Optical receiving module, receiving system, detection device and terminal equipment

Abstract

The invention discloses an optical receiving module, a receiving system, a detection device and terminal equipment, which are used for solving the influence of stray light on echo beams in the prior art. The method is applied to the fields of automatic driving, intelligent driving, auxiliary driving or connected vehicles and the like. The optical receiving module comprises a first optical assembly, a diaphragm and a second optical assembly, and the diaphragm is located on the image space focal plane of the first optical assembly or located at the position away from the image space focal plane of the first optical assembly by a preset distance. The first optical assembly is used for focusing the echo light beam, and the focused echo light beam enters the second optical assembly through the diaphragm. The second optical assembly is used for transmitting the received echo beam to the detection module. Because the focused echo light beam has a small light beam radius, when the diaphragm is placed on the image space focal plane of the first optical assembly or at a preset distance from the image space focal plane, the light passing area of the diaphragm can be set to be small, stray light can be blocked from passing as much as possible, and the stray light entering the detection module can be reduced or eliminated.

Description

Optical receiving module, receiving system, detection device and terminal equipment Technical Field

[0001] The present application relates to the field of optical technology, and in particular to an optical receiving module, a receiving system, a detection device and a terminal device. Background Art

[0002] With the advancement of science and technology, intelligent devices such as smart transportation equipment, smart home appliances, robots, and vehicles are gradually becoming part of people's daily lives. Because lidar can perceive the surrounding environment and, based on this environmental information, can identify and track moving targets and recognize stationary objects, lidar is playing an increasingly important role in intelligent devices.

[0003] In actual application scenarios, when the lidar perceives the surrounding environment, the received signal light will inevitably be mixed with stray light. The stray light will affect the normal signal light (or interfere with it), thereby reducing the accuracy of lidar detection.

[0004] In summary, how to reduce or eliminate stray light is a technical problem that urgently needs to be solved.

[0005] Summary of the Invention

[0006] The present application provides an optical receiving module, a receiving system, a detection device and a terminal device for reducing or eliminating stray light received by the optical receiving system.

[0007] In a first aspect, the present application provides an optical receiving module comprising a first optical component, an aperture (or extinction aperture), and a second optical component. The aperture is located in the image-side focal plane of the first optical component, or at a predetermined distance from the image-side focal plane of the first optical component. The first optical component is configured to focus an echo beam, which is then incident upon the second optical component via the aperture. The second optical component is configured to transmit the received echo beam to a detection module.

[0008] Based on the above scheme, the echo beam is focused on the image-side focal plane of the first optical component. The focused echo beam has a small beam radius. Therefore, placing the aperture at the image-side focal plane of the first optical component or at a preset distance from the image-side focal plane can block (or suppress) the passage of stray light other than the echo beam as much as possible, thereby helping to reduce or eliminate stray light entering the detection module. When the optical receiving module is applied to a detection device, the detection accuracy of the detection device can be improved.

[0009] In a possible implementation, the aperture includes at least one light-transmitting area, and the light-transmitting area is used to pass the focused echo light beam.

[0010] The aperture's clear area allows the focused echo beam to pass through. Since the echo beam has a smaller beam radius on the image-side focal plane of the first optical component, the aperture is located on the image-side focal plane of the first optical component, allowing for a smaller clear area. This allows for blocking stray light as much as possible while ensuring the echo beam passes as much as possible.

[0011] Exemplarily, the shape of the light-transmitting area may be an ellipse, and the ratio of the major axis to the minor axis of the ellipse is greater than or equal to 1 and less than or equal to 4.

[0012] When the echo beam spot is elliptical, setting an elliptical clear area can minimize echo beam loss and minimize stray light. Typically, the intensity (or energy density) of the center portion of the echo beam spot is greater than that of the edge portion. Therefore, an elliptical clear area helps further suppress stray light.

[0013] For example, the shape of the light-transmitting area may also be circular.

[0014] When the light spot of the echo light beam is circular, by setting a circular light-transmitting area, the loss of the echo light beam can be reduced and stray light can be blocked as much as possible.

[0015] In a possible implementation, the center position of the light-transmitting area is related to the incident angle of the return light beam entering the first optical component.

[0016] Specifically, the center position of the light-transmitting area and the incident angle of the return light beam into the first optical component satisfy the following formula 1:

[0017] S = f × tanθ Formula 1

[0018] Wherein, f is the equivalent focal length of the first optical component, θ is the incident angle of the return light beam entering the first optical component, and S is the center position of the light-transmitting area.

[0019] The position of the light-transmitting area of ​​the aperture can be designed using the above formula 1.

[0020] In a possible implementation, the incident angle of the return light beam entering the first optical component is a fixed value.

[0021] In a possible implementation, the optical receiving module further includes a third optical component; the third optical component is configured to adjust the incident angle of the echo light beam entering the first optical component to a fixed value.

[0022] The incident angle of the echo light beam into the first light beam can be adjusted through the third optical component, so that the echo light beam can be focused on the position of the light-transmitting area of ​​the aperture, and then the focused echo light beam can be incident on the second optical component through the light-transmitting area of ​​the aperture.

[0023] In a possible implementation, the aperture includes two light-transmitting areas. Further, optionally, the two light-transmitting areas are axisymmetric shapes.

[0024] Providing two symmetrical light-transmitting areas helps simplify the structure of the aperture. Furthermore, providing two symmetrical light-transmitting areas helps simplify the complexity of the optical receiving module design. For example, only the longitudinal incident angle of the light entering the first optical component needs to be considered.

[0025] In a possible implementation, the aperture further includes a non-light-transmitting area, and the non-light-transmitting area is used to reflect or absorb stray light other than the echo light beam.

[0026] The non-transmissive area of ​​the aperture can block or suppress stray light, thereby reducing or eliminating the stray light entering the detection module.

[0027] In one possible implementation, the aperture includes at least one opening provided on a non-light-transmitting film, the opening being a light-transmitting area; or, at least one opening provided on a non-light-transmitting flat plate, the opening being a light-transmitting area; or, the non-light-transmitting area of ​​the light-transmitting film is coated with a non-light-transmitting material; or, the non-light-transmitting area of ​​the light-transmitting glass is coated with a non-light-transmitting material.

[0028] In a possible implementation, the non-light-transmitting film includes a Mylar sheet; or the non-light-transmitting material includes black ink.

[0029] Using Mylar as the aperture facilitates aperture production. Furthermore, Mylar offers dimensional stability, flatness, excellent tear strength, resistance to heat and cold, moisture and water, chemical corrosion, superior insulation, and excellent electrical, mechanical, heat, and chemical resistance.

[0030] In a possible implementation, the shape of the light-transmitting area is consistent with the shape of the light spot of the focused echo light beam.

