Transmitting module, receiving module, detection device and terminal equipment

Abstract

The invention discloses a transmitting module, a receiving module, a detection device and terminal equipment. The transmitting module can be applied to the laser radar and can be applied to the fields of automatic driving, intelligent driving, auxiliary driving or surveying and mapping and the like. The emission module comprises a light source assembly and M optical splitters, and M is an integer greater than 1; the light source assembly emits a first light beam. The first optical splitter in the M optical splitters is used for splitting the first light beam into N1 second light beams, the field angle range of the N1 second light beams is [0, alpha], and N1 is an integer greater than 2; a second optical splitter in the M optical splitters is used for splitting a target second light beam in the N1 second light beams into N2 third light beams, the target second light beam is a second light beam located in the field angle range [0, beta1] or [beta2, alpha], beta2 is smaller than alpha, and beta1 is larger than 0 and smaller than beta2. The intensity and / or angle interval of the second light beam and the third light beam obtained through the M optical splitters can be non-uniform, and the utilization rate of the light beams can be improved.

Description

A transmitting module, a receiving module, a detection device and a terminal device Technical Field

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

[0002] With the advancement of science and technology, intelligent devices such as smart transportation equipment, smart home appliances, robots, and vehicles are gradually becoming part of people's daily lives. Because LiDAR can perceive the surrounding environment, it can identify and track moving targets based on this environmental information, as well as recognize stationary objects such as lane markings and signs. It can also be combined with navigation systems and map data for path planning. Therefore, LiDAR is playing an increasingly important role in intelligent devices.

[0003] Different LiDAR applications require different beams. Typically, higher requirements are placed on the LiDAR's central field of view, while lower requirements are placed on its peripheral fields of view. For example, the central field of view may require longer range detection and / or higher spatial resolution. However, current mainstream LiDARs emit beams uniformly across the detection area, resulting in wasted energy.

[0004] Summary of the Invention

[0005] The present application provides a transmitting module, a receiving module, a detection device and a terminal device for improving the energy utilization rate of a light beam.

[0006] In a first aspect, the present application provides an emission module, which includes a light source assembly and M beam splitters, where M is an integer greater than 1. The light source assembly is used to emit a first light beam. The first beam splitter among the M beam splitters is used to split the first light beam into N1 second light beams, and the field angle range of the N1 second light beams is [0, α], and N1 is an integer greater than 2. The second beam splitter among the M beam splitters is used to split the target second light beam among the N1 second light beams into N2 third light beams, and the target second light beam is a second light beam located in the field angle range [0, β1], or a second light beam located in the field angle range [β2, α], β2 is less than α, and β1 is greater than 0 and less than β2.

[0007] Based on the above scheme, the second and third beams are obtained through M beam splitters. Since the second beam is obtained by splitting the first beam by the first beam splitter, and the third beam is obtained by splitting the target second beam by the second beam splitter, the intensity (or energy or power) of the second and third beams can be non-uniform, thereby adjusting the energy distribution of the beam emitted by the emission module, thereby improving the energy utilization rate of the first beam emitted by the light source assembly. For example, the shape of the light spot formed by the second beams other than the target second beam and the third beam in the N1 second beams can be "convex" or "convex-like". Among them, the intensity of the convex part of the "convex" or "convex-like" light spot is higher than the intensity of the non-convex part, and / or the detection distance of the convex part is farther than the detection distance of the non-convex part. It should be understood that the "convex" or "convex-like" light spot given above is only an example. The shape of the light spot in this application can also be any other possible shape, which can be adjusted based on the position of the region of interest, and is not limited to this.

[0008] In a possible implementation, the intensity of the second beam is greater than the intensity of the third beam; and / or the angular interval between any two adjacent second beams of the N1 second beams is smaller than the angular interval between any two adjacent third beams of the N2 third beams.

[0009] By making the angular interval between any two adjacent second beams in the N1 second beams smaller than the angular interval between any two adjacent third beams in the N2 third beams, the second beams except the target second beam in the N1 second beams emitted by the emission module can be denser, and the N2 third beams can be sparser; by designing the intensity of the second beam to be greater than the intensity of the third beam, the second beams except the target second beam in the N1 second beams emitted by the emission module can irradiate (or detect) a farther distance, and the N2 third beams can irradiate (or detect) a closer distance.

[0010] Exemplarily, the intensity of the second light beam is P / N1, the intensity of the third light beam is P / (N1×N2), and P is the intensity of the first light beam.

[0011] In a possible implementation, the second light beams other than the target second light beam in the N1 second light beams correspond to the region of interest, and the N2 third light beams correspond to the non-region of interest.

[0012] Based on this, the second beams except the target second beam in the N1 second beams corresponding to the area of ​​interest have higher intensity and smaller angular resolution; the N2 third beams corresponding to the non-area of ​​interest have lower intensity and larger angular resolution.

[0013] Further, optionally, the region of interest includes a region corresponding to a central field of view of the emission module, and the region of non-interest includes a region corresponding to a peripheral field of view of the emission module.

[0014] Based on this, the central field of view of the emission module has a higher angular resolution, and the edge field of view of the emission module has a lower angular resolution. Moreover, the intensity of the second light beam in the central field of view of the emission module is greater than the intensity of the third light beam in the edge field of view, which helps to improve the utilization rate of the light beam energy. Furthermore, by setting the region of interest as the region corresponding to the central field of view of the detection device, it can be achieved that the central field of view of the detection device can detect (or illuminate) a farther distance, thereby meeting the requirements of the central field of view of the detection device. By setting the non-region of interest as the region corresponding to the edge field of view of the detection device, the impact on the detection range of the detection device can be minimized as much as possible, which can not only ensure the normal application of the detection device, but also improve the utilization rate of the light beam emitted by the emission module.

[0015] In a possible implementation, the transmitting module further includes M-1 first deflecting prisms, and one second beam splitter corresponds to one first deflecting prism. The first deflecting prism is used to deflect the target second light beam at a first angle and then transmit it to the second beam splitter.

