implementation manner, the transmitting module includes one or more light-emitting elements.

[0154] In a possible implementation manner, the device further includes a coupler, which couples multiple optical fibers into one optical fiber to transmit the first light beam to the receiving module.

[0155] In a possible embodiment, the device further includes an optical fiber fixing module, which fixes the optical fiber; the optical fiber fixing module is a glass tube or an optical fiber clamp, the optical fiber clamp is provided with a slot, and the first angle θ is related to the angle of the slot.

[0156] The present application also provides another optical loopback method, which is applied to a detection device. Please refer to Figures 6e and 6d, which are another schematic diagram of the detection device provided by the present application, and the detection device includes a transmitting module, a receiving module and an optical fiber. The method includes: the transmitting module transmits a detection light beam, the detection light beam includes a main light part and a residual light part, the main light part of the detection light beam is used to detect external targets, and the residual light part of the detection light beam is transmitted to the optical fiber; the optical fiber transmits the residual light part of the detection light beam to the receiving module; and the receiving module receives the residual light part of the detection light beam. The detection device adopts this method to construct an optical loopback optical path, so that the optical loopback is stable and reliable, which can improve the ranging accuracy of the detection device, and the optical fiber can be flexibly laid out and can be flexibly adapted to the transmitting module and the receiving module, which can reduce the difficulty of component selection.

[0157] In one possible embodiment, the detection device further includes a processing module, and the method further includes: the processing module being configured to obtain a first electrical signal, the first electrical signal being configured to cause the transmitting module to transmit a detection beam; the processing module being configured to receive a second electrical signal, the second electrical signal corresponding to the residual light portion of the detection beam received by the receiving module; and the processing module being configured to calculate a time difference between the first electrical signal and the second electrical signal. Optionally, the transmitting module transmits the residual light portion of the detection beam to an optical fiber at a beam emission angle.

[0158] Optionally, the residual light portion of the detection beam includes a first portion of residual light, the first portion of residual light is emitted outside the transmitting module, the incident end of the optical fiber is located outside the transmitting module, the optical fiber receives the first portion of residual light, and transmits the first portion of residual light to the receiving module; the receiving module receives the first portion of residual light.

[0159] Optionally, the residual light portion of the detection beam includes a second portion of residual light, the second portion of residual light is not emitted outside the transmitting module, the incident end of the optical fiber is located inside the transmitting module, the transmitting module includes one or more light-emitting elements, the optical fiber receives the second portion of residual light from the light-emitting element, and transmits the second portion of residual light to the receiving module; the receiving module receives the second portion of residual light.

[0160] The present application also provides a terminal comprising at least one detection device as described in the above embodiments of the present application. The at least one detection device within the terminal may be integrated into a complete device or apparatus, or the at least one detection device within the system may be independently configured as a component or apparatus. The terminal may be a vehicle, a drone, or a robot.

[0161] The technical effects of the above detection method and terminal can be referred to the introduction of the corresponding device implementation method, which will not be repeated here.

[0162] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0163] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the modules or units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0164] The units described as separate components may or may not be physically separate, and the components shown as units may be one physical unit or multiple physical units, that is, they may be located in one place or distributed in multiple places. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0165] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0166] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions within the technical scope disclosed in this application should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A detection device, characterized in that: include: Transmitter module, receiver module, optical fiber, optical module; The transmitting module is used to transmit a first light beam; The optical module is used to transmit the first light beam to the optical fiber; The optical fiber is used to transmit the first light beam to the receiving module; The receiving module is used to receive the first light beam.

2. The device according to claim 1, characterized in that The detection device also includes a processing module; The processing module is used to obtain a first electrical signal, and the first electrical signal is used to enable the transmitting module to emit a first light beam; The processing module is used to receive a second electrical signal, where the second electrical signal corresponds to the first light beam received by the receiving module; The processing module is used to calculate the time difference between the first electrical signal and the second electrical signal.

3. The device according to claim 1 or 2, characterized in that The optical module includes a scanning module, The first scanning angle of the scanning module is used to transmit the first light beam to the optical fiber. The first scanning angle of the scanning module is an angle at which the detection device does not detect external targets.

4. The device according to claim 3, characterized in that The scanning module is a polygonal rotating mirror.

5. The device according to any one of claims 1 to 4, characterized in that The optical module includes at least one reflecting mirror.

6. The device according to any one of claims 1 to 5, characterized in that The energy loss value of the first light beam satisfies the condition that it is greater than a first threshold and less than a second threshold, and the energy loss value range of the first light beam is related to the transmission power of the transmission module and the receiving power range of the receiving module.

