Detection device and terminal equipment

Abstract

The invention discloses a detection device and terminal equipment. The detection device comprises a first scanning module, a second scanning module, a first transmitting module and a second transmitting module. A first reflecting surface of the first scanning module and a second reflecting surface of the second scanning module are oppositely arranged, and the included angle is larger than 0 degree and smaller than 180 degrees. The first transmitting module is used for transmitting a first light beam; the second emitting module is used for emitting a second light beam; the first reflecting surface is used for reflecting the first light beam to form a first view field and reflecting a first echo signal to the first receiving module, and the first echo signal is obtained by reflecting the first light beam by a target in the first view field; the second reflecting surface is used for reflecting the second light beam to form a second view field and reflecting a second echo signal to the second receiving module, and the second echo signal is obtained by reflecting the second light beam by a target in the second view field.

Description

Detection device and terminal equipment Technical Field

[0001] The present application relates to the field of detection technology, and in particular to a detection device and terminal equipment. 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 our daily lives. LiDAR (LiDAR) can accurately perceive and detect the surrounding environment, such as detecting the outline of a target. Based on this environmental information, it can identify and track moving targets, as well as recognize stationary objects such as lane markings and signs. Therefore, LiDAR is playing an increasingly important role in intelligent devices.

[0003] LiDAR is installed on a smart terminal, which requires a certain amount of space reserved for the LiDAR. The size of this reserved space is related to the LiDAR's volume and the size of its emission light cone (also known as the output light cone). Refer to Figure 1. For example, if the LiDAR is installed behind a vehicle's windshield, the LiDAR is secured to the reserved space by a fixed structure. The projection of the LiDAR's emission light cone onto the windshield is covered by the fixed structure, and the area covered by the fixed structure obscures the driver's field of view. To minimize the impact on the driver's field of view, the size of the reserved space can be reduced, resulting in a smaller fixed structure. Consequently, the LiDAR's emission light cone may be obscured by the fixed structure.

[0004] In summary, how to reduce or, as far as possible, avoid the laser radar's emission light cone being blocked by fixed structural parts is a technical problem that urgently needs to be solved.

[0005] Summary of the Invention

[0006] The present application provides a detection device and a terminal device, which are used to reduce or avoid as much as possible the emission light cone of the detection device from being blocked by a fixed structure that fixes the detection device without affecting the field of view of the detection device.

[0007] In a first aspect, the present application provides a detection device, which includes a first scanning module, a second scanning module, a first transmitting module, and a second transmitting module. The first scanning module includes a first reflecting surface, and the second scanning module includes a second reflecting surface. The first reflecting surface and the second reflecting surface are arranged opposite to each other (or are called oppositely arranged) and the angle between them is greater than 0° and less than 180°; in other words, the intersection of the extension lines of the first reflecting surface and the second reflecting surface is far away from the light outlet. The first transmitting module is used to emit a first light beam. The second transmitting module is used to emit a second light beam. The first reflecting surface of the first scanning module is used to reflect the first light beam to form a first field of view, and reflect a first echo signal to the first receiving module. The first echo signal is obtained by the target in the first field of view reflecting the first light beam. The second reflecting surface of the second scanning module is used to reflect the second light beam to form a second field of view, and reflect the second echo signal to the second receiving module. The second echo signal is obtained by the target in the second field of view reflecting the second light beam.

[0008] Based on the above scheme, by arranging the first reflecting surface and the second reflecting surface relative to each other and with an angle greater than 0° and less than 180°, the face-to-face cross scanning of the first scanning module and the second scanning module can be realized. The cross scanning can make the emission light cone of the detection device show a trend of first small and then large in the second direction (see the change trend of the total light cone displayed in the elliptical area). Therefore, in the fixed structure used to fix the detection device, the emission light cone of the detection device can be set to be smaller, thereby avoiding the emission light cone from being blocked by the fixed structure. Among them, the emission light cone of the detection device is the total light cone of the light cone formed by reflecting the first light beam by the first reflecting surface and the light cone formed by reflecting the second light beam by the second reflecting surface. Furthermore, the field of view of the detection device is the sum of the first field of view and the second field of view. In this way, the emission light cone of the detection device can be avoided as much as possible from being blocked by the fixed structure without reducing or increasing the field of view of the detection device.

[0009] In a possible implementation, the first light beam reflected by the first reflective surface and the second light beam reflected by the second reflective surface are emitted opposite to each other.

[0010] By emitting the first light beam and the second light beam relative to each other, cross scanning of the first light beam and the second light beam can be achieved.

[0011] In a possible implementation, the first field of view partially overlaps with the second field of view.

[0012] By partially overlapping the first field of view and the second field of view, the scanning performance of the overlapping part can be enhanced, and the divergence angle of the light emitted by the detection device in the fixed structure can be reduced by overlapping, thereby avoiding the emission light cone of the detection device from being blocked.

[0013] In a possible implementation, the light spot of the first light beam and the light spot of the second light beam in the overlapping field of view are misaligned.

[0014] By staggering the light spot of the first light beam and the light spot of the second light beam in the overlapping field of view, the point cloud density of the overlapping field of view can be increased, thereby improving the angular resolution of the overlapping field of view.

[0015] In one possible implementation, the distance L between the first scanning module and the second scanning module and the length M of the housing of the detection device in the first direction satisfy: 0.3≤L / W<1, and the distance L is the distance between the center of the first reflecting surface and the center of the second reflecting surface in the first direction.

[0016] As L increases, the intersection of the outer envelope of the first field of view and the outer envelope of the second field of view (called the viewpoint) or their extensions (called the viewpoint) moves further away from the scanning module. This means that as L increases, the viewpoint shifts further forward, and the detection device's emitted light cone shrinks. Therefore, by setting L close to W, occlusion of the detection device's emitted light cone can be minimized or avoided.

[0017] In one possible implementation, the angle θ1 between the first light beam and the normal to the first reflective surface satisfies the following relationship: 0°<θ1≤50. And / or the angle θ2 between the second light beam and the normal to the second reflective surface satisfies the following relationship: 0°<θ2≤50°.

[0018] By setting the angle θ1 between the first light beam and the normal of the first reflective surface to satisfy the following relationship: 0°<θ1≤50, the projection area of ​​the first light beam on the first reflective surface can be ensured to be small, thereby making the aperture of the first light beam larger, thereby helping to increase the effective light input of the first light beam of the system. By setting the angle θ2 between the second light beam and the normal of the second reflective surface to satisfy the following relationship: 0°<θ2≤50°, the projection area of ​​the second light beam on the second reflective surface can be ensured to be small, thereby making the aperture of the second light beam larger, thereby helping to increase the effective light input of the second light beam of the system.

[0019] In one possible implementation, the first light beam and the second light beam are pulsed light beams. The first emission module includes a first light source assembly, and the second emission module includes a second light source assembly. The first light source assembly starts emitting the first light beam at a different time than the second light source assembly starts emitting the second light beam.

[0020] By designing the start time of the first light beam emitted by the first light source assembly to be different from the start time of the second light beam emitted by the second light source assembly, crosstalk between the first light beam and the second light beam can be avoided as much as possible.

[0021] In a possible implementation manner, at least one of the first light beam and the second light beam is a continuous light beam.

[0022] In a possible implementation, the wavelength of the first light beam is the same as or different from the wavelength of the second light beam.

[0023] In one possible implementation, the first emission module includes a first emission optical assembly, which includes at least one first lens. A projection Dt1 of the first first lens in the first direction and a projection R1 of the first reflective surface in the first direction satisfy the following relationship: 0 < Dt1 ≤ R1. The first first lens is the last lens in the first emission optical assembly after the first light beam passes through it.

[0024] By setting 0<Dt1≤R1, it can be ensured that the first light beam is completely reflected by the first reflection surface of the first scanning module, thereby forming a larger first field of view.

[0025] In one possible implementation, the second emission module includes a second emission optical assembly, which includes at least one second lens. A projection Dt2 of the first second lens in the first direction and a projection R2 of the second reflective surface in the first direction satisfy the following relationship: 0 < Dt2 ≤ R2. The first second lens is the last lens in the second emission optical assembly through which the second light beam passes.

[0026] By setting Dt2≤R2, it can be ensured that the second light beam is completely reflected by the second reflection surface of the second scanning module, thereby forming a larger second field of view.

[0027] In a possible implementation, the detection device further includes a first receiving module and a second receiving module. The first receiving module is used to receive the first echo signal; the second receiving module is used to receive the second echo signal.

[0028] Furthermore, optionally, the first receiving module includes a first receiving optical assembly, which includes at least one third lens. A projection Dr1 of the first third lens in the first direction and a projection R1 of the first reflective surface in the first direction satisfy 0<Dr1≤R1. The first third lens is the first lens of the first receiving optical assembly through which the first echo signal passes.

[0029] By setting Dr1≤R1, it can be ensured that the first light beam is completely reflected by the first reflection surface of the first scanning module, thereby forming a larger first field of view.

[0030] In a possible implementation, a projection Dt1 of the first first lens in the first direction and a projection Dr1 of the first third lens in the first direction satisfy: 0<Dt1 / Dr1≤1.

[0031] By setting 0<Dt1 / Dr1≤1, it can be ensured that the effective area of ​​the first receiving optical component receiving the first echo signal is relatively large, thereby reducing the loss of the first echo signal as much as possible.

[0032] In one possible implementation, the second receiving module includes a second receiving optical assembly, which includes at least one fourth lens. A projection Dr2 of the first fourth lens in the first direction and a projection R2 of the second reflective surface in the first direction satisfy the following: 0 < Dr2 ≤ R2. The first fourth lens is the first lens of the second receiving optical assembly through which the second echo signal passes.