[0031] By setting the shape of the light-transmitting area to be consistent with the shape of the spot of the focused echo beam, the echo beam can pass through the light-transmitting area as much as possible without wasting the echo beam, and stray light can be blocked as much as possible.

[0032] In one possible implementation, the first optical component includes at least one first lens, the first surface of the first lens close to the aperture is a concave surface, the second surface of the first lens close to the aperture is a convex surface, the first surface is the surface of the first lens close to the aperture, and the second surface is the surface of the first lens away from the aperture.

[0033] By using the first optical component, the return light beam from the third optical component can be collected as much as possible, thereby reducing the loss of the return light beam.

[0034] In one possible implementation, the second optical component includes at least one second lens, the third surface of the second lens close to the aperture is a concave surface, the fourth surface of the second lens close to the aperture is a convex surface, the third surface is the surface of the second lens close to the aperture, and the fourth surface is the surface of the second lens away from the aperture.

[0035] By means of the second optical component, the echo light beam from the aperture can be collected as much as possible, thereby reducing the loss of the echo light beam.

[0036] In a possible implementation, the second optical component further includes a reflective component. Exemplarily, the reflective component includes a reflective prism or a reflective mirror.

[0037] The propagation direction of the echo beam can be changed by the reflection component to fold the optical path of the echo beam, which helps to reduce the optical path of the echo beam in a certain direction, thereby helping to reduce the length of the optical receiving module in that direction, and further helping to miniaturize the optical receiving module.

[0038] In a second aspect, the present application provides a receiving system, which includes a detection module and the above-mentioned first aspect or any one of the optical receiving modules in the first aspect; the detection module is used to detect the echo light beam from the optical receiving module.

[0039] In a possible implementation, the detection module is used to receive the echo light beam from the optical receiving module and perform photoelectric conversion on the echo light beam to obtain a first electrical signal, and the first electrical signal is used to determine the associated information of the target in the detection area.

[0040] In a possible implementation, the detection module is located at the image-side focal plane of the second optical component.

[0041] By arranging the detection module at the image-side focal plane of the second optical component, more echo light beams can be received on a single pixel of the detection module, thereby helping to further improve the accuracy of detection.

[0042] In a third aspect, the present application provides a detection device, which includes a transmitting system and a receiving system in the second aspect or any one of the second aspects; the transmitting system is used to transmit a signal light beam, and the signal light beam is reflected by a target in the detection area to obtain an echo light beam.

[0043] In a possible implementation, the detection device further includes a scanning system; the scanning system is configured to reflect a signal beam from the transmitting system to a detection area; and / or reflect an echo beam to a receiving system.

[0044] In a fourth aspect, the present application provides a terminal device, which includes a control device and the above-mentioned third aspect or any one of the detection devices in the third aspect.

[0045] The technical effects that can be achieved in any of the second to fourth aspects mentioned above can refer to the description of the beneficial effects in the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] FIG1 is a schematic diagram of an application scenario provided by this application;

[0047] FIG2 is a schematic structural diagram of an optical receiving module provided by the present application;

[0048] FIG4 is a schematic structural diagram of a first optical component provided by the present application;

[0049] FIG3a is a schematic diagram of the optical principle of secondary imaging provided by the present application;

[0050] FIG3 b is a schematic diagram of the beam radius of an echo beam provided in the present application;

[0051] FIG5 is a schematic structural diagram of an aperture provided by the present application;

[0052] FIG6 is a schematic structural diagram of another aperture provided by the present application;

[0053] FIG7 is a schematic diagram showing the size of the light-transmitting area of ​​another aperture provided by the present application;

[0054] FIG8 is a schematic diagram of the size of the light-transmitting area of ​​another aperture provided by the present application;

[0055] FIG9 is a schematic structural diagram of a second optical component provided by the present application;

[0056] FIG10 is a schematic structural diagram of another second optical assembly provided by the present application;

[0057] FIG11 is a schematic structural diagram of another second optical assembly provided by the present application;

[0058] FIG12a is a schematic structural diagram of another optical receiving module provided by the present application;

[0059] FIG12b is a schematic structural diagram of another optical receiving module provided by the present application;

[0060] FIG13a is a schematic diagram of the architecture of a receiving system provided by the present application;

[0061] FIG13b is a schematic diagram of the energy of stray light received by a simulation detection module provided by the present application;

[0062] FIG13c is a schematic structural diagram of a receiving system in the prior art;

[0063] FIG14 is a schematic structural diagram of a detection module provided by the present application;

[0064] FIG15a is a schematic diagram of the structure of a detection device provided by the present application;

[0065] FIG15b is a schematic diagram of an optical path in a detection device provided by the present application;

[0066] FIG16 is a schematic structural diagram of a light source module provided in this application;

[0067] FIG17 is a schematic structural diagram of an optical emission module provided in this application. DETAILED DESCRIPTION

[0068] The embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0069] The following is an introduction to the possible application scenarios of this application.

[0070] In one possible implementation, the optical receiving module can be integrated into a detection device, which can be installed on a vehicle. Referring to FIG1 , a schematic diagram of a possible application scenario of the present application is shown. This application scenario takes the installation of the detection device in the front of the vehicle as an example. It is understood that the detection device can also be installed in other locations on the vehicle, such as in any one or more of the four directions of front, rear, left, and right, to capture information about the vehicle's surroundings. The detection device can be a lidar.

[0071] In one possible application scenario, the working principle of the detection device is as follows: the detection device emits a signal beam to the detection area. If there is a target in the detection area, the target can reflect the received signal light back to the detection device (the reflected light beam can be called an echo beam), and the detection device then determines the target's associated information based on the echo beam. Specifically, the detection device can obtain the vehicle's latitude and longitude, speed, direction, or associated information (such as the distance of the target, the speed of the target, and / or the posture of the target) of targets within a certain range (such as other surrounding vehicles, pedestrians, or obstacles) in real time or periodically. Further, optionally, the detection device can send the acquired information to a control device in the vehicle, so that the control device can perform vehicle path planning based on the acquired information. For example, the vehicle's position can be determined using longitude and latitude, or the vehicle's direction and destination for a period of time in the future can be determined using speed and direction, or the number and density of obstacles around the vehicle can be determined using the distance of surrounding objects. Further, optionally, the function of an advanced driving assistant system (ADAS) can be combined to achieve assisted driving or automatic driving of the vehicle.