7. The device according to any one of claims 1 to 6, characterized in that: The energy loss value β of the first light beam fiber segment satisfies the following formula: β=10×log(P_in / P_out) Wherein, the P_in is the input energy of the optical fiber, and the P_out is the output energy of the optical fiber.

8. The device according to any one of claims 1 to 7, characterized in that The receiving end of the optical fiber is fixed at a first position, and the angle at which the first light beam is incident on the optical fiber is a first angle θ. The first beam energy loss value is related to at least one of the first position and the first angle θ.

9. The device according to any one of claims 1 to 8, characterized in that The receiving module includes a detection element and a fixing device, wherein the fixing device is provided with a through hole. The optical fiber output end is fixed at a second position and transmits the first light beam to the receiving module through the through hole. The energy loss value of the first light beam is related to the second position.

10. The device according to any one of claims 1 to 9, characterized in that: The first beam energy loss value is related to the optical fiber parameters. The optical fiber parameters include the optical fiber core diameter and the numerical aperture of the optical fiber.

11. The device according to any one of claims 1 to 10, characterized in that: The transmitting module includes one or more light-emitting elements.

12. The device according to any one of claims 1 to 11, characterized in that The device further comprises a coupler, The coupler is used to couple multiple optical fibers into one optical fiber to transmit the first light beam to the receiving module.

13. The device according to any one of claims 1 to 12, characterized in that: The device further comprises an optical fiber fixing module, wherein the optical fiber fixing module is used to fix the optical fiber; The optical fiber fixing module is a glass tube or an optical fiber clamp, the optical fiber clamp is provided with a slot, and the first angle θ is related to the angle of the slot.

14. A detection device, characterized in that: include: Transmitter module, receiving module, optical fiber; The transmitting module is used to transmit a detection beam, the detection beam includes a main light portion and a residual light portion, the main light portion of the detection beam is used to detect an external target, and the residual light portion of the detection beam is transmitted to the optical fiber; The optical fiber is used to transmit the residual light portion of the detection light beam to the receiving module; The receiving module is used to receive the residual light portion of the detection light beam.

15. The device according to claim 14, characterized in that The detection device also includes a processing module; The processing module is used to obtain a first electrical signal, and the first electrical signal is used to enable the transmitting module to transmit the detection light beam; The processing module is used to receive a second electrical signal, where the second electrical signal corresponds to the residual light portion of the detection light beam received by the receiving module; The processing module is used to calculate the time difference between the first electrical signal and the second electrical signal.

16. The device according to claim 14 or 15, characterized in that The first emission angle of the emission module is used to transmit the residual light portion of the detection light beam to the optical fiber.

17. The device according to any one of claims 14 to 16, characterized in that The energy loss value of the afterglow of the detection beam satisfies the condition that it is greater than a first threshold and less than a second threshold, and the energy loss value range of the afterglow of the detection beam is related to the transmission power of the transmission module and the receiving power range of the receiving module.

18. The device according to any one of claims 14 to 17, characterized in that The energy loss value β of the fiber segment of the residual light of the detection beam satisfies the following formula: β = 10 × log (P_in / P_out) Wherein, the P_in is the input energy of the optical fiber, and the P_out is the output energy of the optical fiber.

19. The device according to any one of claims 14 to 18, characterized in that The receiving end of the optical fiber is fixed at a first position, and the incident angle of the residual light portion of the detection beam into the optical fiber is a first angle θ. The energy loss value of the residual light portion of the detection light beam is related to at least one of the first position and the first angle θ.

20. The device according to any one of claims 14 to 19, characterized in that The receiving module includes a detection element and a fixing device, wherein the fixing device is provided with a through hole. The optical fiber output end is fixed at a second position and transmits the first light beam to the receiving module through the through hole. The energy loss value of the residual light portion of the detection light beam is related to the second position.

21. The device according to any one of claims 14 to 20, characterized in that The energy loss value of the residual light part of the detection beam is related to the optical fiber parameters. The optical fiber parameters include the optical fiber core diameter and the numerical aperture of the optical fiber.

22. The device according to any one of claims 14 to 21, characterized in that The transmitting module includes one or more light-emitting elements.

23. The device according to claim 22, characterized in that The residual light portion of the detection beam includes a first portion of residual light, the first portion of residual light is emitted outside the emission module, and the incident end of the optical fiber is located outside the emission module. The optical fiber is specifically used to receive the first portion of residual light from the light-emitting element and transmit the first portion of residual light to the receiving module; The receiving module is specifically configured to receive the first portion of residual light.