[0033] By setting Dr2≤R2, it can be ensured that the second light beam is completely reflected by the second reflection surface of the second scanning module, thereby forming a larger second field of view.

[0034] In a possible implementation, a projection Dt2 of the first second lens in the first direction and a projection Dr2 of the first fourth lens in the first direction satisfy: 0<Dt2 / Dr2≤1.

[0035] By setting 0<Dt2 / Dr2≤1, it can be ensured that the effective area of ​​the second receiving optical component receiving the second echo signal is relatively large, thereby reducing the loss of the second echo signal as much as possible.

[0036] In a possible implementation, the first lens, the second lens, the third lens, and the fourth lens include any one of the following: a spherical lens, an aspherical lens, or a cylindrical lens.

[0037] In a possible implementation, the first scanning module includes a first rotation axis and a second rotation axis, and the second rotation axis is perpendicular to the first rotation axis.

[0038] By using the first scanning module capable of realizing two-dimensional scanning, the size of the emission light cone of the detection device can be further reduced, thereby avoiding as much as possible the emission light cone of the detection device from being blocked.

[0039] In a possible implementation, the first rotation axis is parallel to the first reflective surface.

[0040] By setting the first rotation axis parallel to the first reflection surface, it helps to reduce the space required by the first scanning module, thereby facilitating miniaturization of the detection device.

[0041] In a possible implementation, the first scanning module scans around the first rotation axis at a non-uniform speed; and / or the first scanning module scans around the second rotation axis at a non-uniform speed.

[0042] By controlling the scanning speed of the first scanning module, the angular resolution of the detection device can be flexibly adjusted.

[0043] In a possible implementation, the second scanning module includes a third rotation axis and a fourth rotation axis, and the fourth rotation axis is perpendicular to the third rotation axis.

[0044] By using the second scanning module that can realize two-dimensional scanning, the size of the emission light cone of the detection device can be further reduced, thereby avoiding as much as possible the emission light cone of the detection device from being blocked.

[0045] In a possible implementation, the third rotation axis is parallel to the second reflective surface.

[0046] By setting the second rotation axis parallel to the second reflective surface, it helps to reduce the space required by the second scanning module, thereby facilitating further miniaturization of the detection device.

[0047] In a possible implementation, the second scanning module scans around the third rotation axis at a non-uniform speed; and / or the second scanning module scans around the fourth rotation axis at a non-uniform speed.

[0048] By controlling the scanning speed of the second scanning module, the angular resolution of the detection device can be flexibly adjusted.

[0049] In one possible implementation, the non-uniform scanning includes: scanning the field of interest at a slower speed than scanning the field of non-interest, wherein the first field of view includes the field of interest and the field of non-interest, and / or the second field of view includes the field of interest and the field of non-interest.

[0050] Because slower scanning speeds reduce the spacing between adjacent light spots, the detection device's angular resolution increases. By setting the scanning speed for the field of interest to be slower than that for non-fields of interest, the angular resolution of the detection area can be increased compared to non-fields of interest. In other words, the angular resolution of the detection device's region of interest can be improved.

[0051] In a possible implementation, a first scanning angle of the first scanning module rotating around the first rotation axis is smaller than or larger than a first angular interval, where the first angular interval is the angle between two adjacent first light beams.

[0052] By setting the first scanning angle to be smaller than or larger than the first angular interval, it can be achieved that at a larger first scanning angle, the detection device has a smaller angular resolution.

[0053] In a possible implementation, the first scanning angle α1 is spaced from the first angle satisfy: or

[0054] By setting the first scanning angle α1 and the first angle interval satisfy: or This helps to further improve the angular resolution of the detection device.

[0055] In a possible implementation, a second scanning angle of the second scanning module rotating around the third rotation axis is smaller than or larger than a second angular interval, where the second angular interval is the angle between two adjacent second light beams.

[0056] By setting the second scanning angle to be smaller than or larger than the second angular interval, it can be achieved that at a larger second scanning angle, the detection device has a smaller angular resolution.

[0057] In a possible implementation, the second scanning angle α2 is spaced from the second angle satisfy: or

[0058] By setting the second scanning angle α2 and the second angle interval satisfy: or This helps to further improve the angular resolution of the detection device.

[0059] In one possible implementation, the detection device further includes a first folding module and / or a second folding module. The first folding module is configured to change the propagation path of the first light beam to transmit the first light beam to the first scanning module; and / or the second folding module is configured to change the propagation path of the second light beam to transmit the second light beam to the second scanning module.

[0060] Changing the propagation path of the first light beam by the first turning module and / or changing the propagation path of the second light beam by the second turning module contributes to miniaturization of the detection device.

[0061] In a possible implementation, the first folding module includes at least one first reflector; and / or the second folding module includes at least one second reflector.

[0062] In one possible implementation, the detection device further includes a third transmitting module and a fourth transmitting module; the third transmitting module is configured to transmit a third light beam. The fourth transmitting module is configured to transmit a fourth light beam. The first reflecting surface of the first scanning module is further configured to reflect the third light beam to a third field of view and to reflect a third echo signal to a third receiving module. The third echo signal is generated by a target in the third field of view reflecting the third light beam. The second reflecting surface of the second scanning module is further configured to reflect the fourth light beam to a fourth field of view and to reflect a fourth echo signal to a fourth receiving module. The fourth echo signal is generated by a target in the fourth field of view reflecting the fourth light beam.

[0063] The four transmitting modules help to increase the field of view angle range of the detection device.

[0064] In a possible implementation, the third transmitting module is adjacent to the first transmitting module, and the fourth transmitting module is adjacent to the second transmitting module.

[0065] In one possible implementation, the first field of view and the third field of view are connected to each other or partially overlap; and / or the second field of view and the fourth field of view are connected to each other or partially overlap; and / or the first field of view and the second field of view are connected to each other or partially overlap.

[0066] By partially overlapping different fields of view, scanning performance in the overlapping areas can be enhanced. Overlapping can also reduce the divergence angle of the light emitted by the detection device within the fixed structure, thereby preventing the detection device's emitted light cone from being blocked. By designing different fields of view to connect with each other, the detection device's field of view can be expanded.

[0067] In one possible implementation, the light spot of the first light beam in the overlapping field of view is misaligned with the light spot of the third light beam; and / or the light spot of the second light beam in the overlapping field of view is misaligned with the light spot of the fourth light beam; and / or the light spot of the first light beam in the overlapping field of view is misaligned with the light spot of the second light beam.

[0068] Setting the light spots of different light beams in the overlapping field of view to be staggered helps to improve the angular resolution of the overlapping field of view.

[0069] In a possible implementation, the detection device further includes a third receiving module and a fourth receiving module; the third receiving module is used to receive the third echo signal; and the fourth receiving module is used to receive the fourth echo signal.

[0070] In a second aspect, the present application provides a terminal device, which includes a control device and the detection device of the above-mentioned first aspect or any one of the first aspects, and the control device is used to control the detection device to perform detection.

[0071] In a third aspect, the present application provides a detection device, comprising a first scanning module, a second scanning module, a first transmitting module, and a second transmitting module. The first scanning module comprises a first reflecting surface, and the second scanning module comprises a second reflecting surface. The first transmitting module is configured to transmit a first light beam; the second transmitting module is configured to transmit a second light beam. The first reflecting surface of the first scanning module is configured to reflect the first light beam to form a first field of view and to reflect a first echo signal to a first receiving module. The first echo signal is generated by a target in the first field of view reflecting the first light beam. The second reflecting surface of the second scanning module is configured to reflect the second light beam to form a second field of view and to reflect a second echo signal to a second receiving module. The second echo signal is generated by a target in the second field of view reflecting the second light beam. The angle between a first edge of the first field of view (or a first edge of the outer envelope of the first field of view) and a first frame of a fixed structure is less than a first threshold, and / or the angle between a second edge of the second field of view (or a second edge of the outer envelope of the second field of view) and a second frame of the fixed structure is less than a second threshold. The fixed structure is configured to secure the detection device.

[0072] In a possible implementation, the angle between the first edge of the first field of view and the first frame of the fixed structure is equal to 0°, and / or the angle between the second edge of the second field of view and the second frame of the fixed structure is equal to 0°.

[0073] In a possible implementation, the first reflective surface and the second reflective surface are arranged opposite to each other and an included angle thereof is greater than 0° and less than 180°.

[0074] In a possible implementation, the first light beam reflected by the first reflective surface and the second light beam reflected by the second reflective surface are emitted opposite to each other.

[0075] In a possible implementation, the first field of view partially overlaps with the second field of view.

[0076] In a possible implementation, the light spot of the first light beam and the light spot of the second light beam in the overlapping field of view are misaligned.

[0077] In one possible implementation, the distance L between the first scanning module and the second scanning module and the length M of the housing of the detection device in the first direction satisfy: 0.3≤L / W<1, and the distance L is the distance between the center of the first reflecting surface and the center of the second reflecting surface in the first direction.

[0078] In one possible implementation, the angle θ1 between the first light beam and the normal to the first reflective surface satisfies the following relationship: 0°<θ1≤50. And / or the angle θ2 between the second light beam and the normal to the second reflective surface satisfies the following relationship: 0°<θ2≤50°.

[0079] In one possible implementation, the first light beam and the second light beam are pulsed light beams. The first emission module includes a first light source assembly, and the second emission module includes a second light source assembly. The first light source assembly starts emitting the first light beam at a different time than the second light source assembly starts emitting the second light beam.

[0080] In a possible implementation manner, at least one of the first light beam and the second light beam is a continuous light beam.

[0081] In a possible implementation, the wavelength of the first light beam is the same as or different from the wavelength of the second light beam.