[0016] Deflecting the target second light beam by the first deflecting prism at the first angle helps to reduce crosstalk between the second light beam obtained by the first beam splitter and the third light beam obtained by the second beam splitter.

[0017] In a possible implementation, the angular interval between the adjacent second light beam and the third light beam located on both sides of β1 satisfies the following formula 1:

[0018] Δθ1-θ2(N2-1) / 2 Formula 1

[0019] Wherein, Δθ1 is the first angle, and θ2 is the angular interval of N2 third light beams.

[0020] By setting the angular intervals between the adjacent second and third light beams on both sides of β1 to satisfy the following formula 1, crosstalk between the second and third light beams can be further reduced.

[0021] In one possible implementation, the beam splitter includes diffractive optical elements (DOE).

[0022] As a spectrometer, DOE has high diffraction efficiency, unique dispersion performance, more design freedom, and a wide range of material options.

[0023] In one possible implementation, the M spectrometers also include a third spectrometer; the third spectrometer is used to split the target third beam in the N2 third beams into N3 fourth beams, the field of view angle range of the N2 third beams is [0, γ], the target third beam is a third beam located in the field of view angle range [0, β3], or a third beam located in the field of view angle range [β4, γ], β3 is greater than 0 and less than β4, β4 is less than γ, and the third spectrometer is at least one spectrometer after the second spectrometer.

[0024] The second light beam, the third light beam, and the fourth light beam are obtained through the first light beam, the second light beam, and the third light beam. Since the second light beam is obtained by splitting the first light beam through the first light beam, the third light beam is obtained by splitting the target second light beam through the second light beam, and the fourth light beam is obtained by splitting the target third light beam through the third light beam, the intensities of the second light beam, the third light beam, and the fourth light beam may be non-uniform, and / or the angular intervals of the second light beam, the third light beam, and the fourth light beam may also be non-uniform.

[0025] In a possible implementation, the light source assembly includes a point light source.

[0026] In a second aspect, the present application provides a transmission module, which includes a light source assembly, a fiber optic splitter assembly, and a fiber optic head array. The fiber optic splitter assembly is connected to the fiber optic head array via an optical fiber, and the fiber optic splitter assembly includes at least two cascaded fiber optic splitters. The light source assembly is configured to emit a first light beam. The fiber optic splitter assembly is configured to split the first light beam into Q fourth light beams, and emit the Q fourth light beams through the fiber optic head array, where Q is an integer greater than 2. The intensities of the fourth light beams emitted by the first fiber optic head and the second fiber optic head in the fiber optic head array are different.

[0027] Based on the above solution, since the intensities of the fourth light beams emitted by the first and second optical fiber heads in the optical fiber head array differ, a non-uniform distribution of the intensity of the fourth light beam emitted by the transmitting module can be achieved. For example, the light spot formed by the Q fourth light beams has a convex or quasi-convex shape. In this convex or quasi-convex light spot, the intensity of the convex portion is higher than the intensity of the non-convex portion.

[0028] In a possible implementation, the optical fiber heads in the optical fiber head array are non-uniformly distributed or uniformly arranged.

[0029] By non-uniformly distributing the optical fiber heads in the optical fiber head array, the Q fourth light beams emitted by the emission module can be non-uniformly distributed; by uniformly distributing the optical fiber heads in the optical fiber head array, the Q fourth light beams emitted by the emission module can be uniformly distributed.

[0030] In one possible implementation, the fiber optic head array includes a first fiber optic head array and a second fiber optic head array, the first fiber optic head belongs to the first fiber optic head array, and the second fiber optic head belongs to the second fiber optic head array; the intensity of the fourth light beam emitted through the first fiber optic head is greater than the intensity of the fourth light beam emitted through the second fiber optic head; and / or the first interval between the fiber optic heads in the first fiber optic head array is less than the second interval between the fiber optic heads in the second fiber optic head array.

[0031] The angular interval of the fourth light beam emitted by the emission module can be changed by the first interval of the first optical fiber head array and the second interval of the second optical fiber head array, thereby changing the interval between the light spots formed by the fourth light beam.

[0032] In one possible implementation, the fiber optic splitting assembly includes a first fiber optic splitting region and a second fiber optic splitting region, wherein the first fiber optic splitter in the first fiber optic splitting region is connected to the first fiber optic head in the first fiber optic head array, and the second fiber optic splitter in the second fiber optic splitting region is connected to the second fiber optic head in the second fiber optic head array, wherein the number of cascaded first fiber optic splitters in the first fiber optic splitting region is less than the number of cascaded second fiber optic splitters in the second fiber optic splitting region.

[0033] The intensity of the fourth light beam emitted by the emission module can be changed by the number of cascaded fiber optic splitters.

[0034] In a possible implementation, the fourth light beam emitted through the first optical fiber head corresponds to the region of interest, and the fourth light beam emitted through the second optical fiber head corresponds to the region of no interest.

[0035] Based on this, the intensity (or power) of the light spot of the fourth light beam corresponding to the region of interest is greater, and the intensity (or power) of the light spot of the fourth light beam corresponding to the non-region of interest is smaller.

[0036] Further, optionally, the region of interest includes a region corresponding to a central field of view of the emission module, and the region of non-interest includes a region corresponding to a peripheral field of view of the emission module.

[0037] Based on this, the intensity (or power) of the light spot of the fourth light beam corresponding to the central field of view of the emission module is larger, and the intensity (or power) of the light spot of the fourth light beam corresponding to the edge field of view of the emission module is smaller.

[0038] In a possible implementation, the emission module further includes a first lens assembly; the first interval satisfies the following formula 2, and the second interval satisfies the following formula 3.

[0039]

[0040] Wherein, f1 is the equivalent focal length of the first lens assembly, D1 is the first distance, is the angular interval of the fourth light beam emitted from the first optical fiber head array;

[0041]

[0042] Where f1 is the equivalent focal length of the first lens assembly, D2 is the second distance, is the angular interval of the fourth light beam emitted from the second optical fiber head.