24. The device according to claim 22, characterized in that The residual light portion of the detection beam includes a second portion of residual light, the second portion of residual light is not emitted outside the emission module, and the incident end of the optical fiber is located inside the emission module. The optical fiber is specifically used to receive the second portion of residual light from the light-emitting element and transmit the second portion of residual light to the receiving module; The receiving module is specifically configured to receive the second portion of residual light.

25. The device according to any one of claims 16 to 24, characterized in that The device further comprises a coupler, The coupler is used to couple multiple optical fibers into one optical fiber, and transmit the residual light portion of the detection light beam to the receiving module.

26. The device according to any one of claims 16 to 25, characterized in that The device further comprises an optical fiber fixing module, wherein the optical fiber fixing module is used to fix the optical fiber; The optical fiber fixing module is a glass tube or an optical fiber clamp, the optical fiber clamp is provided with a slot, and the first angle θ is related to the angle of the slot.

27. A detection device, characterized in that: include: Transmitter module, receiving module, optical fiber; The transmitting module includes a plurality of light emitting elements, a first light emitting element among the plurality of light emitting elements is used to emit a second light beam, and The second light beam is transmitted to the optical fiber; The optical fiber is used to transmit the second light beam to the receiving module; The receiving module is used to receive the second light beam.

28. The device according to claim 27, characterized in that The detection device also includes a processing module; The processing module is used to obtain a first electrical signal, and the first electrical signal is used to enable the transmitting module to emit the second light beam; The processing module is used to receive a second electrical signal, where the second electrical signal corresponds to the second light beam received by the receiving module; The processing module is used to calculate the time difference between the first electrical signal and the second electrical signal.

29. The device according to claim 27 or 28, characterized in that The second light beam is emitted outside the emission module, and the incident end of the optical fiber is located outside the emission module; or, the second light beam is not emitted outside the emission module, and the incident end of the optical fiber is located inside the emission module.

30. The device according to any one of claims 27 to 29, characterized in that The first emission angle of the first light emitting element is used to transmit the second light beam to the optical fiber.

31. A detection device, characterized in that: include: Transmitter, receiver, optical fiber, first optical lens group; The emitter is used to emit a first light beam, The first optical lens assembly is used to transmit the first light beam to the optical fiber, The optical fiber is used to transmit the first light beam to the receiver, The receiver is used to receive the first light beam.

32. The device according to claim 31, characterized in that The detection device further includes a processor; The processor is configured to obtain a first electrical signal, where the first electrical signal is configured to cause the emitter to emit a first light beam; The processor is configured to receive a second electrical signal corresponding to the first light beam received by the receiver; The processor is configured to calculate a time difference between the first electrical signal and the second electrical signal.

33. The device according to claim 31 or 32, characterized in that The device also includes a polygonal rotating mirror, The first scanning angle of the polygonal mirror is used to transmit the first light beam to the optical fiber. The first scanning angle of the polygonal mirror is an angle at which the detection device does not detect external targets.

34. A detection device, characterized in that: include: Transmitter, receiver, optical fiber; The transmitter is used to emit a detection beam, the detection beam includes a main light portion and a residual light portion, the main light portion of the detection beam is used to detect an external target, and the residual light portion of the detection beam is transmitted to the optical fiber; The optical fiber is used to transmit the residual light portion of the detection beam to the receiver; The receiver is used to receive the residual light portion of the detection light beam.

35. The device according to claim 34, characterized in that The detector further includes a processor; The processor is configured to obtain a first electrical signal, wherein the first electrical signal is configured to cause the emitter to emit the detection light beam; The processor is configured to receive a second electrical signal corresponding to the residual light portion of the detection light beam received by the receiver; The processor is configured to calculate a time difference between the first electrical signal and the second electrical signal.

36. The device according to claim 34 or 35, characterized in that The first emission angle of the emitter is used to transmit the residual light portion of the detection light beam to the optical fiber.

37. The device according to any one of claims 34 to 36, characterized in that The emitter includes one or more light emitting elements.

38. The device according to claim 37, characterized in that The residual light portion of the detection beam includes a first portion of residual light, the first portion of residual light is emitted outside the transmitter, and the incident end of the optical fiber is located outside the transmitter, The optical fiber is specifically configured to receive the first portion of residual light from the light-emitting element and transmit the first portion of residual light to the receiver; The receiver is specifically configured to receive the first portion of residual light.

39. The device according to claim 38, characterized in that The residual light portion of the detection beam includes a second portion of residual light, the second portion of residual light is not emitted outside the transmitter, and the incident end of the optical fiber is located inside the transmitter, The optical fiber is specifically configured to receive the second portion of residual light from the light-emitting element and transmit the second portion of residual light to the receiver; The receiver is specifically configured to receive the second portion of residual light.