[0082] In one possible implementation, the first emission module includes a first emission optical assembly, which includes at least one first lens. A projection Dt1 of the first first lens in the first direction and a projection R1 of the first reflective surface in the first direction satisfy the following relationship: 0 < Dt1 ≤ R1. The first first lens is the last lens in the first emission optical assembly after the first light beam passes through it.

[0083] In one possible implementation, the second emission module includes a second emission optical assembly, which includes at least one second lens. A projection Dt2 of the first second lens in the first direction and a projection R2 of the second reflective surface in the first direction satisfy the following relationship: 0 < Dt2 ≤ R2. The first second lens is the last lens in the second emission optical assembly through which the second light beam passes.

[0084] In a possible implementation, the detection device further includes a first receiving module and a second receiving module. The first receiving module is used to receive the first echo signal; the second receiving module is used to receive the second echo signal.

[0085] Furthermore, optionally, the first receiving module includes a first receiving optical assembly, which includes at least one third lens. A projection Dr1 of the first third lens in the first direction and a projection R1 of the first reflective surface in the first direction satisfy 0<Dr1≤R1. The first third lens is the first lens of the first receiving optical assembly through which the first echo signal passes.

[0086] In a possible implementation, a projection Dt1 of the first first lens in the first direction and a projection Dr1 of the first third lens in the first direction satisfy: 0<Dt1 / Dr1≤1.

[0087] In one possible implementation, the second receiving module includes a second receiving optical assembly, which includes at least one fourth lens. A projection Dr2 of the first fourth lens in the first direction and a projection R2 of the second reflective surface in the first direction satisfy the following: 0 < Dr2 ≤ R2. The first fourth lens is the first lens of the second receiving optical assembly through which the second echo signal passes.

[0088] In a possible implementation, a projection Dt2 of the first second lens in the first direction and a projection Dr2 of the first fourth lens in the first direction satisfy: 0<Dt2 / Dr2≤1.

[0089] In a possible implementation, the first lens, the second lens, the third lens, and the fourth lens include any one of the following: a spherical lens, an aspherical lens, or a cylindrical lens.

[0090] In a possible implementation, the first scanning module includes a first rotation axis and a second rotation axis, and the second rotation axis is perpendicular to the first rotation axis.

[0091] In a possible implementation, the first rotation axis is parallel to the first reflective surface.

[0092] In a possible implementation, the first scanning module scans around the first rotation axis at a non-uniform speed; and / or the first scanning module scans around the second rotation axis at a non-uniform speed.

[0093] In a possible implementation, the second scanning module includes a third rotation axis and a fourth rotation axis, and the fourth rotation axis is perpendicular to the third rotation axis.

[0094] In a possible implementation, the third rotation axis is parallel to the second reflective surface.

[0095] In a possible implementation, the second scanning module scans around the third rotation axis at a non-uniform speed; and / or the second scanning module scans around the fourth rotation axis at a non-uniform speed.

[0096] In one possible implementation, the non-uniform scanning includes: scanning the field of interest at a slower speed than scanning the field of non-interest, wherein the first field of view includes the field of interest and the field of non-interest, and / or the second field of view includes the field of interest and the field of non-interest.

[0097] In a possible implementation, a first scanning angle of the first scanning module rotating around the first rotation axis is smaller than or larger than a first angular interval, where the first angular interval is the angle between two adjacent first light beams.

[0098] In a possible implementation, the first scanning angle α1 is spaced from the first angle satisfy: or

[0099] In a possible implementation, a second scanning angle of the second scanning module rotating around the third rotation axis is smaller than or larger than a second angular interval, where the second angular interval is the angle between two adjacent second light beams.

[0100] In a possible implementation, the second scanning angle α2 is spaced from the second angle satisfy: or

[0101] In one possible implementation, the device further includes a first folding module and / or a second folding module. The first folding module is configured to change the propagation path of the first light beam to transmit the first light beam to the first scanning module; and / or the second folding module is configured to change the propagation path of the second light beam to transmit the second light beam to the second scanning module.

[0102] In a possible implementation, the first folding module includes at least one first reflector; and / or the second folding module includes at least one second reflector.

[0103] In one possible implementation, the detection device further includes a third transmitting module and a fourth transmitting module; the third transmitting module is configured to transmit a third light beam. The fourth transmitting module is configured to transmit a fourth light beam. The first reflecting surface of the first scanning module is further configured to reflect the third light beam to a third field of view and to reflect a third echo signal to a third receiving module. The third echo signal is generated by a target in the third field of view reflecting the third light beam. The second reflecting surface of the second scanning module is further configured to reflect the fourth light beam to a fourth field of view and to reflect a fourth echo signal to a fourth receiving module. The fourth echo signal is generated by a target in the fourth field of view reflecting the fourth light beam.

[0104] In a possible implementation, the third transmitting module is adjacent to the first transmitting module, and the fourth transmitting module is adjacent to the second transmitting module.

[0105] In one possible implementation, the first field of view and the third field of view are connected to each other or partially overlap; and / or the second field of view and the fourth field of view are connected to each other or partially overlap; and / or the first field of view and the second field of view are connected to each other or partially overlap.

[0106] In one possible implementation, the light spot of the first light beam in the overlapping field of view is misaligned with the light spot of the third light beam; and / or the light spot of the second light beam in the overlapping field of view is misaligned with the light spot of the fourth light beam; and / or the light spot of the first light beam in the overlapping field of view is misaligned with the light spot of the second light beam.

[0107] In a possible implementation, the detection device further includes a third receiving module and a fourth receiving module; the third receiving module is used to receive the third echo signal; and the fourth receiving module is used to receive the fourth echo signal.

[0108] The technical effects that can be achieved in any of the second to third 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

[0109] FIG1 is a schematic structural diagram of a radar installed on a windshield provided by the present application;

[0110] FIG2 is a schematic diagram of a possible application scenario provided by this application;

[0111] FIG3 is a schematic structural diagram of a detection device provided by the present application;

[0112] FIG4 is a schematic diagram of an emission light cone of a detection device provided in the present application;

[0113] FIG5 is a schematic diagram showing the distribution of a first light beam emitted by a first emission module provided in the present application;

[0114] FIG6 is a schematic diagram of a pulse timing sequence of a first light beam emitted by a first light source assembly and a pulse timing sequence of a second light beam emitted by a second light source assembly provided by the present application;

[0115] FIG7 is a schematic diagram of a second light beam provided by the present application that is a continuous light beam;

[0116] FIG8a is a schematic diagram of a periodic triangular wave signal provided by the present application;

[0117] FIG8 b is a schematic diagram of a periodic sawtooth wave signal provided by the present application;

[0118] FIG9 is a schematic structural diagram of a first scanning module provided by the present application;

[0119] FIG10a is a schematic diagram of a light spot of a first light beam reflected by a first reflective surface of a first scanning module provided by the present application;

[0120] FIG10b is a schematic diagram of a light spot of a first light beam reflected by a first reflective surface of a first scanning module provided by the present application;

[0121] FIG11a is a schematic diagram of energy distribution of a first light beam in an angular space in a first direction provided by the present application;

[0122] FIG11b is a schematic diagram of energy distribution of a first light beam in an angular space in a second direction provided by the present application;

[0123] FIG11c is a schematic diagram of spot distribution of a first echo signal provided by the present application;

[0124] FIG12 is a schematic diagram of a non-uniform speed scanning provided by the present application;

[0125] FIG13a is a schematic diagram of a light spot distribution forming a first field of view and a second field of view provided by the present application;

[0126] FIG13b is a schematic diagram of another light spot distribution forming the first field of view and the second field of view provided by the present application;

[0127] FIG14a is a schematic structural diagram of a laser radar provided in this application;

[0128] FIG14 b is a schematic structural diagram of another laser radar provided in this application. DETAILED DESCRIPTION

[0129] The embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0130] The detection device in the present application can be installed on the vehicle, specifically at various locations of the vehicle. For example, the detection device can be installed at any location or multiple locations such as the front bumper of the vehicle, around the headlights, around the rearview mirror, behind the windshield, or on the roof, so as to capture the vehicle's surrounding environment information. When the detection device is installed behind the windshield, the risk of no gravel collision is low, and the field of view (FOV) can be aligned, and the appearance of the vehicle will not be affected. In addition, the front windshield itself has window heating, demisting, and wiper cleaning functions. The detection device may include, for example, but is not limited to, a lidar.

[0131] Referring to Figure 2, a detection device is mounted on the front bumper of a vehicle as an example. The operating principle of the detection device is as follows: the detection device emits a light beam into the detection field of view. If a target (e.g., other nearby vehicles, pedestrians, or obstacles) exists within the detection field of view, the target will reflect and / or scatter the received light beam back to the detection device due to its certain reflectivity and / or scattering rate. (The reflected light beam can be referred to as an echo signal.) The detection device then determines the target's associated information based on the echo signal. Specifically, the detection device can obtain the vehicle's latitude and longitude, speed, and direction, or associated information about targets within a certain range (e.g., the target's distance, speed, and / or posture) in real time or periodically. Furthermore, the detection device can optionally transmit this acquired information to a control device in the vehicle, so that the control device can perform route planning, braking, or starting operations based on this acquired information. For example, the vehicle's longitude and latitude can be used to determine the vehicle's location, its speed and direction can be used to determine its future travel direction and destination, or the distance to surrounding objects can be used to determine the number and density of obstacles around the vehicle. Furthermore, optionally, the functions of an advanced driving assistant system (ADAS) can be combined to realize assisted driving or automatic driving of the vehicle.

[0132] It should be understood that the above application scenarios are only examples, and the detection device provided in this application can also be applied to other possible scenarios, not limited to the scenarios exemplified above. For example, the detection device can also be installed on a drone as an airborne detection device. For another example, the detection device can also be installed on a road side unit (RSU) as a roadside traffic detection device, which can realize intelligent vehicle-road collaborative communication, etc. For another example, the detection device can also be installed on a robot, etc. For another example, the detection device can also be installed on an automated guided vehicle (AGV). AGV refers to a transport vehicle equipped with an automatic navigation device such as electromagnetic or optical, which can travel along a specified navigation path and has safety protection and various transfer functions. They will not be listed here one by one.