[0043] In a possible implementation, the optical fiber splitter is a uniformly splitting optical splitter.

[0044] In this way, it can be compatible with the fiber optic splitter in the prior art.

[0045] In a possible implementation, the light source assembly includes a point light source.

[0046] In a third aspect, the present application provides a transmission module comprising a light source array and a second lens assembly. The light sources in the light source array are non-uniformly distributed. The light source array is configured to emit K fifth light beams, where K is an integer greater than 2. The second lens assembly is configured to propagate the K fifth light beams from the light source array to a detection area.

[0047] Based on the above solution, the non-uniform distribution of light sources in the light source array can control the angular intervals of the K fifth light beams emitted by the emission module to be non-uniformly distributed, thereby controlling the non-uniform distribution of the light spots of the K fifth light beams.

[0048] In a possible implementation, the light source array includes a first light source array and a second light source array, and the third intervals between the light sources in the first light source array are different from those between the light sources in the second light source array.

[0049] By designing the third interval of the first light source array, the fourth interval of the second light source array, and the equivalent focal length of the second lens assembly in the light source array, non-uniform distribution of light sources in the light source array can be achieved.

[0050] In a possible implementation, the first light source array includes light sources corresponding to the region of interest in the light source array, the second light source array includes light sources corresponding to the non-region of interest in the light source array, and the third interval is smaller than the fourth interval.

[0051] By designing the third interval to be smaller than the fourth interval, the light spots of the fifth light beam corresponding to the region of interest can be denser, and the light spots of the fifth light beam corresponding to the non-region of interest can be sparser.

[0052] Further, optionally, the region of interest includes a region corresponding to a central field of view of the emission module, and the region of non-interest includes a region corresponding to a peripheral field of view of the emission module.

[0053] Based on this, the light spots of the fifth light beam corresponding to the central field of view of the emission module are denser, so that the emission module has a smaller angular resolution; the light spots of the fifth light beam corresponding to the edge field of view of the emission module are sparse, so that the emission module has a larger angular resolution.

[0054] In a possible implementation, the third interval satisfies the following formula 4:

[0055] ω1=D3 / f2 Formula 4

[0056] Wherein, f2 is the equivalent focal length of the second lens assembly, D3 is the third interval, and ω1 is the angular interval of the fifth light beam emitted by the light source in the first light source array;

[0057] The fourth interval satisfies the following formula 5:

[0058] ω2=D4 / f2 Formula 5

[0059] Wherein, f2 is the equivalent focal length of the second lens assembly, D4 is the fourth interval, and ω2 is the angular interval of the fifth light beams emitted by the light sources in the second light source array.

[0060] In a possible implementation, the intensity of the current injected into the light sources in the first light source array is greater than the intensity of the current injected into the light sources in the second light source array.

[0061] In this way, the intensity of the fifth light beam emitted by the light sources in the first light source array can be made greater than the intensity of the fifth light beam emitted by the light sources in the second light source array.

[0062] In one possible implementation, the intensity of the fifth light beam corresponding to the region of interest is greater than the intensity of the fifth light beam corresponding to the non-region of interest. Further, optionally, the region of interest includes the region corresponding to the central field of view of the emission module, and the non-region of interest includes the region corresponding to the edge field of view of the emission module.

[0063] In this way, the intensity (or power) of the light spot of the fifth light beam corresponding to the central field of view of the emitting module can be larger, and the intensity (or power) of the light spot of the fifth light beam corresponding to the edge field of view of the emitting module can be smaller.

[0064] In a possible implementation, the light source array includes a one-dimensional light source array or a two-dimensional light source array.

[0065] In a fourth aspect, the present application provides a receiving module, which includes a detector array and a third lens assembly, wherein the detectors in the detector array are non-uniformly distributed; the third lens assembly is used to transmit L sixth light beams from the detection area to the detector array, where L is an integer greater than 2; the detector array is used to convert the L sixth light beams into electrical signals, which are used to determine information of the detection area.

[0066] Based on the above solution, the detectors in the detector array are designed to be distributed non-uniformly, so that the detector array can receive the non-uniformly distributed sixth light beam.

[0067] In a possible implementation, the detector array includes a first detector array and a second detector array, and the fifth interval between detectors in the first detector array is different from the sixth interval between detectors in the second detector array.

[0068] Based on the above solution, by designing the fifth interval in the first detector array to be different from the sixth interval in the second detector array, a non-uniform distribution of detectors in the detector array can be achieved.

[0069] In a possible implementation, the first detector array includes detectors corresponding to regions of interest, the second detector array includes detectors corresponding to regions of no interest, and the fifth interval is smaller than the sixth interval.

[0070] Since the angular interval of the sixth light beam corresponding to the detection area is smaller, and the angular interval of the sixth light beam corresponding to the non-interested area is larger, by designing the fifth interval to be smaller than the sixth interval, the detector array can receive the sixth light beam as accurately as possible, thereby helping to improve the energy utilization rate of the sixth light beam.

[0071] In a possible implementation, the fifth interval satisfies the following formula 6:

[0072] Ω1=D5 / f3 Formula 6

[0073] Wherein, f3 is the equivalent focal length of the third lens assembly, D5 is the fifth interval, and Ω1 is the angular interval at which the detectors in the first detector array receive the sixth light beam;

[0074] The sixth interval satisfies the following formula 7:

[0075] Ω2=D6 / f3 Formula 7

[0076] Wherein, f3 is the equivalent focal length of the third lens assembly, D6 is the sixth interval, and Ω2 is the angular interval at which the detectors in the second detector array receive the sixth light beam.

[0077] In the fifth aspect, the present application provides a receiving module, which includes a fiber optic head array and a detector array. The fiber optic heads in the fiber optic head array are unevenly distributed. The fiber optic head array and the detector array are connected through optical fibers. The fiber optic head array is used to transmit H seventh light beams from the detection area to the detector array, where H is an integer greater than 2; the detector array is used to convert the H seventh light beams into electrical signals, which are used to determine information of the detection area.