40. A terminal device, characterized in that: The terminal includes the detection device according to any one of claims 1-39.

41. The terminal according to claim 40, characterized in that The terminal is a vehicle, a drone or a robot.

42. An optical loopback method, characterized in that: The method is applied to a detection device, which includes a transmitting module, a receiving module, an optical fiber and an optical module. The method includes: The transmitting module transmits a first light beam, The optical module transmits the first light beam to the optical fiber; The optical fiber transmits the first light beam to the receiving module; The receiving module receives the first light beam.

43. The method according to claim 42, characterized in that The detection device further includes a processing module, and the method further includes: The processing module acquires a first electrical signal, where the first electrical signal is used to enable the transmitting module to emit a first light beam; The processing module receives a second electrical signal, where the second electrical signal corresponds to the first light beam received by the receiving module; The processing module calculates a time difference between the first electrical signal and the second electrical signal.

44. The method according to claim 42 or 43, characterized in that The optical module includes a scanning module, The scanning module transmits the first light beam to the optical fiber at a first scanning angle, and the first scanning angle of the scanning module is an angle at which the detection device does not detect external targets.

45. The method according to any one of claims 42 to 44, characterized in that The energy loss value β of the first optical fiber segment satisfies the following formula: β = 10 × log (P_in / P_out) Wherein, the P_in is the input energy of the optical fiber, and the P_out is the output energy of the optical fiber.

46. ​​The method according to any one of claims 42 to 45, characterized in that The receiving end of the optical fiber is fixed at a first position, the angle at which the first light beam enters the optical fiber is a first angle θ, and the energy loss value of the first light beam is related to at least one of the first position and the first angle θ.

47. The method according to any one of claims 42 to 46, characterized in that The receiving module includes a detection element and a fixing device, the fixing device is provided with a through hole, the optical fiber output end is fixed at a second position, and the first light beam is transmitted to the detection element through the through hole. The energy loss value of the first light beam is related to the second position.

48. The method according to any one of claims 42 to 47, wherein: The first light beam energy loss value is related to optical fiber parameters, which include optical fiber core diameter and optical fiber numerical aperture.

49. The method according to any one of claims 42 to 48, wherein: The transmitting module includes one or more light-emitting elements.

50. The method according to any one of claims 42 to 49, characterized in that The device further comprises a coupler, The coupler couples multiple optical fibers into one optical fiber, and transmits the first light beam to the receiving module.

51. The method according to any one of claims 42 to 50, characterized in that The device further comprises an optical fiber fixing module, wherein the optical fiber fixing module fixes the optical fiber; The optical fiber fixing module is a glass tube or an optical fiber clamp, the optical fiber clamp is provided with a slot, and the first angle θ is related to the angle of the slot.

52. An optical loopback method, characterized in that The method is applied to a detection device, which includes a transmitting module, a receiving module and an optical fiber, and includes: Transmitter module, receiving module, optical fiber; The transmitting module transmits a detection beam, the detection beam including a main light portion and a residual light portion, the main light portion of the detection beam is used to detect an external target, and the residual light portion of the detection beam is transmitted to the optical fiber; The optical fiber transmits the residual light portion of the detection beam to the receiving module; The receiving module receives the residual light portion of the detection light beam.

53. The method according to claim 52, characterized in that The detection module further includes a processing module, and the method further includes: The processing module is used to obtain a first electrical signal, and the first electrical signal is used to enable the transmitting module to transmit the detection light beam; The processing module is used to receive a second electrical signal corresponding to the residual light of the detection beam received by the receiving module. part; The processing module is used to calculate the time difference between the first electrical signal and the second electrical signal.

54. The method according to claim 52 or 53, characterized in that The residual light portion of the detection beam includes a first portion of residual light, the first portion of residual light is emitted outside the transmitting module, the incident end of the optical fiber is located outside the transmitting module, and the optical fiber transmits the residual light portion of the detection beam to the receiving module, comprising: the optical fiber receives the first portion of residual light and transmits the first portion of residual light to the receiving module; The receiving module receiving the residual light portion of the detection light beam includes: the receiving module receiving the first portion of residual light.

55. The method according to claim 52 or 53, characterized in that The residual light portion of the detection beam includes a second portion of residual light, the second portion of residual light is not emitted outside the transmitting module, the incident end of the optical fiber is located inside the transmitting module, the transmitting module includes one or more light-emitting elements, and the optical fiber transmits the residual light portion of the detection beam to the receiving module, comprising: the optical fiber receives the second portion of residual light from the light-emitting element and transmits the second portion of residual light to the receiving module; The receiving module receiving the residual light portion of the detection light beam includes: the receiving module receiving the second portion of residual light.

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