[0133] It should be noted that the application scenarios described in this application are intended to more clearly illustrate the technical solutions of this application and do not constitute a limitation on the technical solutions provided by this application. Ordinary technicians in this field will know that with the emergence of new application scenarios, the technical solutions provided by this application are also applicable to similar technical problems.

[0134] The above application scenarios can be applied to, for example, autonomous driving, assisted driving, intelligent driving, connected vehicles, security monitoring, remote interaction, artificial intelligence (such as unmanned driving or robots) or surveying and mapping (such as three-dimensional mapping) and other fields.

[0135] In conjunction with Figure 1 above, if the emission light cone of the detection device is directly reduced, the field of view angle of the laser radar will also be reduced.

[0136] In view of the above problems, the present application proposes a detection device. This detection device, through at least two scanning modules and at least two transmitting modules, can reduce the emission cone of the detection device without affecting the field of view of the detection device, thereby reducing or preventing the emission cone of the detection device from being blocked.

[0137] Based on the above content, the detection device proposed in this application will be described in detail below with reference to the accompanying drawings.

[0138] Figure 3 is a schematic diagram of the structure of a detection device provided by the present application. The detection device may include a first scanning module, a second scanning module, a first transmitting module, and a second transmitting module. The first scanning module includes a first reflecting surface, and the second scanning module includes a second reflecting surface. The first reflecting surface and the second reflecting surface are arranged opposite each other (or facing each other), and the angle between the first reflecting surface and the second reflecting surface is greater than 0° and less than 180°; it can also be understood that the intersection of the extension lines of the first reflecting surface and the second reflecting surface is far away from the light outlet. The first transmitting module is used to emit a first light beam. The second transmitting module is used to emit a second light beam. The first reflecting surface of the first scanning module is used to reflect the first light beam to form a first field of view and reflect a first echo signal to the first receiving module. The first echo signal is generated by the reflection of the first light beam by an object in the first field of view. The second reflecting surface of the second scanning module is used to reflect the second light beam to form a second field of view and reflect a second echo signal to the second receiving module. The second echo signal is generated by the reflection of the second light beam by an object in the second field of view. Furthermore, the first scanning module and the second scanning module are arranged in a first direction. For example, in a first direction, the first scanning module is located on the left, and the second scanning module is located on the right. The first field of view formed by the first light beam reflected by the first reflective surface is the right field of view, and the second field of view formed by the second light beam reflected by the second reflective surface is the left field of view. In other words, the first field of view is directly opposite the second scanning module, and the second field of view is directly opposite the first scanning module.

[0139] In one possible implementation, the first light beam reflected by the first reflective surface and the second light beam reflected by the second reflective surface are emitted opposite each other. This can also be understood as the first light beam reflected by the first reflective surface and the second light beam reflected by the second reflective surface being emitted in a cross-direction manner, i.e., the angle between the first light beam reflected by the first reflective surface and the second light beam reflected by the second reflective surface near the light exit is greater than 0° and less than 180°.

[0140] Based on the above-described detection device, by arranging the first and second reflective surfaces relative to each other at an angle greater than 0° and less than 180°, face-to-face cross-scanning (or face-to-face scanning) between the first and second scanning modules can be achieved. This cross-scanning can cause the emitted light cone of the detection device to initially decrease and then increase in the second direction (see the variation trend of the total light cone within the elliptical area, see Figure 4). Therefore, within the fixed structure used to secure the detection device, the emitted light cone of the detection device can be configured to be relatively small, thereby minimizing obstruction of the emitted light cone of the detection device by the fixed structure. Specifically, the angle between the first edge of the first field of view (or the first edge of the outer envelope of the first field of view) and the first frame of the fixed structure is less than a first threshold, and / or the angle between the second edge of the second field of view (or the second edge of the outer envelope of the second field of view) and the second frame of the fixed structure is less than a second threshold. For example, the angle between the first edge of the first field of view and the first frame of the fixed structure is 0°, and / or the angle between the second edge of the second field of view and the second frame of the fixed structure is 0°. In this way, obstruction of the emitted light cone by the fixed structure can be avoided. The detection device's emitted light cone is the sum of the light cone formed by the first light beam reflected by the first reflective surface and the light cone formed by the second light beam reflected by the second reflective surface. Furthermore, the detection device's field of view is the sum of the first and second fields of view. This minimizes obstruction of the detection device's emitted light cone by fixed structural components without affecting or increasing the detection device's field of view. It should be understood that the received light cone is typically the same as the emitted light cone.

[0141] The following describes each functional module and structure shown in FIG3 , and provides an exemplary specific implementation scheme.

[0142] 1. Transmitter Module

[0143] In one possible implementation, the detection device includes a first transmitting module and a second transmitting module. The first transmitting module is configured to transmit a first light beam, and further, the first transmitting module is configured to transmit N first light beams, where N is an integer greater than 1. The second transmitting module is configured to transmit a second light beam, and further, the second transmitting module is configured to transmit M second light beams, where M is an integer greater than 1. It should be noted that N and M may be the same or different, and this application does not impose any limitation on this.

[0144] Taking the example of the first emission module emitting N first light beams, the N first light beams are distributed in one dimension in the second direction. The field angles of the N first light beams are w1±γ1, ..., w i ±γ i 、w i+1 ±γ i+1 …w N ±γ N , where w irepresents the central angle value of the first beam, γ i It should be noted that γ1, γ2, ...γ N The first angle interval may be the same or different, which is not limited in this application. In addition, the N first light beams may be uniformly distributed or partially uniformly distributed, which is not limited in this application. Further, optionally, the interval between the center angles of two adjacent first light beams is called the first angle interval.

[0145] Please refer to Figure 5. Taking N=6 as an example, the first emission module is used to emit six first light beams, namely, from top to bottom, first light beam 1, first light beam 2, first light beam 3, first light beam 4, first light beam 5, and first light beam 6. The field of view angles of the six first light beams in the second direction are w1±γ1, w2±γ2, w3±γ3, w4±γ4, w5±γ5, and w6±γ6, respectively. Wherein, w1 represents the center angle value of first light beam 1, and ±γ1 represents the field of view angle range of first light beam 1; w2 represents the center angle value of first light beam 2, and ±γ2 represents the field of view angle range of first light beam 2; and so on, w6 represents the center angle value of first light beam 6, and ±γ6 represents the field of view angle range of first light beam 6. It should be noted that Figure 5 is illustrated by the example that the center angle values ​​of the six first light beams are uniformly distributed, and γ1, γ2, γ3, γ4, γ5, and γ6 are the same.

[0146] The following describes different situations based on the types of the first light beam and the second light beam.

[0147] In case 1, both the first light beam and the second light beam are pulsed light beams.

[0148] In one possible implementation, the start time of emitting the first light beam by the first light source assembly is different from the start time of emitting the second light beam by the second light source assembly. This can also be understood as a certain misalignment between the pulse timings of the first light beam emitted by the first light source assembly and the second light beam emitted by the second light source assembly. This prevents crosstalk between the first and second light beams.

[0149] Please refer to Figure 6, (a) in Figure 6 represents the pulse timing of the first light beam emitted by the first light source component, and (b) in Figure 6 represents the pulse timing of the second light beam emitted by the second light source component. The starting time of the first light source component emitting the first light beam is t0, and the pulse interval is T1; the starting time of the second light source component emitting the second light beam is t0+ΔT+T1, and the pulse interval is T2. It should be noted that ΔT can be 0. In addition, T1 and T2 can be the same or different, and this application does not limit this. For determining the distance of the target based on the pulse light beam, please refer to the introduction of the following implementation method 1, which will not be repeated here.

[0150] In the second scenario, at least one of the first light beam and the second light beam is a continuous light beam.

[0151] For example, the first light beam is a pulsed light beam, and the second light beam is a continuous light beam. For another example, the first light beam and the second light beam are both continuous light beams. For another example, the first light beam is a continuous light beam, and the second light beam is a pulsed light beam.

[0152] Please refer to Figure 7, which is a schematic diagram of a second light beam provided by this application that is a continuous light beam. The horizontal axis represents the time sequence, and the vertical axis represents the frequency of the second light beam. In this example, the second light beam is a periodic continuous light beam. The frequency of the second light beam changes periodically with time. It can also be understood that the frequency of the continuous light beam is modulated by time. The minimum frequency of the second light beam is f0, and the maximum frequency of the second light beam is f max , ΔF=f max -f0.

[0153] Specifically, taking the second light beam as a continuous light beam as an example, the continuous light beam is, for example, a periodic triangular wave (see FIG8a ) or a periodic sawtooth wave (see FIG8b ). Determining the distance to a target based on a continuous light beam can be referred to the description of Implementation Method 2 below and will not be repeated here.

[0154] In a possible implementation, the wavelengths of the first light beam and the second light beam may be the same or different, which is not limited in this application.

[0155] Specifically, the first emission module includes a first light source assembly and a first emission optical assembly. The first light source assembly is used to emit N first light beams, and the first emission optical assembly is used to collimate the first light beams. The second emission module includes a second light source assembly and a second emission optical assembly. The second light source assembly is used to emit M second light beams, and the second emission optical assembly is used to collimate the second light beams.

[0156] Exemplarily, the first light source assembly can be, for example, a laser diode (LD), a light-emitting diode (LED), a vertical cavity surface emitting laser (VCSEL), an edge emitting laser (EEL), a diode pumped solid state laser (DPSS), or a fiber laser. It will be understood that the light sources given above are only examples and are not limited to this in this application. The second light source assembly can refer to the introduction of the first assembly above and will not be repeated here. The second light source assembly can be the same as the first light source assembly or different, and this application is not limited to this.