[0078] Based on the above receiving module, by designing the intervals between the optical fiber heads in the optical fiber head array to be non-uniformly distributed, the receiving module can receive the non-uniformly distributed seventh light beam.

[0079] In a possible implementation, the optical fiber tip array includes a third optical fiber tip array and a fourth optical fiber tip array, and the seventh interval between the optical fiber tips in the third optical fiber tip array is different from the eighth interval between the optical fiber tips in the fourth optical fiber tip array.

[0080] By designing the sixth interval and the seventh interval in the optical fiber head array to be different, a non-uniform distribution of the optical fiber heads in the optical fiber head array can be achieved.

[0081] In a possible implementation, the third optical fiber head array corresponds to the region of interest, the fourth optical fiber head array corresponds to the region of no interest, and the seventh interval is smaller than the eighth interval.

[0082] Since the angular interval of the seventh light beam corresponding to the detection area is smaller, and the angular interval of the seventh light beam corresponding to the non-interest area is larger, by designing the seventh interval to be smaller than the eighth interval, the optical fiber head array can receive the seventh light beam as accurately as possible, thereby helping to improve the energy utilization rate of the seventh light beam.

[0083] In a possible implementation, the module further includes a fourth lens assembly; and the seventh interval satisfies the following formula 8:

[0084] η1=D7 / f4 Formula 8

[0085] Wherein, f4 is the equivalent focal length of the fourth lens assembly, D7 is the seventh interval, and η1 is the angular interval of the seventh light beam received by the third optical fiber head array;

[0086] The eighth interval satisfies the following formula 9:

[0087] η2=D8 / f4 Formula 9

[0088] Wherein, f4 is the equivalent focal length of the fourth lens assembly, D8 is the eighth interval, and η2 is the angular interval of the seventh light beam received by the fourth optical fiber head array.

[0089] In a possible implementation, the detector array includes a detector array in which detectors are evenly distributed.

[0090] In a sixth aspect, the present application provides a detection device, which includes the above-mentioned first aspect or any one of the first aspects of the transmitting module, and the above-mentioned fourth aspect or any one of the fourth aspects of the receiving module; or, the detection device includes the above-mentioned second aspect or any one of the second aspects of the transmitting module, and the above-mentioned fourth aspect or any one of the fourth aspects of the receiving module; or, the detection device includes the above-mentioned third aspect or any one of the third aspects of the transmitting module, and the above-mentioned fourth aspect or any one of the fourth aspects of the receiving module; or, the detection device includes the above-mentioned first aspect or any one of the first aspects of the transmitting module, and the above-mentioned fifth aspect or any one of the fifth aspects of the receiving module; or, the detection device includes the above-mentioned second aspect or any one of the second aspects of the transmitting module, and the above-mentioned fifth aspect or any one of the fifth aspects of the receiving module; or, the detection device includes the above-mentioned third aspect or any one of the third aspects of the transmitting module, and the above-mentioned fifth aspect or any one of the fifth aspects of the receiving module.

[0091] In one possible implementation, the detection device also includes a scanning module; the scanning module is used to reflect the second light beam, the fourth light beam, or the fifth light beam from the transmitting module to the detection area, and reflect the sixth light beam from the detection area to the receiving module, and the sixth light beam is obtained by the target in the detection area reflecting the second light beam, the fourth light beam, or the fifth light beam.

[0092] In a seventh aspect, the present application provides a terminal device, which includes a control device and the above-mentioned sixth aspect or any one of the detection devices in the sixth aspect; the control device is used to control the detection device to detect the detection area.

[0093] The technical effects that can be achieved in any of the sixth to seventh aspects mentioned above can be referred to the description of the beneficial effects in the first to fifth aspects mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0094] FIG1 is a schematic diagram of a possible application scenario provided by this application;

[0095] FIG2 is a schematic structural diagram of a transmission module provided by the present application;

[0096] FIG3a is a schematic diagram of a second light beam obtained by splitting light by a first beam splitter provided by the present application;

[0097] FIG3 b is a schematic diagram of a light spot formed by a second light beam and a third light beam provided in the present application;

[0098] FIG4a is a schematic diagram showing the distribution of a light spot of a light beam emitted by an emission module provided in the present application in a first direction;

[0099] FIG4 b is a schematic diagram showing the distribution of light spots of a light beam emitted by another emission module provided in the present application in a first direction;

[0100] FIG5 is a schematic structural diagram of a light splitting component provided by the present application;

[0101] FIG6a is a schematic structural diagram of another transmitting module provided in the present application;

[0102] FIG6 b is a schematic structural diagram of another transmitting module provided in the present application;

[0103] FIG7 is a schematic structural diagram of another transmitting module provided in this application;

[0104] FIG8a is a schematic structural diagram of an optical fiber head array provided in this application;

[0105] FIG8 b is a schematic structural diagram of another optical fiber head array provided in this application;

[0106] FIG9a is a schematic diagram showing the distribution of light spots of a fourth light beam emitted by an emission module provided in the present application in a first direction;

[0107] FIG9b is a schematic structural diagram of a fiber optic splitting assembly provided by the present application;

[0108] FIG10a is a schematic structural diagram of another transmitting module provided in the present application;

[0109] FIG10 b is a schematic diagram of the distribution of a light spot of a fourth light beam provided in the present application;

[0110] FIG11 is a schematic structural diagram of another transmitting module provided in this application;

[0111] FIG12a is a schematic diagram of another light source array provided in the present application;

[0112] FIG12b is a schematic structural diagram of a receiving module provided in this application;

[0113] FIG13 is a schematic structural diagram of another transmitting module provided in the present application;

[0114] FIG14 is a schematic structural diagram of a receiving module provided by the present application;

[0115] FIG15 is a schematic structural diagram of a detector array provided by the present application;

[0116] FIG16 is a schematic structural diagram of another receiving module provided by the present application;

[0117] FIG17 is a schematic structural diagram of another receiving module provided by the present application;

[0118] FIG18 is a schematic structural diagram of another detector array provided by the present application;

[0119] FIG19a is a schematic structural diagram of an optical fiber head array provided in the present application;

[0120] FIG19b is a schematic structural diagram of another optical fiber head array provided in the present application;

[0121] FIG20 is a schematic structural diagram of the detection device provided in this application. DETAILED DESCRIPTION

[0122] The embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0123] The following is an explanation of some of the terms used in this application. It should be noted that these explanations are for the purpose of facilitating understanding by those skilled in the art and do not limit the scope of protection claimed in this application.