[0072] It should be understood that the above application scenarios are only examples, and the optical receiving module provided in this application can also be applied to other possible scenarios, not limited to the scenarios exemplified above. For example, a detection device integrated with the optical receiving module provided in this application can also be installed on a drone as an airborne detection device. For another example, a detection device integrated with the optical receiving module provided in this application can also be installed on a roadside unit (RSU) as a roadside traffic detection device, refer to Figure 1 above, and can realize intelligent vehicle-road collaborative communication, etc. For another example, a detection device integrated with the optical receiving module provided in this application can also be installed on an automated guided vehicle (AGV). AGV refers to a transport vehicle equipped with an electromagnetic or optical automatic navigation device that can travel along a specified navigation path and has safety protection and various transfer functions. For another example, the optical receiving module can also be applied to a camera. These are not listed here one by one. It should be noted that the application scenarios described in this application are for the purpose of more clearly illustrating the technical solution of this application and do not constitute a limitation of the technical solution provided in this application.

[0073] The above application scenarios can be applied to fields such as unmanned driving, automatic driving, assisted driving, intelligent driving, connected cars, security monitoring, biomedicine or surveying and mapping (such as three-dimensional mapping).

[0074] As described in the background technology, when a lidar perceives the surrounding environment, it will inevitably receive stray light when receiving an echo beam. The stray light will interfere with the echo beam, thereby reducing the accuracy of detection.

[0075] In view of the above problems, the present application proposes an optical receiving module that can minimize or eliminate stray light entering the detection module, thereby reducing or eliminating the interference of the stray light on the echo light beam.

[0076] Based on the above content, the optical receiving module proposed in this application will be described in detail below with reference to the accompanying drawings.

[0077] Figure 2 is a schematic diagram of the structure of an optical receiving module provided by the present application. The optical receiving module may include a first optical component, an aperture, and a second optical component. In one possible implementation, the aperture is located at the image-side focal plane of the first optical component. In another possible implementation, the aperture is located at a predetermined distance from the image-side focal plane of the first optical component. The predetermined distance is required to ensure that the return beam passes through the aperture as much as possible and that stray light is blocked as much as possible. Alternatively, the aperture may be located at a first position in front of the image-side focal plane of the first optical component, with the distance from the first position to the image-side focal plane being equal to the predetermined distance; or, the aperture may be located at a second position behind the image-side focal plane of the first optical component, with the distance from the second position to the image-side focal plane being the predetermined distance (see Figure 3a). In other words, the aperture may also be located near the image-side focal plane of the first optical component. It should be understood that the structures of the first and second optical components in Figure 3a are merely illustrative. Possible structures of the first and second optical components can be found in the following descriptions and will not be further elaborated here. The first optical component is used to focus the echo beam, and the focused echo beam is then emitted into the second optical component through the aperture. It is understood that the aperture is used to pass the focused echo beam and block (or suppress) stray light other than the echo beam. The second optical component is used to transmit the received echo beam to the detection module. Specifically, the echo beam that passes through the aperture is a divergent beam on its optical path to the second optical component. The second optical component can refocus the echo beam that passes through the aperture to the detection module. The echo signal is light reflected by the target and is a valid signal. Stray light refers to light that is not required but reaches the detection module after transmission. For example, stray light includes but is not limited to background light (or ambient light), and / or stray light emitted from the transmitting system and reflected back to the receiving system by the target, and / or stray light generated by multiple reflections of the echo beam from other structural components between the aperture and the housing of the detection device.

[0078] It can be understood that after the return beam is focused by the first optical component, the beam waist is located at the image-side focal plane of the first optical component (see Figure 3b). The beam waist refers to the point in the propagation direction where the return beam's beam radius (which measures the beam's lateral expansion) is minimum. The beam radius at this point is called the beam waist radius.

[0079] Based on the above-described optical receiving module, the echo beam is focused on the image-side focal plane of the first optical component. The focused echo beam has a small beam radius. Therefore, by placing the aperture at the image-side focal plane of the first optical component or at a preset distance from the image-side focal plane, the aperture's light-passing area can be set to be small, thereby minimizing the amount of stray light (or suppressing it) other than the echo beam (see FIG. 15 b ), thereby helping to reduce or eliminate stray light entering the detection module. When the optical receiving module is applied to a detection device, the detection accuracy of the detection device can be improved.

[0080] The following describes each functional component and structure shown in FIG2 , and provides an exemplary specific implementation scheme.

[0081] 1. First Optical Component

[0082] In one possible implementation, the first optical component includes at least one first lens. Please refer to Figure 4, which is a schematic structural diagram of a first optical component provided by the present application. In this example, the first optical component includes three first lenses, namely the first lens 11, the first lens 12 and the first lens 13. Among them, the first lens 13 is the first lens close to the aperture, the first surface of the first lens 13 is a concave surface, the second surface of the first lens 13 is a convex surface, the first surface is the surface of the first lens close to the aperture, and the second surface is the surface of the first lens away from the aperture. In this way, the first optical component can collect as many echo light beams as possible.

[0083] It can be understood that the structure of the first optical component given above is only an example. The number of first lenses included in the first optical component in this application can be less than or more than that in Figure 4 above, and this application does not limit this.

[0084] It should be noted that the first lens can be a spherical lens or an aspherical lens, and the spherical lens includes but is not limited to a biconvex lens, a plano-convex lens, a biconcave lens, a plano-concave lens and a concave-convex lens. The aspheric lens includes but is not limited to a cylindrical lens. Exemplarily, the first optical component includes a single spherical lens, or a single aspheric lens, or a combination of multiple spherical lenses, or a combination of multiple aspheric lenses, or a combination of spherical lenses and aspheric lenses. The combination of multiple spherical lenses or aspheric lenses helps to improve the imaging quality of the first optical component and helps to reduce the aberration of the first optical component. It is understandable that the first optical component can be rotationally symmetric or non-rotationally symmetric, and this application does not limit this. Rotational symmetry means that the change in the optical path of the echo light beam after the first optical component is rotated around the optical axis of the first optical component by a certain angle (such as 90°) is the same as before the rotation.

[0085] Further, optionally, the material of the first lens can be an optical material such as glass, resin, or crystal. When the material of the first lens is resin, the mass of the first optical component can be reduced. When the material of the first lens is glass, it helps to improve the imaging quality of the first optical component. In order to effectively suppress temperature drift, the first optical component includes at least one first lens made of glass. It should be understood that when the first optical component includes at least three first lenses, the material of some of the first lenses may be resin, the material of some of the first lenses may be glass, and the material of some of the first lenses may be crystal; or, the material of some of the first lenses may be resin and the material of some of the first lenses may be glass; or, the material of some of the first lenses may be resin and the material of some of the first lenses may be crystal; or, the material of some of the first lenses may be glass and the material of some of the first lenses may be crystal; or, the material of all the first lenses may be glass; or, the material of all the first lenses may be resin; or, the material of all the first lenses may be crystal; this application does not limit this.