[0157] In one possible implementation, the first emitting optical component includes at least one first lens. For example, the first emitting optical component includes one first lens. For another example, the first emitting optical component includes three first lenses. They are not listed here one by one. The first lens can be a spherical lens, or it can also be an aspherical lens or a cylindrical lens. 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. Exemplarily, the first emitting 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 emitting optical component and helps to reduce the aberration of the first emitting optical component. It is understandable that the first emitting optical component can be rotationally symmetric or non-rotationally symmetric, and this application does not limit this.

[0158] Furthermore, 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 emission optical assembly can be reduced. When the material of the first lens is glass, it helps to improve the imaging quality of the first emission optical assembly. It should be understood that when the first emission optical assembly includes at least two first lenses, the materials of the at least two first lenses can be entirely the same, partially the same, or entirely different, and this application does not limit this.

[0159] In one possible implementation, the projection Dt1 of the first first lens in the first direction and the projection R1 of the first reflective surface in the first direction satisfy: 0<Dt1≤R1 (or expressed as 0<Dt1 / R1≤1), wherein the first first lens is the last lens of the first light beam from the first light source assembly passing through the first emitting optical assembly. For example, Dt1=R1. In this way, it can be ensured that the first light beam is completely reflected by the first reflective surface of the first scanning module, thereby forming a larger first field of view. It should be noted that the above-mentioned relationship between the projection Dt1 of the first first lens in the first direction and the projection R1 of the first reflective surface in the first direction is only an example. It should be understood that Dt1 can also be greater than R1, for example, 0<Dt1 / R1≤2.

[0160] In one possible implementation, the second emitting optical component includes at least one second lens. For example, the first emitting optical component includes a first lens. For another example, the first emitting optical component includes three first lenses. They are not listed here one by one. For the type and material of the second lens, please refer to the introduction of the first lens above, which will not be repeated here. It should be noted that the type of the second lens can be the same as or different from the type of the first lens, and the material of the second lens can be the same as or different from the material of the first lens, and this application does not limit this.

[0161] In one possible implementation, the projection Dt2 of the first second lens in the first direction and the projection R2 of the second reflective surface in the first direction satisfy: 0<Dt2≤R2 (or expressed as 0<Dt2 / R2≤1), wherein the first second lens is the last lens of the second light beam from the second light source assembly passing through the second emitting optical assembly. For example, Dt2=R2. In this way, it can be ensured that the second light beam is completely reflected by the second reflective surface of the second scanning module, thereby forming a larger second field of view. It should be noted that the above-mentioned relationship between the projection Dt2 of the first second lens in the first direction and the projection R2 of the second reflective surface in the first direction is only an example. It should be understood that Dt2 can also be greater than R2, for example, 0<Dt2 / R2≤2.

[0162] 2. Scanning Module

[0163] In one possible implementation, the angle θ1 between the normal to the first reflective surface of the first scanning module and the first light beam is continuously changing. Referring to Figure 4 above, the angle θ1 between the normal to the first reflective surface of the first scanning module and the first light beam satisfies the following: 0° < θ1 ≤ 50°. This ensures that the projection area of ​​the first light beam on the first reflective surface is small, thereby increasing the aperture of the first light beam and thereby helping to increase the effective light input of the first light beam into the system.

[0164] In one possible implementation, the angle θ2 between the normal to the second reflective surface of the second scanning module and the second light beam is continuously changing. Referring to Figure 4 above, the angle θ2 between the normal to the second reflective surface of the second scanning module and the second light beam satisfies the following: 0° < θ2 ≤ 50°. This ensures that the projected area of ​​the second light beam on the second reflective surface is small, thereby increasing the aperture of the second light beam and thereby helping to increase the effective amount of light entering the system.

[0165] In conjunction with Figure 4 above, the spacing L between the first and second scanning modules and the length M of the detection device housing in the first direction satisfy the following: 0.3 ≤ L / W < 1. The spacing L is the distance in the first direction between the center of the first reflective surface of the first scanning module and the center of the second reflective surface of the second scanning module. The larger L is, the farther the viewpoint is from the scanning module, i.e., the greater the viewpoint's forward shift, and the smaller the detection device's emitted light cone. The viewpoint refers to the intersection or extension of the outer envelope of the first and second fields of view.

[0166] The first scanning module and the second scanning module are introduced below respectively.

[0167] Please refer to Figure 9, which is a structural schematic diagram of a first scanning module provided in the present application. The first scanning module includes a first rotation axis and a second rotation axis, so that the first scanning module can achieve two-dimensional rotation, thereby achieving two-dimensional scanning of the first field of view. Furthermore, the first rotation axis is parallel to the first reflection surface, and the first rotation axis and the second rotation axis are perpendicular. Exemplarily, the first scanning module includes a third reflector and a first driving device, the first reflection surface can be the reflection surface of the third reflector, and the first driving device can include but is not limited to a first motor. It should be noted that Figure 9 is an example of the first scanning module being cylindrical in shape, and the present application does not limit the shapes of the first scanning module and the second scanning module.

[0168] In one possible implementation, the first scanning angle of the first scanning module rotating around the first rotation axis is less than or greater than the first angular interval, and the first angular interval is the angle between any two adjacent first beams in the N first beams. Furthermore, the first angular interval is the interval between the center angles of any two adjacent first beams in the N first beams. In conjunction with FIG5 above, Based on this, it is possible to achieve a smaller angular resolution of the detection device at a larger first scanning angle.

[0169] Please refer to Figure 10a, which is a schematic diagram of a light spot formed by a first light beam reflected by a first reflective surface of a first scanning module provided in this application. This example uses the six first light beams emitted by the first emission module shown in Figure 5 above as an example, the light spot distribution formed by the first scanning module rotating around the first rotation axis at three first scanning angles, and the first scanning angle being less than the first angle interval as an example. The same filled circles represent the six light spots formed at the same first scanning angle.

[0170] In order to further improve the angular resolution of the detection device, the first scanning module rotates around the first rotation axis for 1 / 2 cycle time, and the first scanning angle α and the first angle interval satisfy: or

[0171] The following exemplifies possible relationships among the first angular interval, the first scanning angle, and the angular resolution.

[0172] Relation 1, α1=Nβ1.

[0173] Based on this, Right now It can also be understood that the first scanning angle α1 can be set to The angular resolution of the detection device can be further improved.

[0174] Please refer to Table 1. Taking the six first light beams emitted by the first emission module shown in FIG5 as an example, in this example, γ1=γ2=γ3=γ4=γ5=γ6=0.14° is taken as an example. The first angular interval between two adjacent first light beams is For example, taking the first scanning angle α1 = 0.24° when the first scanning module scans 1 / 2 of a cycle around the first rotation axis as an example, the angular interval between two adjacent moments is the first scanning angle.

[0175] Table 1 Information of the first light beam scanned by the first scanning module around the first rotation axis at different times

[0176]

[0177] The horizontal direction of Table 1 represents the center angle of the first light beam at different times, and the vertical direction represents the center angle of the six first light beams. In other words, the spacing between the light spots obtained during a 1 / 2 scan cycle of the first scanning module around the first rotation axis is 0.04° (see Figure 10b). This can also be understood as the angular resolution of the detection device being 0.04°. Furthermore, the resulting point cloud spacing is also 0.04°. It should be understood that the light source channel numbers in Table 1 can identify six different light beams.

[0178] Please refer to Figure 11a, which is a schematic diagram of the energy distribution of a first light beam in the angular space of the first direction provided by this application. Take the six first light beams emitted by the first emission module shown in Figure 5 above as an example. The horizontal axis represents the angle in the first direction in degrees; the vertical axis represents the luminous intensity in watts per square meter per solid angle (w / mm2 / sr). As can be seen from Figure 11a, the energy distribution of the first light beam in the first direction is strong in the middle and weak at the edges.

[0179] Please refer to FIG11b, which is a schematic diagram of the energy distribution of a first light beam in the angular space of the second direction provided by the present application. As can be seen from FIG11b, the first angular intervals of the six first light beams are It is 0.24°, and the viewing angle range of these 6 first light beams is γ1=γ2=γ3=γ4=γ5=γ6=0.14°.

[0180] Relation 2, α=Nβ1.

[0181] Based on this, Right now It can also be understood that the first scanning angle α1 can be set to To further improve the angular resolution of the detection device.

[0182] Based on the above relationship 1 or relationship 2, by designing the first angular interval and the first scanning angle relationship of the first emission module emitting multiple first light beams, the final point cloud interval can be made smaller than the first scanning angle, thereby improving the angular resolution of the detection device.

[0183] In one possible implementation, the first scanning module scans at a non-uniform speed around the first rotation axis; and / or the first scanning module scans at a non-uniform speed around the second rotation axis. Specifically, the first drive device can use a non-uniform triangular wave drive or a sine wave drive to rotate the third reflector. Furthermore, the light spot of the first light beam reflected by the first reflective surface of the first scanning module is non-uniformly distributed in the first direction; and / or the light spot of the first light beam reflected by the first reflective surface of the first scanning module is non-uniformly distributed in the second direction.

[0184] Please refer to Figure 12, which is a schematic diagram of a non-uniform scanning method provided by this application. The horizontal axis represents the scanning timing, and the vertical axis represents the scanning position in the second direction. In this example, the scanning speed of the first scanning module is first fast, then slow, and then fast again.