[0124] 1. Region of interest

[0125] The region of interest (ROI) is an area in the detection area that needs to be processed, which is outlined in the form of a box, circle, ellipse, irregular polygon, etc. Generally, the ROI contains the detection target or the area that needs to be focused on.

[0126] 2. Light spot

[0127] A beam spot generally refers to the energy density (or intensity or power) distribution of a beam across angular space. The energy density distribution of a beam spot can be low at both ends and high in the middle (also known as a "convex" or "convex"-like) in shape. For example, the energy density distribution can be normal or similar. Alternatively, the energy density of a beam spot can be uniformly distributed.

[0128] 3. Angle interval

[0129] The angular spacing of light beams refers to the angle between two adjacent light beams.

[0130] 4. Instantaneous field of view (iFOV)

[0131] The instantaneous field of view (iFOV) refers to the angle of light received by a single detector element within the sensor, or the field of view. Generally, the smaller the iFOV, the smaller the minimum resolvable unit, and the higher the image spatial resolution.

[0132] The previous text introduced some of the terms involved in this application. The following text introduces the possible application scenarios of this application.

[0133] In one possible implementation, the transmitting module may be integrated into a detection device, and the detection device may be installed on a vehicle. The detection device may be, for example, a laser radar. Please refer to FIG1 , which exemplarily shows a schematic diagram of a possible application scenario of the present application. In this application scenario, the detection device is installed in the front of the vehicle as an example. It is understandable that the detection device may also be installed in other positions of the vehicle, such as in any one or more of the four directions of front, rear, left, and right, to capture information about the vehicle's surrounding environment.

[0134] In a possible application scenario, the working principle of the detection device is as follows: the detection device emits a light beam to the detection area. If there is a target in the detection area, the target can reflect the received light beam back to the detection device (the reflected light beam can be called an echo signal), and the detection device then determines the associated information of the target based on the echo signal. Specifically, the detection device can obtain the latitude and longitude, speed, direction of the vehicle, or associated information (such as the distance of the target, the speed of the target, and / or the posture of the target) of targets within a certain range (such as other surrounding vehicles, pedestrians, or obstacles, etc.) in real time or periodically. Further, optionally, the detection device can send the acquired information to the control device in the vehicle, so that the control device can perform vehicle path planning based on the acquired information. For example, the longitude and latitude can be used to determine the position of the vehicle, or the speed and direction can be used to determine the vehicle's driving direction and destination in the future, or the distance to the surrounding objects can be used to determine the number and density of obstacles around the vehicle. Furthermore, optionally, the function of an advanced driver assistance system (ADAS) can be combined to realize assisted driving or automatic driving of the vehicle.

[0135] It should be understood that the above application scenarios are only examples, and the transmitting module provided in this application can also be applied to other possible scenarios, not limited to the scenarios exemplified above. For example, the transmitting module can also be integrated as a headlight, which is installed on the vehicle. In addition to realizing the lighting function, the headlight can also realize an adaptive driving beam (ADB) system, or project complex graphics of text or traffic signs, or project video images, etc., which adds the functions of assisted driving and entertainment. For another example, the transmitting module can also be integrated into a lighting lamp and installed on the stage as a stage lighting lamp. For another example, the detection device integrated with the transmitting module provided by this application can also be installed on a drone as an airborne detection device. For another example, the detection device integrated with the transmitting module provided by this application can also be installed on a road side unit (RSU) as a roadside traffic detection device, please refer to Figure 1 above, which can realize intelligent vehicle-road collaborative communication, etc. For another example, the detection device integrated with the emission module provided by this application can also be installed on an automated guided vehicle (AGV). AGV refers to a transport vehicle equipped with an electromagnetic or optical automatic navigation device, capable of traveling along a prescribed navigation path, and having safety protection and various transfer functions. They are not listed here one by one. It should be noted that the application scenarios described in this application are intended to more clearly illustrate the technical solution of this application and do not constitute a limitation on the technical solution provided by this application.

[0136] The above application scenarios can be applied to fields such as unmanned driving, automatic driving, assisted driving, intelligent driving, connected cars, security monitoring, biomedicine or surveying and mapping (such as three-dimensional mapping).

[0137] As described in the background art, in the prior art, the light beam emitted by the laser radar is uniformly projected onto the detection area, which results in a waste of energy of the light beam emitted by the laser radar.

[0138] In view of the above problems, the present application proposes a transmitting module. This transmitting module can realize non-uniform projection of light beams into the detection area to meet detection requirements and improve the energy utilization rate of the projected light beams. For example, among the light beams projected by the transmitting module into the detection area, the intensity of the light beams corresponding to the area of ​​interest is greater than the intensity of the light beams corresponding to the non-interested areas, and / or the angular spacing of the light beams corresponding to the area of ​​interest is greater than the angular spacing of the light beams corresponding to the non-interested areas.

[0139] Based on the above content, the transmitting module proposed in this application is described in detail below with reference to the accompanying drawings.