[0086] 2. Aperture

[0087] In one possible implementation, the aperture includes a non-transparent region and at least one transparent region. The transparent region is used to pass the focused echo beam. The non-transparent region is used to block (e.g., reflect or absorb) stray light. The echo beam has a relatively small beam radius on the image-side focal plane of the first optical component. Therefore, the aperture is located on the image-side focal plane of the first optical component, and a relatively small transparent region can be provided. This ensures that the echo beam passes as much as possible while minimizing the passage of stray light.

[0088] For example, the aperture can be provided with at least one opening on a non-transparent film, or at least one opening on a non-transparent flat plate, with the at least one opening being the light-transmitting area. Non-transparent films include, but are not limited to, Mylar sheets or steel sheets. An aperture with an opening can also be called an aperture (or pinhole). Mylar sheets are a type of polyester film that is dimensionally stable, flat, and has excellent tear strength, heat resistance, cold resistance, moisture resistance, water resistance, and chemical corrosion resistance. It also possesses superior insulation properties and excellent electrical, mechanical, heat resistance, and chemical resistance.

[0089] For another example, the aperture may be formed by coating a non-transparent material in the non-transparent area of ​​a translucent film, or coating a non-transparent material in the non-transparent area of ​​translucent glass. The non-transparent material includes, but is not limited to, black ink or black paint. Specifically, the desired translucent area may be printed on the glass or film using a silk screen printing technique, while the remaining areas are coated with black ink or black paint (the areas with black ink or black paint are opaque).

[0090] Based on the above, the center position, shape, and size of the aperture's light transmission area are introduced below.

[0091] In one possible implementation, the center position of the light-transmitting area is related to the incident angle of the return beam into the first optical component. Specifically, in conjunction with FIG4 , the center position of the light-transmitting area and the incident angle of the return beam into the first optical component satisfy the following formula 1.

[0092] S = f × tanθ Formula 1

[0093] Wherein, f is the equivalent focal length of the first optical component, θ is the incident angle of the return light beam entering the first optical component, and S is the center position of the light-transmitting area.

[0094] For example, the center position of the light-transmitting area is represented by (S x , S y ) indicates that S x The horizontal coordinate of the center position of the light-transmitting area, S y The ordinate represents the center position of the light-transmitting area. The abscissa represents the coordinate of the center position in the third direction, and the ordinate represents the coordinate of the center position in the second direction. The third direction is perpendicular to the first direction, and the third direction is also perpendicular to the second direction. The plane xoy between the third direction and the second direction is perpendicular to the first direction.

[0095] S x =f x ×tanθ x Formula 2

[0096] S y =f y ×tanθy Formula 3

[0097] Among them, f x is the equivalent focal length of the first optical component in the horizontal direction, θ x is the lateral incident angle of the return beam entering the first optical component, f y is the equivalent focal length of the first optical component in the longitudinal direction, θ y is the longitudinal incident angle of the return light beam entering the first optical component, wherein the transverse direction is the third direction and the longitudinal direction is the second direction.

[0098] It should be noted that the horizontal coordinate of the center position of the light-transmitting area can also be the same as the horizontal coordinate of the center position of the aperture. For example, if the coordinate of the center position of the aperture is (0, 0), then the coordinate of the center position of the light-transmitting area is (0, S y By designing the horizontal coordinate of the center position of the light-transmitting area to be the same as the horizontal coordinate of the center position of the aperture, it helps to simplify the complexity of the optical path design of the optical receiving module.

[0099] In a possible implementation, the incident angle (θ x ,θ y ) is a fixed value. Specifically, the optical receiving module also includes a third optical component, which is used to adjust the incident angle of the echo light beam entering the first optical component to a fixed value. It can also be understood that the incident angles of the echo light beam entering the optical receiving module from different directions are the same after being adjusted by the third optical component. It should be noted that the fixed value can be one value, for example, the fixed value can be (0°, 0°); or, the fixed value can be two, such as (0°, 7.5°) and (0°, -7.5°), etc. It should be noted that the fixed value is related to the emission angle of the signal light beam from the transmitting system. Specifically, the signal light beam is emitted from the transmitting system at a fixed emission angle, and the echo light beam is obtained by reflection from the target. The reflection of the signal light beam by the target follows the law of reflection. The echo signal is reflected to the first optical component through the third optical component, and the reflection of the echo light beam by the third optical component also follows the law of reflection. Exemplarily, the third optical component includes but is not limited to a swing mirror.

[0100] Please refer to FIG5, which is a schematic diagram of the structure of an aperture provided by the present application. In this example, the aperture includes a light-transmitting area, and the horizontal coordinate of the center position of the light-transmitting area is the same as the horizontal coordinate of the center position of the aperture, that is, S x = 0 as an example. Specifically, the incident angle θ of the return beam entering the first optical component is y =0°, S y =f y ×tanθ y=0. Correspondingly, the coordinates of the center position of the light-transmitting area are (0, 0). It can also be understood that the light-transmitting area is located at the center of the aperture. It can be understood that the shape of the light-transmitting area in this example is an ellipse. The specific shape of the light-transmitting area can be found in the relevant description below and will not be repeated here.

[0101] Please refer to FIG6, which is a schematic diagram of another structure of an aperture provided by the present application. In this example, the aperture includes two symmetrical light-transmitting areas, and the horizontal coordinates of the center positions of the two light-transmitting areas are the same as the horizontal coordinates of the center position of the aperture, that is, S x = 0 as an example. Specifically, the incident angle θ of the return beam entering the first optical component is y =-7.5° and θ y =7.5°, S y =f y ×tanθ y =f y ×tan7.5° and S y =f y ×tanθ y =f y ×tan(-7.5°). Correspondingly, the coordinates of the center position of one of the two light-transmitting areas are (0, f y ×tan7.5°), the coordinates of the center position of the other light-transmitting area are (0, f y ×tan(-7.5°)). It can be understood that the shape of the light-transmitting area in this example is also elliptical. The specific shape of the light-transmitting area can be found in the following related introduction and will not be repeated here.

[0102] In one possible implementation, the shape of the light-transmitting area may be consistent with the shape of the spot of the focused echo beam. For example, if the shape of the spot of the focused echo beam is elliptical, then the shape of the light-transmitting area may also be elliptical accordingly. For another example, if the shape of the spot of the focused echo beam is circular, then the shape of the light-transmitting area may also be circular accordingly. For another example, if the shape of the spot of the focused echo beam is rectangular, then the shape of the light-transmitting area may also be rectangular accordingly. For another example, if the shape of the spot of the focused echo beam is square, then the shape of the light-transmitting area may also be square accordingly. It should be understood that the shape of the light-transmitting area may also be other regular or irregular shapes, and this application does not limit this.