[0185] It is understood that if the first light beam is a pulsed beam, the interval between the light spots is equal to the scanning speed multiplied by the pulse interval. If the first light beam is a continuous beam, the interval between the light spots is equal to the speed multiplied by the sampling interval (i.e., T in Figure 7). Since the pulse interval of the first light beam emitted by the first emission module is fixed, the slower the scanning speed, the smaller the interval between adjacent light spots, and the higher the angular resolution of the detection device. In order to achieve a higher resolution in the region of interest (ROI area), the scanning speed of the field of interest is lower than the scanning speed of the non-field of interest.

[0186] In one possible implementation, the second scanning module includes a third rotation axis and a fourth rotation axis. The second scanning module rotates about the third and fourth rotation axes to achieve two-dimensional rotation of the second scanning module, thereby achieving two-dimensional scanning of the second field of view. Furthermore, the third rotation axis is perpendicular to the fourth rotation axis and parallel to the second reflective surface. It is understood that the structure of the second scanning module can be referred to the description of the structure of the first scanning module in Figure 9 above and will not be repeated here.

[0187] Exemplarily, the second scanning module includes a fourth reflector and a second drive device. The second reflective surface may be the reflective surface of the fourth reflector. The second drive device may include, for example, but is not limited to, a second motor. It is understood that the second motor may be the same as or different from the first motor, and this application is not limited thereto. Furthermore, the third reflector and the fourth reflector may be the same as or different from each other, and this application is not limited thereto.

[0188] In one possible implementation, the second scanning angle of the second scanning module rotating about the third rotation axis is less than or greater than a second angular interval, where the second angular interval is the angle between any two adjacent second beams in the M second beams. The spot distribution of the M second beams can be seen in the description of FIG. 10 a above and will not be repeated here.

[0189] Furthermore, the second scanning angle α2 is spaced from the second angle satisfy: or For the possible relationship between the second angle interval, the second scanning angle and the angular resolution, please refer to the introduction of the above relationship 1 and relationship 2. Specifically, the "first angle interval" in the above relationship 1 and relationship 2 can be replaced by the "second angle interval", and the "first scanning angle" can be replaced by the "second scanning angle". No further details will be given here.

[0190] Based on the above-mentioned first scanning module and second scanning module, the first light beam is reflected by the first reflecting surface of the first scanning module to form a first field of view, and the second light beam is reflected by the second reflecting surface of the second scanning module to form a second field of view. The first field of view and the second field of view partially overlap in the first direction, and the light spot of the first light beam and the light spot of the second light beam in the overlapping field of view are misaligned. Among them, the light spot of the first light beam and the light spot of the second light beam are misaligned, which can also be understood as that the light spot of the first light beam and the light spot of the second light beam do not overlap. For example, the overlapping field of view is about ±10°. By partially overlapping the first field of view and the second field of view, the scanning performance of the overlapping part can be enhanced, and the divergence angle of the light emitted by the detection device in the fixed structure can be reduced by overlapping, thereby avoiding the emission light cone of the detection device from being blocked.

[0191] Please refer to Figure 13a. Taking the example of the first transmitting module emitting 8 uniform first light beams, the example of the second transmitting module emitting 8 uniform second light beams, and the example of the first scanning module and the second scanning module both scanning at a uniform speed, the 8 first light beams are reflected by the first reflecting surface of the first scanning module to form a first field of view. The light spots scanned by the 8 first light beams at 6 different times by the first scanning module are uniformly distributed. The 8 second light beams are reflected by the second reflecting surface of the second scanning module to form a second field of view. The light spots scanned by the 8 second light beams at 6 different times by the second scanning module are also uniformly distributed. Among them, the first field of view and the second field of view are spliced ​​to form the total field of view of the detection device, thereby helping to increase the total field of view of the detection device. Furthermore, the first field of view and the second field of view partially overlap, and the light spots of the first light beam and the second light beam in the overlapping field of view can be misaligned in the first direction. Therefore, the angular resolution of the overlapping field of view can be improved, thereby increasing the point cloud density of the overlapping field of view.

[0192] It should be noted that the misalignment of the light spot of the first light beam and the light spot of the second light beam in the overlapping field of view can be in the first direction or the second direction (see Figure 13b), or there can be a misalignment in both the first direction and the second direction. This application does not limit this.

[0193] In the present application, the detection device may further include a receiving module and, further, a turning module. The receiving module and the turning module are respectively introduced in detail below.

[0194] 3. Receiving Module

[0195] In one possible implementation, the detection device includes a first receiving module and a second receiving module, wherein the first receiving module is configured to receive the first echo signal, and the second receiving module is configured to receive the second echo signal. Taking the spot distribution of the first light beam shown in FIG11b as an example, the spot distribution of the first echo signal corresponds one-to-one with the spot distribution of the first light beam. Please refer to FIG11c for the spot distribution of the first echo signal.

[0196] Among them, the first receiving module includes a first receiving optical component, and the first receiving optical component includes at least one third lens. For example, the first receiving optical component includes one third lens. For another example, the first receiving optical component includes five third lenses. They are not listed one by one here. The second receiving module includes a second receiving optical component, and the second receiving optical component includes at least one fourth lens. For example, the second receiving optical component includes one fourth lens. For another example, the second receiving optical component includes five fourth lenses. They are not listed one by one here. For the types and materials of the third lens and the fourth lens, please refer to the introduction of the first lens above, which will not be repeated here. It should be noted that the third lens may be the same as or different from the first lens, the fourth lens may be the same as or different from the first lens, and the third lens may be the same as or different from the fourth lens, and this application does not limit this.

[0197] In one possible implementation, the projection Dt1 of the first first lens in the first direction and the projection Dr1 of the first third lens in the first direction satisfy the following conditions: 0 < Dt1 / Dr1 ≤ 1. The first first lens is the last lens in the first transmitting optical assembly after the first light beam passes through it, and the first third lens is the first lens in the first receiving optical assembly after the first echo signal passes through it. By setting 0 < Dt1 / Dr1 ≤ 1, the effective area of ​​the first receiving optical assembly receiving the first echo signal can be relatively large, thereby minimizing loss of the first echo signal.

[0198] In one possible implementation, the projection Dt2 of the first second lens in the first direction and the projection Dr2 of the first fourth lens in the first direction satisfy the following: 0 < Dt2 / Dr2 ≤ 1. The first second lens is the last lens in the second transmitting optical assembly where the second light beam passes, and the first fourth lens is the first lens in the second receiving optical assembly where the second echo signal passes. By setting 0 < Dt2 / Dr2 ≤ 1, the effective area of ​​the second receiving optical assembly receiving the second echo signal can be relatively large, thereby minimizing loss of the second echo signal.

[0199] Furthermore, optionally, the first receiving module further includes a first detection component, and the second receiving module further includes a second detection component. The first detection component is used to detect the first echo signal, including but not limited to converting the first echo signal into a first electrical signal, the first electrical signal being used to determine first associated information of the target, wherein the first associated information of the target may include but not limited to first distance information of the target, first position of the target, first speed of the target, and / or first grayscale information of the target. The second detection component is used to detect the second echo signal, including but not limited to converting the second echo signal into a second electrical signal, the second electrical signal being used to determine second associated information of the target, wherein the second associated information of the target may include but not limited to second distance information of the target, second position of the target, second speed of the target, and / or second grayscale information of the target.

[0200] Exemplarily, the first detection component can be, for example, a photodetector (PD), a P-type semiconductor-intrinsic layer-N-type semiconductor (positive intrinsic negative, PIN) type photodiode (also known as a PIN junction diode), an avalanche photodiode (APD), or the above-mentioned pixel array, wherein the pixels in the pixel array can be, for example, one or more single-photon avalanche diodes (SPAD), or silicon photomultipliers (SiMP), or PIN-type photodiodes, or APDs, etc. Possible examples of the second detection component can be found in the introduction to the first detection component. It should be understood that the first detection component can be the same as or different from the second detection component, and this application does not limit this.

[0201] Specifically, the first electrical signal includes the intensity of the first echo signal, and the first time difference or first frequency difference between the first light beam and the first echo signal. The intensity of the first echo signal, and the first time difference or first frequency difference between the first light beam and the first echo signal, which can be identified by the first detection component, can be used to obtain the first associated information of the target. Based on the same principle, the intensity of the second echo signal, and the second time difference or second frequency difference between the second light beam and the second echo signal, which can be identified by the second detection component, can be used to obtain the second associated information of the target. Furthermore, the final associated information of the target can be determined through the first associated information of the target and the second associated information of the target. The specific process of obtaining the first associated information and the second associated information of the target can be executed by the control module. For an introduction to the control module, please refer to the following description and will not be repeated here.

[0202] Specifically, in combination with the types of the first light beam and the second light beam, the following examples illustrate two implementation methods for determining the distance to a target.

[0203] Implementation method 1 determines the distance to the target based on the fact that both the first light beam and the second light beam are pulsed light beams.

[0204] In one possible implementation, by measuring the first time difference Δt1 between the reception time of the first echo signal and the emission time of the first light beam, the first distance between the detected target and the detection device can be determined according to A1=Δt1c / 2, where c represents the speed of light and A1 represents the first distance between the detected target and the detection device.

[0205] Based on the same principle as above, by measuring the time difference Δt2 between the reception time of the second echo signal and the emission time of the second light beam, the second distance between the detected target and the detection device can be determined according to A2=Δt2c / 2, where c represents the speed of light and A2 represents the second distance between the detected target and the detection device.

[0206] Further, optionally, the average value of the first distance and the second distance may be used as the distance between the target and the detection device.

[0207] Implementation method 2: determining the distance to the target based on the fact that both the first light beam and the second light beam are continuous light beams.