[0140] Implementation List 1

[0141] Please refer to Figure 2, which is a structural diagram of an emission module provided in the present application. The emission module includes a light source assembly and M beam splitters, where M is an integer greater than 1. The light source assembly is used to emit a first light beam. The first beam splitter among the M beam splitters is used to split the first light beam into N1 second light beams, and the field of view angle range of the N1 second light beams is [0, α], wherein 0 refers to the starting position of the field of view angle of the N1 second light beams (or called the lower boundary or lower edge), α refers to the ending position of the field of view angle of the N1 second light beams (or called the upper boundary or upper edge), and N1 is an integer greater than 2. It can be understood that the field of view angle of the N1 second light beams is α, which represents the maximum field of view range that the N1 second light beams can detect. The second beam splitter among the M beam splitters is used to split the target second beam among the N1 second beams into N2 third beams. The target second beam is a second beam located within the field of view angle range [0, β1], or the target second beam is a second beam located within the field of view angle range [β2, α], where β2 is less than α, and β1 is greater than 0 and less than β2. It will be understood that FIG2 illustrates an example of including two second beam splitters. The second beam splitter may also include one, and this application is not limited thereto.

[0142] In one possible implementation, the target second beam is the second beam at the boundary of the field of view angle formed by the N1 second beams. Alternatively, the target second beam is the second beam at the lower boundary of the N1 second beams, or the target second beam is the second beam at the upper boundary of the N1 second beams. In other words, the target second beam is the second beam at 0° among the N1 second beams, or the target second beam is the second beam at α among the N1 second beams.

[0143] It is understandable that the field of view angle range of the N1 second light beams is also expressed as [-α / 2, α / 2]. Accordingly, the target second light beam is the second light beam located in the field of view angle range [-α / 2, β1], or the target second light beam is the second light beam located in the field of view angle range [β2, α / 2], where β2 is less than α / 2 and β1 is greater than -α / 2 and less than β2. In one possible implementation, the target second light beam is the second light beam located at -α / 2 among the N1 second light beams, or the target second light beam is the second light beam located at α / 2 among the N1 second light beams.

[0144] Please refer to Figure 3a, which is a schematic diagram of N1 second light beams obtained by splitting by a first beam splitter provided in the present application. In this example, the first beam is split into 7 second beams by the first beam splitter as an example. The 7 second beams are second beam 0, second beam 1, second beam-1, second beam 2, second beam-2, second beam 3, and second beam-3, and the target second beam includes second beam 3 and second beam-3. It can be understood that second beam 3 and second beam-3 are second beams at the boundaries of the field of view angle formed by the 7 second beams. In other words, second beam 3 and second beam-3 are two target second beams among the 7 second beams, and second beam-3 is located in the field of view angle range [0, β1], and second beam-3 is located in the field of view angle range [β2, α]. The field of view angle range [0, α] formed by these 7 second beams is the angular range between second beam-3 and second beam 3.

[0145] Based on the above-mentioned emission module, the second and third light beams are obtained through M beam splitters. Since the second light beam is obtained by splitting the first light beam through the first beam splitter, and the third light beam is obtained by splitting the target second light beam through the second beam splitter, the intensities of the second and third light beams can be non-uniform, thereby adjusting the energy distribution of the light beam emitted by the emission module, thereby improving the energy utilization rate of the first light beam emitted by the light source assembly. For example, the shape of the light spot formed by the second light beams excluding the target second light beam and the third light beam in the N1 second light beams can be "convex" or "convex-like", as shown in Figure 3b. The intensity of the convex portion of the "convex" or "convex-like" light spot is higher than the intensity of the non-convex portion. Furthermore, the angular interval of the second light beam and the angular interval of the third light beam can be the same or different. For example, the angular interval corresponding to the convex portion of the "convex" or "convex-like" light spot is smaller than the angular interval corresponding to the non-convex portion.

[0146] In one possible implementation, the intensity of the second beam is greater than the intensity of the third beam. Specifically, the intensity of the second beam is P / N1, and the intensity of the third beam is P / (N1×N2), where P is the intensity of the first beam. Furthermore, optionally, the intensities of the N1 second beams can be the same, and the intensities of the N2 third beams can be the same. It will be understood that if P represents the power of the first beam, the power of the second beam is P / N1, and the power of the third beam is P / (N1×N2).

[0147] In one possible implementation, the angular spacing of the N1 second beams is smaller than the angular spacing of the N2 third beams. This can also be understood as the N1 second beams being denser and the N2 third beams being sparser. It should be noted that the angular spacing of the N1 second beams and the N2 third beams are the same.

[0148] Please refer to Figure 4a, which illustrates an exemplary schematic diagram of the distribution of the light spots of the second and third light beams emitted by an emission module in a first direction. For example, the second light beam includes two target second light beams. The spacing between the light spots of the second light beam is smaller than the spacing between the light spots of the third light beam, and the intensity of the light spots of the second light beam is greater than the intensity of the light spots of the third light beam. In Figure 4a, darker colors indicate greater light spot intensity. It should be noted that the emission module may also include a second beam splitter. Based on this, please refer to Figure 4b for the distribution of the light spots of the light beams emitted by the emission module in the first direction.

[0149] Exemplarily, the second beams other than the target second beam in the N1 second beams correspond to the area of ​​interest, and the N2 third beams correspond to the area of ​​no interest. Specifically: the angular spacing of the second beams other than the target second beam in the N1 second beams corresponding to the area of ​​interest is smaller, and the angular spacing of the N2 third beams corresponding to the area of ​​no interest is larger. And / or, the intensity (or power) of the light spot of the second beam other than the target second beam in the N1 second beams corresponding to the area of ​​interest is larger, and the intensity (or power) of the light spot of the N2 third beams corresponding to the area of ​​no interest is smaller. By designing that the intensity (or power) of the light spot of the second beam other than the target second beam in the N1 second beams corresponding to the area of ​​interest is larger, and the intensity (or power) of the light spot of the N2 third beams corresponding to the area of ​​no interest is smaller, it helps to improve the energy utilization rate of the light beam emitted by the sending module.