[0103] Furthermore, optionally, the size of the light-transmitting area of ​​the aperture satisfies the following requirements: minimizing the loss of the return beam and suppressing stray light as much as possible. The sizes of light-transmitting areas of three shapes are exemplarily shown below.

[0104] Shape 1: The shape of the light-transmitting area is an ellipse.

[0105] 6 , the ratio of the major axis to the minor axis of the light-transmitting area satisfies: greater than or equal to 1 and less than or equal to 4.

[0106] For example, the major axis of the light-transmitting area is 1 millimeter (mm), and the minor axis of the light-transmitting area is 0.5 mm. It should be noted that the length of the major axis and the length of the minor axis of the light-transmitting area are both allowed to have a certain engineering error. In addition, the size of the elliptical light-transmitting area given above is only an example. In actual applications, the length of the major axis of the elliptical light-transmitting area may also be greater than or less than the length of the major axis of the elliptical light-transmitting area given above, and / or the length of the minor axis of the elliptical light-transmitting area may also be greater than or less than the length of the minor axis of the elliptical light-transmitting area given above. This application does not limit this.

[0107] Shape 2: the shape of the light-transmitting area is circular.

[0108] Please refer to Figure 7, which is a schematic diagram of the size of the light-transmitting area of ​​another aperture provided in this application. The diameter R of the light-transmitting area of ​​this aperture is, for example, 0.8 mm. It should be noted that the diameter of the light-transmitting area allows for a certain engineering error. This example uses an aperture including two circular light-transmitting areas as an example.

[0109] It can be understood that the size of the circular light-transmitting area given above is only an example. In actual applications, the diameter of the circular light-transmitting area may also be larger than the diameter of the circular light-transmitting area mentioned above, and this application does not limit this.

[0110] In one possible implementation, the spot of the focused echo beam on the image-side focal plane of the first optical component may be circular, and a circular aperture with a clear light area may be provided on the image-side focal plane of the first optical component. This minimizes the clear light area, thereby minimizing stray light from passing through the aperture and preventing loss of the echo beam.

[0111] Shape 3: the shape of the light-transmitting area is a rectangle.

[0112] Please refer to Figure 8, which is a schematic diagram of the size of the light-transmitting area of ​​another aperture provided in this application. In this example, the length H1 of the first side of the light-transmitting area of ​​the aperture can be, for example, 0.8 mm, and the length H2 of the second side can be, for example, 0.5 mm. It should be noted that the lengths H1 and H2 of the first and second sides of the light-transmitting area allow for a certain degree of engineering tolerance. This example uses an aperture comprising two rectangular light-transmitting areas as an example.

[0113] It can be understood that the size of the rectangular light-transmitting area given above is only an example. In actual applications, the length of the first side of the rectangular light-transmitting area may also be greater than the length H1 of the first side of the above-mentioned rectangular light-transmitting area, and the length of the second side of the rectangular light-transmitting area may also be greater than the length H2 of the second side of the above-mentioned rectangular light-transmitting area. This application does not limit this.

[0114] It should be noted that the above example is based on the example that the two light-transmitting areas included in the aperture have the same shape. It can also be understood that the two light-transmitting areas of the aperture given in the above example are axisymmetric figures. It should be understood that when the aperture includes multiple light-transmitting areas, the shapes of these multiple light-transmitting areas can be the same or different. For example, the aperture includes two light-transmitting areas, one of which is circular and the other is elliptical. For another example, the aperture includes four light-transmitting areas, and the shapes of these four light-transmitting areas can all be the same, or some can be the same and some can be different, or all can be different. In addition, when the aperture includes multiple light-transmitting areas, the sizes of these multiple light-transmitting areas can be the same or different, and this application does not limit this.

[0115] In one possible implementation, the aperture may be circular, square, or any other regular or irregular shape. This application does not limit this; any shape that can be assembled into the lens barrel is within the scope of protection of this application. Furthermore, the aperture may optionally have a thickness of 0.1 mm to 0.3 mm.

[0116] 3. Second Optical Component

[0117] In one possible implementation, a second optical assembly is used to focus the return beam transmitted through the aperture onto the detection module. The second optical assembly includes at least one second lens. The second lens can be a spherical lens or an aspherical lens. For details on spherical and aspherical lenses, please refer to the previous description and will not be repeated here.

[0118] Please refer to Figure 9, which is a schematic diagram of the structure of a second optical assembly provided by this application. In this example, the second optical assembly includes five second lenses, namely second lens 31, second lens 32, second lens 33, second lens 34, and second lens 35. Among them, second lens 31 is the second lens closest to the aperture. The first surface of second lens 31 is concave, and the second surface of second lens 31 is convex. The first surface is the surface of the second lens closest to the aperture, and the second surface is the surface of the second lens away from the aperture. In this way, the second optical assembly can collect as many return beams as possible.

[0119] Further, optionally, the second optical component also includes a reflective component. The reflective component can change the propagation optical path of the echo light beam to fold the optical path of the echo light beam, thereby reducing the optical path of the echo light beam in a certain item, and then reducing the volume of the optical receiving module. Exemplarily, the reflective component includes a reflecting prism (or a turning prism) or a reflector. The angle between the reflector and the optical axis of the first optical component is 45°. The reflective prism can be, for example, an isosceles reflecting prism. If the second optical component includes at least two second lenses, the reflective component can be located between any two adjacent second lenses. If the second optical component includes one second lens, the reflective component can be located between the first optical component and the second optical component.

[0120] Please refer to Figure 10, which is a schematic diagram of the structure of another second optical component provided by the present application. In this example, the second optical component includes five second lenses and a reflective component. The five second reflectors are respectively a second lens 41, a second lens 42, a second lens 43, a second lens 44, and a second lens 45. Through simulation, it can be determined that the spatial distance between the second lens 44 and the second lens 45 is large, so the reflective component can be set between the second lens 44 and the second lens 45. The echo light beam propagates through the second lens 45 to the reflective component, is reflected by the reflective component to the second lens 44, and then propagates to the detection module through the second lens 44, the second lens 43, the second lens 42, and the second lens 41.

[0121] It should be noted that the reflective assembly can also be arranged between two other adjacent second lenses. Please refer to Figure 11, which is a schematic structural diagram of another second optical assembly provided by the present application. In this example, the second optical assembly includes five second lenses and a reflective assembly as an example. The five second reflectors are respectively a second lens 41, a second lens 42, a second lens 43, a second lens 44 and a second lens 45. The reflective assembly can be arranged between the second lens 43 and the second lens 44. The echo light beam propagates to the reflective assembly through the second lens 45 and the second lens 44, and then the reflective assembly is reflected to the second lens 43, and then propagates to the detection module through the second lens 43, the second lens 42 and the second lens 41.