[0208] Since there is a time difference between the first light beam and the first echo signal, the frequencies of the first echo signal and the first light beam are different at the same time. Based on this, the third time difference between the first light beam and the first echo signal can be obtained by measuring the first frequency difference between the first light beam and the first echo signal, that is, Δt3 = ΔF / K, where K represents the pulse slope, K = ΔF / T3 = (f max-f0) / T3, where T3 represents the period of the first light beam. Furthermore, according to A3 = Δt3c / 2, c represents the speed of light, and A3 represents the third distance between the detected target and the detection device. Furthermore, by measuring the frequency difference (f1-f2) between the first echo signal and the first light beam in different periods, according to v1 = 2c(f1-f2) / KT3, the first motion velocity v1 of the detected target relative to the detection device can be obtained.

[0209] Based on the same principle, the fourth distance A4 between the detected target and the detection device and the second movement speed v2 can be determined, which will not be described in detail here.

[0210] Furthermore, optionally, the average value of the third distance and the fourth distance may be used as the distance between the target and the detection device. The average value of the first movement speed and the second movement speed may be used as the movement speed of the detected target relative to the detection device.

[0211] It should be noted that if one of the first and second light beams is a continuous beam and the other is a pulsed beam, the distance between the detected target and the detection device can be determined based on Implementation 1 for the pulsed beam, and based on Implementation 2 for the continuous beam. Furthermore, the average of the two determined distances can be used as the final distance between the detected target and the detection device.

[0212] 4. Transition Module

[0213] In one possible implementation, a first folding module is included between the first light source assembly and the first emission optical assembly. And / or, a second folding module is included between the second light source assembly and the second emission optical assembly. The first folding module is used to change the propagation path of the first light beam, transmitting the first light beam to the first scanning module; and / or, the second folding module is used to change the propagation path of the second light beam, transmitting the second light beam to the second scanning module. The first and second folding modules facilitate miniaturization of the detection device.

[0214] Furthermore, the first turning module includes at least one first reflector. For example, the number of first reflectors included in the first turning module may be greater than 0 and less than or equal to 15. The first reflector includes but is not limited to a first plane reflector, a first reflective prism, or a first semi-transparent and semi-reflective mirror. The second turning module includes at least one second reflector. For example, the number of second reflectors included in the second turning module may be greater than 0 and less than or equal to 15. The second reflector includes but is not limited to a second plane reflector, a second reflective prism, or a second semi-transparent and semi-reflective mirror. It should be noted that the first reflector may be the same as or different from the second reflector, and this application does not limit this.

[0215] Based on the above, two specific implementations of the aforementioned detection device are described below to further understand its structure. It should be noted that, unless otherwise specified or logically conflicting, the modules described above can be combined to form other possible detection devices based on their inherent logical relationships. The following description uses a lidar as an example.

[0216] As shown in Figure 14a, it is a schematic diagram of the structure of a laser radar provided by the present application. The laser radar may include a first transmitting module, a second transmitting module, a first scanning module, a second scanning module, a first turning module, a second turning module, a first receiving module and a second receiving module. Among them, the first transmitting module includes a first light source assembly and a first optical transmitting assembly, and the second transmitting module includes a second light source assembly and a second optical transmitting assembly. The first scanning module includes a first reflecting surface, and the second scanning module includes a second reflecting surface. The first scanning module includes two mutually perpendicular first rotation axes and a second rotation axis, and the first rotation axis is parallel to the first reflecting surface. The second scanning module includes two mutually perpendicular third rotation axes and a fourth rotation axis, and the third rotation axis is parallel to the second reflecting surface. The first turning module includes a first reflector A, a first reflector B and a first reflector C. The second turning module includes a second reflector a, a second reflector b and a second reflector c. The first receiving module includes a first detection assembly and a first optical receiving assembly, and the second receiving module includes a second detection assembly and a second optical receiving assembly.

[0217] The first light source assembly is used to emit a first light beam. The first optical transmitting assembly is used to collimate the first light beam and transmit the collimated first light beam to the first reflector A. After being reflected by the first reflector A, the first reflector B, and the first reflector C, the first light beam is transmitted to the first reflective surface of the first scanning module. The first scanning module rotates under the drive of the first driving assembly to reflect the collimated first light beam to different positions in the detection area at different scanning angles, thereby forming a first field of view. The first light beam is reflected or scattered by the target in the detection area to obtain a first echo signal. The first echo signal is reflected back to the first optical receiving assembly by the first reflector B and the first reflector C. The first optical receiving assembly receives the first echo signal and converges the first echo signal to the first detection assembly. The first detection assembly is used to detect the first echo signal. Similarly, the second light source assembly is used to emit a second light beam. The second optical transmitting assembly is used to collimate the second light beam and transmit the collimated second light beam to the second reflector a. After being reflected by the second reflector a, the second reflector b, and the second reflector c, the second light beam propagates to the second reflective surface of the second scanning module. Driven by the second drive assembly, the second scanning module rotates to reflect the collimated second light beam to different locations in the detection area at different scanning angles, thereby forming a second field of view. The second light beam is reflected or scattered by a target in the detection area to produce a second echo signal. The second echo signal is reflected back to the second optical receiving assembly via the second reflector b and the second reflector c. The second optical receiving assembly receives the second echo signal and converges it to the second detection assembly. The second detection assembly is configured to detect the second echo signal.

[0218] It should be noted that the detection device in this application may also include more transmitting modules and receiving modules, and this application does not limit this. For example, a laser radar includes four transmitting modules and four receiving modules.

[0219] As shown in Figure 14b, it is a schematic diagram of the structure of another laser radar provided by the present application. The laser radar includes a first transmitting module, a second transmitting module, a third transmitting module, a fourth transmitting module, a first receiving module, a second receiving module, a third receiving module, a fourth receiving module, a first scanning module, a second scanning module, a first turning module, a second turning module, a third turning module and a fourth turning module. Among them, the first transmitting module and the third transmitting module share the first scanning module, the second transmitting module and the fourth transmitting module share the second scanning module, the first receiving module and the third receiving module share the first scanning module, and the second receiving module and the fourth receiving module share the second scanning module. The third transmitting module is adjacent to the first transmitting module, and the fourth transmitting module is adjacent to the second transmitting module. It should be noted that the first receiving module, the second receiving module, the third receiving module and the fourth receiving module are not drawn in Figure 14b. For the positional relationship of these four receiving modules, please refer to the example of Figure 14a above. The third transmitting module can refer to the introduction of the first transmitting module above, and the fourth transmitting module can refer to the introduction of the second transmitting module above, and will not be repeated here. It is understandable that the first transmitting module, the second transmitting module, the third transmitting module, and the fourth transmitting module can be the same or different, and this application does not limit this. The third receiving module can refer to the introduction of the first receiving module above, and the fourth receiving module can refer to the introduction of the second receiving module above, and will not be repeated here. It is understandable that the first receiving module, the second receiving module, the third receiving module, and the fourth receiving module can be the same or different, and this application does not limit this.

[0220] The optical path of the first light beam emitted by the first emission module can be found in the description of FIG. 14a above, and will not be described in detail here. The third emission module is used to emit H third light beams, where H is an integer greater than 1; the propagation optical path of the third light beam can be found in the propagation optical path of the first light beam above, and will not be described in detail here. The optical path of the second light beam emitted by the second emission module can be found in the description of FIG. 14a above, and will not be described in detail here. The fourth emission module emits K fourth light beams, where K is an integer greater than 1; the propagation optical path of the fourth light beam can be found in the propagation optical path of the second light beam above, and will not be described in detail here.

[0221] Furthermore, the first light beam is scanned by the first scanning module to obtain a first field of view, the third light beam is scanned by the first scanning module to obtain a third field of view; the second light beam is scanned by the second scanning module to obtain a second field of view, and the fourth light beam is scanned by the second scanning module to obtain a fourth field of view. Among them, the first field of view and the third field of view partially overlap, and / or the second field of view and the fourth field of view partially overlap, and / or the first field of view and the second field of view partially overlap. By setting the different fields of view to partially overlap, the scanning performance of the overlapping part can be enhanced, and the overlap can reduce the divergence angle of the detection device when emitting light in the fixed structure, thereby avoiding the emission light cone of the detection device from being blocked. By designing different fields of view to be connected with each other, it helps to increase the detection field range of the detection device. In other words, the four emission modules help to increase the field of view angle range of the detection device.

[0222] In one possible implementation, the light spots of the first and third light beams are misaligned in the overlapping field of view of the first and third fields of view. The light spots of the second and fourth light beams are misaligned in the overlapping field of view of the second and fourth fields of view. The light spots of the first and second light beams are misaligned in the overlapping field of view of the first and second fields of view. By setting the light spots of different light beams in the overlapping fields of view to be misaligned, the angular resolution of the overlapping fields of view can be improved.

[0223] For example, the first field of view ranges from -40° to -10° in the first direction; the third field of view ranges from -20° to +10° in the first direction; the second field of view ranges from -10° to +20° in the first direction; and the fourth field of view ranges from +10° to +40° in the first direction. Based on this, the overlapping field of view of the first and third fields of view ranges from -20° to -10° in the first direction, the overlapping field of view of the second and fourth fields of view ranges from 10° to 20° in the first direction, and the overlapping field of view of the first and second fields of view ranges from 0° to 10° in the first direction.

[0224] Based on the structure and functional principle of the detection device described above, the present application may also provide a terminal device.Based on the structure and functional principle of the detection device described above, the present application may also provide a terminal device.The terminal device may include the optical display 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, an audio 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, a vehicle-mounted device, a virtual reality device, an augmented reality device, etc.), etc.

[0225] 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.

[0226] 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.

[0227] 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.