[0150] Furthermore, the region of interest may be, for example, the region corresponding to the central field of view of the emission module, and the region of non-interest may be the region corresponding to the peripheral field of view (or non-central field of view) of the emission module. Specifically, the light spots of the second light beams other than the target second light beam in the N1 second light beams corresponding to the central field of view of the emission module are denser, while the light spots of the N2 third light beams corresponding to the peripheral field of view of the emission module are sparser. The intensity (or power) of the light spots of the second light beams other than the target second light beam in the N1 second light beams corresponding to the central field of view of the emission module is greater, while the intensity (or power) of the light spots of the N2 third light beams corresponding to the peripheral field of view of the emission module is smaller. It can be understood that denser light spots correspond to higher angular resolution, while sparser light spots correspond to lower angular resolution. In this way, the central field of view of the emission module can have a smaller angular resolution, while the peripheral field of view of the emission module can have a larger angular resolution. Alternatively, the region of interest may be the region where the target of "interest" (such as a dynamic target and / or a stationary target) is located, and the region of non-interest is the region other than the region of interest. In this way, the region where the target of interest is located can have a smaller angular resolution, while other regions can have a larger angular resolution. It is understandable that the region of interest and the region of non-interest can also be other possible regions, which is not limited in this application.

[0151] In one possible implementation, the entire field of view of the transmitting module corresponds to at least one region of interest, wherein the shape of the region of interest may also be square, circular, elliptical, or other regular or irregular shapes, etc., which is not limited in this application.

[0152] The following describes each functional component and structure shown in FIG2 , and provides an exemplary specific implementation scheme.

[0153] 1. Light source components

[0154] Exemplarily, the light source component can be a point power source, and the point light source can include but is not limited to a laser diode (LD), a diode pumped solid state laser (DPSS), a fiber laser, a vertical cavity surface emitting laser (VCSEL), or an edge emitting laser (EEL).

[0155] 2. Optical Splitter

[0156] In one possible implementation, the transmitting module includes M spectrometers, where M is an integer greater than 1. The M spectrometers include a first spectrometer and a second spectrometer, the first spectrometer belongs to the first-level spectrometer, and the second spectrometer belongs to the second-level spectrometer. Furthermore, the M spectrometers may also include a third spectrometer, and the third spectrometer belongs to the third-level spectrometer, and so on. The first-level spectrometer may include a first spectrometer, the second-level spectrometer may include a second spectrometer, or may include two second spectrometers; the third-level spectrometer may include a third spectrometer, or may include two third spectrometers. The number of spectrometers included in each level of spectrometer can be flexibly designed based on actual needs, and this application does not limit this. Specifically, the first beam splitter is used to split the first light beam into N1 second light beams, the second beam splitter is used to split the target second light beam in the N1 second light beams into N2 third light beams, and the third beam splitter is used to split the target third light beam in the N2 third light beams into N3 fourth light beams. The field of view angle range of the N2 third light beams is [0, γ]. The target third light beam is a third light beam located in the field of view angle range [0, β3] or a third light beam located in the field of view angle range [β4, γ], where β3 is greater than 0 and less than β4, and β4 is less than γ. In one possible implementation, the target third light beam is the third light beam located at -γ / 2 in the N2 third light beams, and the target third light beam is the third light beam located at γ / 2 in the N2 third light beams.

[0157] It can be understood that the field of view angle range of the N2 third light beams is [-γ / 2, γ / 2]. Accordingly, the target third light beam is the third light beam located in the field of view angle range of [-γ / 2, β3], or the target third light beam is the second light beam located in the field of view angle range of [β4, γ / 2], where β4 is less than γ / 2, and β3 is greater than -γ / 2 and less than β4. In one possible implementation, the target third light beam is the third light beam located at -γ / 2 among the N2 third light beams, or the target third light beam is the third light beam located at γ / 2 among the N2 third light beams.

[0158] In order to prevent the second light beam obtained by the first beam splitter and the third light beam obtained by the second beam splitter from crosstalking with each other, the emission module may also include M-1 first deflecting prisms, one second beam splitter corresponds to one first deflecting prism, one third beam splitter corresponds to one second deflecting prism, and so on. The first deflecting prism is used to deflect the target second light beam by a first angle and then propagate it to the second beam splitter. Specifically, the first deflecting prism is used to deflect the target second light beam by a first angle in a direction away from the central field of view of the N1 second light beams. Please refer to Figure 5. The first deflecting prism 11 deflects the target second light beam in the N1 second light beams by a first angle Δθ 11 The first deflecting prism 12 deflects the target second beam among the N1 second beams by a first angle Δθ. 12 The target third light beam is then transmitted to the second beam splitter 22. The second deflecting prism is used to deflect the target third light beam by a second angle before transmitting it to the third beam splitter. It should be noted that the first polarizing prism and the second polarizing prism can be the same or different. Furthermore, the first angle at which the first deflecting prism deflects the target second light beam and the second angle at which the second deflecting prism deflects the target third light beam can be the same or different, and this application does not impose any limitation on this.

[0159] 5, the first beam is split into N1 second beams by the first beam splitter, and the angular intervals of the N1 second beams are the same, all θ1, and the intensity of each second beam in the N1 second beams is P / N1. The target second beam in the N1 second beams is deflected by the first deflection prism 11 at a first angle Δθ 11 Then it enters the second beam splitter 21, which splits the received second beam into N 21 The third beam, N 21 The third beams have the same angle interval, all of which are θ 21 , N 21 The intensity of each second beam in the second beams is P / N1N 21 The target second beams of N1 second beams are deflected by the first deflection prism 12 at a first angle Δθ. 12 Then it enters the second beam splitter 22, which splits the received second beam into N22 The third beam, N 22 The angular spacing of the third beams is θ 22 , N 22 The intensity of each third beam in the third beam is P / N1N 22 . Furthermore, θ1 is smaller than θ 22 , θ1 is less than θ 21 ,θ 21 and θ 22 It can be the same or different.

[0160] In order to facilitate the explanation of the scheme, the following 21 and θ 22 The same, using θ2 as an example; with N 22 With N 21 The same is represented by N2 as an example; for example, the first-stage optical splitter includes one first optical splitter, and each subsequent stage includes two corresponding optical splitters. For example, the second-stage optical splitter includes two second optical splitters, the third-stage optical splitter includes two third optical splitters, and so on. The m-th stage optical splitter includes two m-th optical splitters.