[0122] The reflection component can change the propagation path of the echo light beam from the first direction to the second direction to fold the light path of the echo light beam in the first direction, thereby helping to shorten the optical path in the first direction and further reducing the size of the second optical component in the first direction.

[0123] It should be understood that the three second optical assembly structures described above are merely examples. The second optical assembly in this application may include more second lenses than shown in FIG9 , or fewer than shown in FIG10 and FIG11 , and this application is not limited thereto. Furthermore, the reflective assembly may be positioned in other possible locations; the positions shown in FIG10 and FIG11 are merely examples and are not limited thereto by this application.

[0124] In one possible implementation, the material of the second lens may be the same as or different from that of the first lens, and this application does not limit this. Regarding the material of the at least one second lens included in the second optical assembly, refer to the introduction of the first lens above and will not be repeated here.

[0125] Based on the above content, three specific implementations of the optical receiving module are given below to facilitate a further understanding of the structure of the optical receiving module.

[0126] As shown in Figure 12a, this is a schematic diagram of the structure of another optical receiving module provided by the present application. The optical receiving module may include a first optical component, an aperture, a second optical component, and a third optical component. In this example, the aperture is located at the image-side focal plane of the first optical component. In this example, the first optical component is shown in Figure 4 above, the aperture is shown in Figure 6 above, the second optical component is shown in Figure 9 above, and the third optical component is shown in a swinging mirror. For a more detailed introduction to the first optical component, the aperture, the second optical component, and the third optical component, please refer to the aforementioned related introduction and will not be repeated here.

[0127] Based on the above-mentioned optical receiving module, the angle of the stray light after being reflected by the swing mirror may be different from the angle of the echo light beam after being reflected by the swing mirror. Therefore, the incident angle of the echo light beam entering the first optical component is different from the incident angle of the stray light entering the first optical component. When the echo light beam enters the first optical component at an incident angle of a fixed value and is focused by the first optical component, the size of the focused echo light beam in the image-side focal plane of the first optical component is small, and the aperture is placed in the image-side focal plane of the first optical component, so that the light-passing area of ​​the aperture can be reduced as much as possible. In this way, the focused echo light beam can pass through the light-passing area and can block as much stray light as possible.

[0128] Please refer to Figure 12b for a schematic diagram of the structure of another optical receiving module provided in this application. This optical receiving module includes a first optical component, a second optical component, an aperture, a reflective component, and a third optical component. In this example, the first optical component is shown in Figure 4 above, the aperture is shown in Figure 6 above, the second optical component is shown in Figure 10 above, and the third optical component is shown in an oscillating mirror. For details on the first optical component, the second optical component, and the aperture, please refer to the previous description and will not be repeated here.

[0129] Based on the above-mentioned optical receiving module, it is possible to block as much stray light entering the detection module as possible, and to change the propagation direction of the received echo light beam through the reflection component to fold the optical path of the echo light beam, which helps to reduce the optical path of the echo light beam in a certain direction, thereby helping to reduce the length of the optical receiving module in that direction, and further helping to miniaturize the optical receiving module.

[0130] Based on the structure and functional principle of the optical receiving module described above, the present application can also provide a receiving system. Please refer to Figure 13a, which is a schematic diagram of the architecture of a receiving system provided by the present application. The receiving system may include a detection module and an optical receiving module. The detection module is used to detect the echo light beam from the optical receiving module. Specifically, the detection module is used to receive the echo light beam from the optical receiving module, and perform photoelectric conversion on the echo light beam to obtain a first electrical signal, and the first electrical signal is used to determine the associated information of the target in the detection area. For the optical receiving module, please refer to the introduction of any of the above embodiments, which will not be repeated here. Further, optionally, the associated information of the target may include but is not limited to the distance information of the target, the direction of the target, the speed of the target, and / or the grayscale information of the target.

[0131] In one possible implementation, the detection module is located at the image-side focal plane of the second optical component, so that a single pixel of the detection module can receive more echo beams, thereby helping to further improve the accuracy of detection.

[0132] FIG13b is an example of an energy diagram of stray light received by a simulated detection module. (1) in FIG13b is the energy distribution of stray light obtained by simulating the receiving system shown in FIG13a above, and (2) in FIG13b is the energy distribution of stray light obtained by simulating the receiving system based on the prior art (see FIG13c ). Comparing (1) and (2) in FIG13b above, it can be seen that, based on the receiving system of the prior art, the detection module not only detects the echo signal, but also detects strong stray light, and the stray light is dispersed over the entire detection module. Based on the receiving system of the present application, the echo signal can enter the detection module through the two light-transmitting areas of the aperture, and the stray light at other angles is blocked by the non-light-transmitting area of ​​the aperture, which can effectively eliminate the stray light entering the detection module, thereby improving the ability of the optical receiving module to suppress stray light.

[0133] It is understood that the aperture is typically parallel to the photosensitive surface of the detection module. In other words, the angle between the aperture and the photosensitive surface of the detection module is equal to 0 degrees. Based on this, the size of the aperture's light-transmitting area can be combined with the description of Shapes 1, 2, and 3 above, and will not be repeated here. When the angle between the aperture and the photosensitive surface of the detection module is not equal to 0 degrees, to minimize the impact of stray light on signal light, the size of the aperture's light-transmitting area can be understood as the component in the third and second directions satisfying the relationship given by Shapes 1, 2, and 3 above. For details, please refer to the relevant description above and will not be repeated here.

[0134] Exemplarily, the detection module may include but is not limited to a photodetector (PD), a P-type semiconductor-intrinsic layer-N-type semiconductor (positive intrinsic negative, PIN) photodiode (also known as a PIN junction diode), an avalanche photodiode (APD), or a pixel array, wherein the pixels in the pixel array may include one or more single-photon avalanche diodes (SPAD) or silicon photomultipliers (SiMP), etc.

[0135] Please refer to Figure 14, which is a structural diagram of a detection module provided by the present application. The detection module includes 8×8 pixels as an example. It will be understood that the pixel array given in Figure 14 above is only an example, and the present application does not limit the number of rows and columns included in the pixel array. For example, the pixel array can also be a pixel array with multiple rows and one column, or it can be other pixel arrays with multiple rows and columns, which are not listed here one by one. In addition, the shape of the pixels in the pixel array can also be other possible shapes (such as circular, square or elliptical, etc.), which is not limited by the present application.

[0136] It should be noted that the pixels in the pixel array may correspond one-to-one to the light sources in the light source array. For details about the light sources in the light source array, please refer to the following related introduction, which will not be repeated here.