[0228] The above description is merely a specific embodiment of the present application, but the scope of protection of the present 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. A detection device, characterized in that: The device comprises a first scanning module, a second scanning module, a first transmitting module, and a second transmitting module, wherein the first scanning module comprises a first reflecting surface, the second scanning module comprises a second reflecting surface, and the first reflecting surface and the second reflecting surface are arranged opposite to each other with an angle greater than 0° and less than 180°; The first emission module is used to emit a first light beam; The second emission module is used to emit a second light beam; The first reflective surface of the first scanning module is used to reflect the first light beam to form a first field of view, and reflect a first echo signal to the first receiving module, where the first echo signal is obtained by a target in the first field of view reflecting the first light beam; The second reflecting surface of the second scanning module is used to reflect the second light beam to form a second field of view, and reflect a second echo signal to the second receiving module. The second echo signal is obtained by the target in the second field of view reflecting the second light beam.

2. The device according to claim 1, wherein The first light beam reflected by the first reflecting surface and the second light beam reflected by the second reflecting surface are emitted opposite to each other.

3. The device according to claim 1 or 2, characterized in that The first field of view partially overlaps with the second field of view.

4. The device according to claim 3, characterized in that There is a misalignment between the light spot of the first light beam and the light spot of the second light beam in the overlapping field of view.

5. The device according to any one of claims 1 to 4, characterized in that: The distance L between the first scanning module and the second scanning module and the length M of the housing of the detection device in the first direction satisfy the following relationship: 0.3≤L / W<1; The distance L is the distance between the center of the first reflecting surface and the center of the second reflecting surface in the first direction.

6. The device according to any one of claims 1 to 5, characterized in that The angle θ1 between the first light beam and the normal of the first reflecting surface satisfies the following relationship: 0°<θ1≤50°; and / or, An angle θ2 between the second light beam and the normal of the second reflecting surface satisfies the following relationship: 0°<θ2≤50°.

7. The device according to any one of claims 1 to 6, characterized in that The first light beam and the second light beam are pulsed light beams; The first emission module includes a first light source assembly, and the second emission module includes a second light source assembly; A start time when the first light source assembly emits the first light beam is different from a start time when the second light source assembly emits the second light beam.

8. The device according to any one of claims 1 to 6, characterized in that At least one of the first light beam and the second light beam is a continuous light beam.

9. The device according to any one of claims 1 to 8, characterized in that The wavelength of the first light beam is the same as or different from the wavelength of the second light beam.

10. The device according to any one of claims 1 to 9, characterized in that: The first emission module includes a first emission optical component, and the first emission optical component includes at least one first lens; The projection Dt1 of the first first lens in the first direction and the projection R1 of the first reflecting surface in the first direction satisfy the following relationship: 0<Dt1≤R1; The first first lens is the last lens through which the first light beam passes through the first emitting optical component.

11. The device according to any one of claims 1 to 10, characterized in that: The second emission module includes a second emission optical component, and the second emission optical component includes at least one second lens; The projection Dt2 of the first second lens in the first direction and the projection R2 of the second reflecting surface in the first direction satisfy the following relationship: 0<Dt2≤R2; The first second lens is the last lens through which the second light beam passes through the second emission optical component.

12. The device according to claim 10 or 11, characterized in that The detection device further includes a first receiving module and a second receiving module; The first receiving module is used to receive the first echo signal; The second receiving module is used to receive the second echo signal.

13. The device according to claim 12, wherein The first receiving module includes a first receiving optical component, and the first receiving optical component includes at least one third lens; The projection Dr1 of the first third lens in the first direction and the projection R1 of the first reflecting surface in the first direction satisfy the following relationship: 0<Dr1≤R1; The first third lens is the first lens through which the first echo signal passes through the first receiving optical component.

14. The device according to claim 13, wherein A projection Dt1 of the first first lens in the first direction and a projection Dr1 of the first third lens in the first direction satisfy the following relationship: 0<Dt1 / Dr1≤1.

15. The device according to any one of claims 12 to 14, characterized in that The second receiving module includes a second receiving optical component, and the second receiving optical component includes at least one fourth lens; The projection Dr2 of the first fourth lens in the first direction and the projection R2 of the second reflecting surface in the first direction satisfy the following relationship: 0<Dr2≤R2; The first fourth lens is the first lens through which the second echo signal passes through the second receiving optical component.

16. The device according to claim 15, characterized in that A projection Dt2 of the first second lens in the first direction and a projection Dr2 of the first fourth lens in the first direction satisfy the following relationship: 0<Dt2 / Dr2≤1.

17. The device according to any one of claims 13 to 16, characterized in that The first lens, the second lens, the third lens and the fourth lens include any one of the following: Spherical lens, aspherical lens or cylindrical lens.

18. The device according to any one of claims 1 to 17, characterized in that The first scanning module includes a first rotation axis and a second rotation axis, and the second rotation axis is perpendicular to the first rotation axis.

19. The device according to claim 18, wherein The first rotation axis is parallel to the first reflecting surface.

20. The device according to claim 18 or 19, characterized in that The first scanning module scans around the first rotation axis at a non-uniform speed; and / or, The first scanning module scans around the second rotation axis at a non-uniform speed.

21. The device according to any one of claims 1 to 20, characterized in that The second scanning module includes a third rotation axis and a fourth rotation axis, and the fourth rotation axis is perpendicular to the third rotation axis.

22. The device according to claim 21, wherein The third rotation axis is parallel to the second reflecting surface.

23. The device according to claim 21 or 22, characterized in that The second scanning module scans around the third rotation axis at a non-uniform speed; and / or, The second scanning module scans around the fourth rotation axis at a non-uniform speed.

24. The device according to claim 20 or 23, characterized in that The non-uniform scanning includes: the scanning speed of the field of interest is lower than the scanning speed of the field of non-interest; The first field of view includes the field of interest and the field of non-interest, and / or the second field of view includes the field of interest and the field of non-interest.

25. The device according to any one of claims 18 to 24, characterized in that The first scanning angle of the first scanning module rotating around the first rotation axis is smaller than or larger than a first angle interval, and the first angle interval is the angle between two adjacent first light beams.

26. The device according to claim 25, characterized in that The first scanning angle α1 is spaced from the first angle The following relationship is satisfied: or 27. The device according to any one of claims 18 to 26, characterized in that The second scanning angle of the second scanning module rotating around the third rotation axis is smaller than or larger than a second angular interval, and the second angular interval is the angle between two adjacent second light beams.

28. The device according to claim 27, wherein The second scanning angle α2 is spaced from the second angle The following relationship is satisfied: or 29. The device according to any one of claims 1 to 28, characterized in that The device further comprises a first folding module and / or a second folding module; The first folding module is used to change the propagation path of the first light beam and propagate the first light beam to the first scanning module; and / or, The second folding module is used to change the propagation path of the second light beam and propagate the second light beam to the second scanning module.

30. The device according to claim 29, wherein The first folding module includes at least one first reflector; and / or, The second folding module includes at least one second reflecting mirror.

31. The device according to any one of claims 1 to 30, characterized in that The detection device also includes a third transmitting module and a fourth transmitting module; The third emission module is used to emit a third light beam; The fourth emission module is used to emit a fourth light beam; The first reflective surface of the first scanning module is further configured to reflect the third light beam to a third field of view and reflect a third echo signal to a third receiving module, where the third echo signal is obtained by a target in the third field of view reflecting the third light beam; The second reflecting surface of the second scanning module is also used to reflect the fourth light beam to the fourth field of view and reflect the fourth echo signal to the fourth receiving module. The fourth echo signal is obtained by the target in the fourth field of view reflecting the fourth light beam.

32. The device according to claim 31, wherein The third transmitting module is adjacent to the first transmitting module, and the fourth transmitting module is adjacent to the second transmitting module.

33. The device according to claim 31 or 32, characterized in that The first field of view and the third field of view are connected to or partially overlapped with each other; and / or, The second field of view and the fourth field of view are connected to or partially overlap each other; and / or, The first field of view and the second field of view are connected to or partially overlapped with each other.

34. The device according to claim 33, wherein There is a misalignment between the light spot of the first light beam and the light spot of the third light beam in the overlapping field of view; and / or, There is a misalignment between the light spot of the second light beam and the light spot of the fourth light beam in the overlapping field of view; and / or, There is a misalignment between the light spot of the first light beam and the light spot of the second light beam in the overlapping field of view.

35. The device according to any one of claims 31 to 34, characterized in that The detection device further includes a third receiving module and a fourth receiving module; The third receiving module is used to receive the third echo signal; The fourth receiving module is used to receive the fourth echo signal.

36. A terminal device, characterized in that: It comprises a control device and the detection device according to any one of claims 1 to 35, wherein the control device is used to control the detection device to perform detection.

37. A detection device, characterized in that: The system comprises a first scanning module, a second scanning module, a first transmitting module and a second transmitting module, wherein the first scanning module comprises a first reflecting surface, and the second scanning module comprises a second reflecting surface; The first emission module is used to emit a first light beam; The second emission module is used to emit a second light beam; The first reflective surface of the first scanning module is used to reflect the first light beam to form a first field of view, and reflect a first echo signal to the first receiving module, where the first echo signal is obtained by a target in the first field of view reflecting the first light beam; The second reflective surface of the second scanning module is used to reflect the second light beam to form a second field of view, and reflect a second echo signal to the second receiving module, where the second echo signal is obtained by the target in the second field of view reflecting the second light beam; The angle between the first edge of the first field of view and the first frame of the fixed structure is less than a first threshold, and / or the angle between the second edge of the second field of view and the second frame of the fixed structure is less than a second threshold, and the fixed structure is used to fix the detection device.

38. The device according to claim 37, wherein The angle between the first edge of the first viewing field and the first frame of the fixed structure is equal to 0°, and / or the angle between the second edge of the second viewing field and the second frame of the fixed structure is equal to 0°.

39. The device according to claim 37 or 38, characterized in that The first reflecting surface and the second reflecting surface are arranged opposite to each other with an included angle greater than 0° and less than 180°.

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