[0137] Based on the structure and functional principles of the receiving system described above, the present application can also provide a detection device. Please refer to Figure 15a, which is a schematic diagram of the architecture of a detection device provided by the present application. The detection device may include a transmitting system and a receiving system. The transmitting system is used to transmit a signal light beam, and the signal light beam is reflected by the target in the detection area to obtain an echo light beam. For the receiving system, please refer to the introduction of any of the above embodiments, which will not be repeated here. In one possible implementation, the transmitting system includes a light source module, and further, the transmitting system also includes an optical transmitting module.

[0138] Based on the detection device shown in Figure 15a above, the optical path can be seen in Figure 15b. The transmitting system is used to transmit a signal light beam. The signal light beam is reflected by the target to obtain an echo light beam. The echo light beam is focused at the aperture through the first optical component. The focused echo light beam has a smaller waist radius. The aperture allows the focused echo light beam to pass through and blocks stray light other than the echo light beam. The first signal passing through the aperture is re-focused at the detection module through the second optical component.

[0139] The light source module and optical emission module are introduced below respectively.

[0140] 4. Light source module

[0141] In one possible implementation, the light source module may be, for example, a point light source, or a light source array. Exemplarily, the light source in the point light source or the light source array may be, for example, a diode pumped solid state laser (DPSS), a fiber laser, a vertical cavity surface emitting laser (VCSEL), or an edge emitting laser (EEL).

[0142] Please refer to Figure 16, which is a structural diagram of a light source module provided by the present application. In this example, the light source module includes an 8×8 light source array as an example. It should be noted that the light source array can also be a row or a column. The light source array shown in Figure 16 is only a possible example. Among them, the light source array can be independently addressed, and independent addressing means that the light sources in the light source array can be independently selected (or called lit or turned on or powered on), and the selected light sources can be used to emit signal light beams. It can be understood that the addressing method of the light source array is related to the physical connection relationship of the light sources. For example, if the light sources in the same column of the light source array are connected in series and the light sources in different columns are connected in parallel, the light sources can be selected column by column (which can be called a line light source). For another example, if the light sources in the same row of the light source array are connected in series and the light sources in different rows are connected in parallel, the light sources can be selected row by row (which can be called a line light source). For another example, if all the light sources in the light source array are connected in series, or the light sources in the same column are connected in series and in parallel between different columns, or the light sources in the same row are connected in series and in parallel between different rows, etc., all light sources can be selected at once (which can be called a surface light source).

[0143] It should be understood that the shape of the light sources in the light source array may also be other possible shapes (such as circular, square or elliptical, etc.), and this application does not limit this.

[0144] 5. Optical Transmission Module

[0145] In one possible implementation, an optical transmission module is used to transmit the signal light beam emitted by the light source module to the detection area. Specifically, the signal light beam emitted by the light source module may have a relatively large divergence angle and may contain a beam with poor astigmatism. The optical transmission module can also collimate and shape the signal light, thereby reducing the divergence angle of the signal light beam emitted to the detection area, allowing more signal light beams to illuminate the detection area.

[0146] Please refer to Figure 17, which is a schematic diagram of the structure of an optical emission module provided in this application. This optical emission module includes three third lenses, namely, third lens 51, third lens 52, and third lens 53. It should be understood that the number of third lenses included in this optical emission module is merely an example. In this application, the number of third lenses included in the optical emission module may be greater or less than that shown in Figure 17. The third lenses can refer to the description of the first and second lenses above and will not be repeated here.

[0147] It should be noted that the detection device in the present application may also include other possible systems, for example, the detection device may also include a scanning system. Furthermore, optionally, the detection device may also include a processing system, etc., as shown in FIG. 15 a above.

[0148] The scanning system and processing system are introduced below.

[0149] A. Scanning system

[0150] In one possible implementation, a scanning system is configured to reflect a signal beam from a transmitting system toward a detection area, and to reflect an echo beam from the detection area toward a receiving system. The scanning system rotates about a scanning axis to change its scanning angle, thereby enabling the scanning system to reflect the signal beam from the transmitting system toward the detection area at different scanning angles, thereby scanning the detection area, and to reflect the echo beam from the detection area toward the receiving system, thereby detecting the detection area.

[0151] Specifically, the transmitting system and the receiving system may share a scanning system, and the shared scanning system may be, for example, a rotating mirror (e.g., a four-sided rotating mirror, a hexahedral rotating mirror, or an octahedral rotating mirror) or a micro electro-mechanical system (MEMS) reflector or a swinging mirror. Alternatively, the transmitting system and the receiving system may each correspond to a scanning system; for example, the scanning system corresponding to the transmitting system may be a rotating mirror, and the scanning system corresponding to the receiving system may also be a rotating mirror; for another example, the scanning system corresponding to the transmitting system may be a swinging mirror, and the scanning system corresponding to the receiving system may also be a swinging mirror; for another example, the scanning system corresponding to the transmitting system may be a MEMS mirror, and the scanning system corresponding to the receiving system may also be a MEMS mirror; for another example, the scanning system corresponding to the transmitting system may be a rotating mirror, and the scanning system corresponding to the receiving system may also be a MEMS mirror; for another example, the scanning system corresponding to the transmitting system may be a rotating mirror, and the scanning system corresponding to the receiving system may also be a swinging mirror; for another example, the scanning system corresponding to the transmitting system may be a MEMS mirror, and the scanning system corresponding to the receiving system may also be a swinging mirror; for another example, the scanning system corresponding to the transmitting system may be a MEMS mirror, and the scanning system corresponding to the receiving system may also be a rotating mirror; for another example, the scanning system corresponding to the transmitting system may be a MEMS mirror, and the scanning system corresponding to the receiving system may also be a swinging mirror; and so on, which are not listed here one by one.

[0152] It should be noted that this application does not limit the type of scanning system; any structure that can transmit the signal beam of the transmitting system to the detection area and transmit the echo beam from the detection area to the receiving system is acceptable. In addition, this application does not limit the specific form of the rotating mirror, MEMS reflector, or oscillating mirror.

[0153] In one possible implementation, the scanning system can be located at the waist of the echo beam emitted by the emitting optical module, so that a scanning system with a smaller reflective surface can be used, which helps to reduce the size of the scanning system and further helps to miniaturize the entire detection device.

[0154] B. Processing system

[0155] In one possible implementation, the processing system is configured to determine target-related information based on the first electrical signal from the receiving system. For example, the processing system may determine the target's distance, orientation, posture, or grayscale information based on the first electrical signal.

[0156] Exemplarily, a processing system can be a circuit with the ability to process signals (or data). In one implementation, a processor can be a circuit with the ability to read and execute instructions, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a microprocessor), or a digital signal processor (DSP). In another implementation, a processor can implement certain functions through the logical relationship of a hardware circuit, and the logical relationship of the hardware circuit is fixed or reconfigurable. For example, the processor is a hardware circuit implemented by an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field programmable gate array (FPGA). In a reconfigurable hardware circuit, the process of the processor loading a configuration document to implement the hardware circuit configuration can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units. In addition, the processor can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), etc. For example, it can also be an application processor (AP), an image signal processor (ISP), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof.

[0157] Based on the structure and functional principle of the detection device described above, the present application can also provide a terminal device. The terminal device may include the detection device in any of the above embodiments. Exemplarily, the terminal device can be, for example, a vehicle (such as an unmanned vehicle, a smart car, an electric car, or a digital car), a robot, a surveying and mapping equipment, a drone, a smart home device (such as a TV, a sweeping robot, a smart desk lamp, a sound system, an intelligent lighting system, an electrical control system, a home background music, a home theater system, an intercom system, or a video surveillance system), an intelligent manufacturing equipment (such as an industrial equipment), an intelligent transportation equipment (such as an AGV, an unmanned transport vehicle, or a truck), or an intelligent terminal (a mobile phone, a computer, a tablet computer, a PDA, a desktop computer, a headset, an audio system, a wearable device, an on-board device, a virtual reality device, an augmented reality device, etc.), etc.

[0158] In the various embodiments of the present application, unless otherwise specified or there is a logical conflict, the terms and / or descriptions between different 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.

[0159] In this application, "uniform" does not mean absolute uniformity, and a certain engineering error can be allowed. "Vertical" does not mean absolute verticality, and a certain engineering error can be allowed. "At least one" means one or more, and "multiple" means two or more. "And / or" describes the association relationship of associated objects, indicating that there can 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. "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 can mean: 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. In the text description of this application, the character " / " generally indicates that the related objects before and after are in an "or" relationship. In the formula of this application, the character " / " indicates that the related objects before and after are in a "division" relationship. Additionally, in this application, the word "exemplary" is used to mean an example, illustration, or description. Any embodiment or design described in this application as an "exemplary" should not be construed as preferred or advantageous over other embodiments or designs. Alternatively, it can be understood that the use of the word "exemplary" is intended to present concepts in a concrete manner and does not constitute a limitation of this application.

[0160] It will be appreciated that the various numerical numbers involved in this application are merely for the purpose of describing the distinctions made, and are not intended to limit the scope of the embodiments of the present application. The size of the sequence numbers of the above-mentioned processes does not imply the order of execution, and the order of execution of each process should be determined by its function and inherent logic. Terms such as "first", "second", and similar expressions are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, comprising a series of steps or units. Methods, systems, products, or devices are not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or that are inherent to these processes, methods, products, or devices.

[0161] The above are only specific embodiments of the present application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. An optical receiving module, characterized in that: The optical system comprises a first optical component, an aperture and a second optical component, wherein the aperture is located at an image-side focal plane of the first optical component or at a preset distance from the image-side focal plane of the first optical component; The first optical component is used to focus the echo light beam, and the focused echo light beam is incident on the second optical component through the aperture; The second optical component is used to transmit the received echo light beam to the detection module.

2. The module according to claim 1, wherein: The aperture includes at least one light-transmitting area; The light-transmitting area is used for passing the focused echo light beam.

3. The module according to claim 1 or 2, wherein: The shape of the light-transmitting area is elliptical; The ratio of the major axis to the minor axis of the ellipse is greater than or equal to 1 and less than or equal to 4.

4. The module according to claim 1 or 2, wherein: The shape of the light-transmitting area is circular.

5. The module according to any one of claims 1 to 4, wherein: The center position of the light-transmitting area is related to the incident angle of the return light beam entering the first optical component.

6. The module according to claim 5, wherein: The center position of the light-transmitting area and the incident angle of the return light beam into the first optical component satisfy the following formula 1: S = f × tanθ Formula 1 Wherein, f is the equivalent focal length of the first optical component, θ is the incident angle of the echo light beam entering the first optical component, and S is the center position of the light-transmitting area.

7. The module according to claim 5 or 6, wherein: The incident angle of the return light beam entering the first optical component is a fixed value.

8. The module according to claim 7, wherein: The optical receiving module further includes a third optical component; The third optical component is used to adjust the incident angle of the echo light beam entering the first optical component to the fixed value.

9. The module according to any one of claims 1 to 8, wherein: The aperture includes two light-transmitting areas.

10. The module according to claim 9, wherein: The two light-transmitting areas are axisymmetric figures.

11. The module according to any one of claims 2 to 10, wherein: The aperture further includes a non-light-transmitting area, and the non-light-transmitting area is used to reflect or absorb stray light except the echo light beam.

12. The module according to claim 11, wherein: The aperture includes any of the following: The non-light-transmissive film is provided with at least one opening, and the opening is the light-transmitting area; or, At least one opening is provided on the non-light-transmitting plate, and the opening is the light-transmitting area; or, The non-light-transmitting area of ​​the light-transmitting film is coated with a non-light-transmitting material; or, The non-light-transmitting areas of the light-transmitting glass are coated with a non-light-transmitting material.

13. The module according to claim 12, wherein: The non-light-transmitting film includes Mylar sheet; or The non-light-transmitting material includes black ink.

14. The module according to any one of claims 2 to 13, wherein: The shape of the light-transmitting area is consistent with the shape of the light spot of the focused echo light beam.

15. The module according to any one of claims 1 to 14, wherein: The first optical component includes at least one first lens; The first surface of the first lens close to the aperture is a concave surface, and the second surface of the first lens close to the aperture is a convex surface. The first surface is the surface of the first lens close to the aperture, and the second surface is the surface of the first lens away from the aperture.

16. The module according to any one of claims 1 to 15, wherein: The second optical component includes at least one second lens; The third surface of the second lens close to the aperture is a concave surface, the fourth surface of the second lens close to the aperture is a convex surface, the third surface is the surface of the second lens close to the aperture, and the fourth surface is the surface of the second lens away from the aperture.

17. The module according to claim 16, wherein: The second optical component further includes a reflective component.

18. The module according to claim 17, wherein: The reflective component includes a reflective prism or a reflective mirror.

19. A receiving system, characterized in that: comprising a detection module and an optical receiving module as claimed in any one of claims 1 to 18; The detection module is used to detect the echo light beam from the optical receiving module.

20. The system of claim 19, wherein: The detection module is located at the image-side focal plane of the second optical component.

21. A detection device, characterized in that: comprising a transmitting system and a receiving system as claimed in claim 19 or 20; The transmitting system is used to transmit a signal light beam, and the signal light beam is reflected by a target in a detection area to obtain the echo light beam.

22. The device according to claim 21, wherein The detection device also includes a scanning system; The scanning system is used to reflect the signal light beam from the transmitting system to the detection area; and / or reflect the echo light beam to the receiving system.

23. A terminal device, characterized in that: It comprises a control device and a detection device as claimed in claim 21 or 22.

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