[0161] As shown in Table 1, the present application provides a relationship between the angular intervals between light beams obtained by splitting with an m-level beam splitter, where m is an integer greater than 1.

[0162] Table 1 Relationship between the angular intervals of the light beams obtained by splitting with an m-level beam splitter

[0163]

[0164] As can be seen from Table 1, the angular interval of the N1 second light beams obtained by the first beam splitter is θ1, and the angular interval of the N2 third light beams obtained by the second beam splitter is θ2. The angular interval between the adjacent second light beams and the third light beams located on both sides of β1 satisfies the following formula 1. It can also be understood that the angular interval between the third light beam and the second light beam adjacent to the third light beam satisfies the following formula 1.

[0165] Δθ1-θ2(N2-1) / 2 Formula 1

[0166] By analogy, we can get N through the m-1th optical splitter. m-1 The mth beam is split by the mth beam splitter to obtain N m There is an m+1th light beam, and the angular interval between the m+1th light beam and the mth light beam adjacent to the m+1th light beam satisfies the following formula 10.

[0167] Δθ m-1 -θ m (N m -1) / 2 Formula 10

[0168] As shown in Table 2, this application provides a relationship between the intensities of light beams obtained by splitting with an m-level beam splitter.

[0169] Table 2 Relationship between the intensity of the beam obtained by the m-level beam splitter

[0170]

[0171] From Table 2 above, it can be seen that the intensity of each of the N1 second beams obtained by the first beam splitter is P / N1, and the intensity of each of the N2 third beams obtained by the second beam splitter is P / (N1×N2). Similarly, the intensity of each of the N beams obtained by the mth beam splitter is P / (N1×N2). m-1 The intensity of each m-th beam in the m-th beam is P / ∏ i＝1:m-1 N i .

[0172] For example, the optical splitter may be a DOE, which has high diffraction efficiency, unique dispersion performance, more design freedom, and a wide range of material options.

[0173] It should be noted that the above-mentioned emission module may also include other possible components, which are not limited in this application. For example, the emission module may also include a collimating component, which may include, for example, a microlens array (MLA) or a cylindrical mirror, wherein the cylindrical mirror includes but is not limited to a plano-convex cylindrical mirror (or plano-convex cylindrical lens), a plano-concave cylindrical mirror (or plano-concave cylindrical lens), a biconvex cylindrical mirror (biconvex cylindrical lens), and a biconcave cylindrical mirror (biconcave cylindrical lens).

[0174] Based on the above, two possible implementations of the aforementioned transmit module are described below, combined with specific hardware structures. This will facilitate a further understanding of the structure of the transmit module. It should be noted that, unless otherwise specified or logically conflicting, the components and structures described above can be combined to form other possible transmit modules based on their inherent logical relationships. The two transmit modules described below are merely examples.

[0175] Structure 1: The emission module includes a light source component, a collimating component, a first beam splitter, a first deflecting prism and a second beam splitter.

[0176] Please refer to Figure 6a, which is a structural diagram of another emission module provided by the present application. In this example, the emission module includes a first spectrometer and a second spectrometer. The first light beam emitted by the light source component is collimated by the collimating component and then propagated to the first spectrometer. The first spectrometer is used to divide the first light beam into N1 second light beams, where N1 is an integer greater than 2. The target second light beam in the N1 second light beams is deflected by the first deflection prism at a first angle and then propagated to the second spectrometer. The second spectrometer is used to divide the received target second light beam into N2 third light beams. The second light beams other than the target second light beam in the N1 second light beams are directed to the detection area, and the N2 third light beams are also directed to the detection area. For the N1 second light beams and the N2 third light beams, please refer to the aforementioned related introduction, which will not be repeated here.

[0177] Furthermore, the second light beams other than the target second light beam in the N1 second light beams form a first light spot in the detection area, and the N2 third light beams form a second light spot in the detection area. The intensity of the first light spot is greater than the intensity of the second light spot, and / or the interval between the first light spots is smaller than the interval between the second light spots.

[0178] Structure 2: The emission module includes a light source component, a collimation component, a first spectrometer, a second spectrometer and a third spectrometer.

[0179] Please refer to Figure 6b, which is a structural diagram of another emission module provided by the present application. In this example, the emission module includes a first beam splitter, a second beam splitter and a third beam splitter. The first light beam emitted by the light source assembly is collimated by the collimating assembly and then propagated to the first beam splitter. The first beam splitter is used to split the first light beam into N1 second light beams, where N1 is an integer greater than 2. The target second light beam in the N1 second light beams is deflected by the first deflection prism at a first angle and then propagated to the second beam splitter. The second beam splitter is used to split the received target second light beam into N2 third light beams, where N2 is an integer greater than 2. The target third light beam in the N2 third light beams is deflected by the second deflection prism at a second angle and then propagated to the third beam splitter. The third beam splitter is used to split the target third light beam into N3 fourth light beams, where the angular interval of the N3 fourth light beams is θ3, where N3 is an integer greater than 2. Among them, the second beams except the target second beam in the N1 second beams are emitted to the detection area, the third beams except the target third beam in the N2 third beams are emitted to the detection area, and the N3 fourth beams are emitted to the detection area.

[0180] Furthermore, the second beams other than the target second beam in the N1 second beams form a first light spot in the detection area, the N2 third beams form a second light spot in the detection area, and the N3 fourth beams form a third light spot in the detection area. The intensity of the first light spot is greater than the intensity of the second light spot, the intensity of the second light spot is greater than the intensity of the third light spot, and / or the interval between the first light spots is smaller than the interval between the second light spots, and / or the interval between the second light spots is smaller than the interval between the third light spots.

[0181] It should be noted that the multi-stage optical splitter can also be an integrated module, or can also be multiple independent stages. In addition, the m-stage optical splitter can also be understood as an m-layer optical splitter.

[0182] Example 2

[0183] Please refer to Figure 7, which is a schematic diagram of the structure of another transmission module provided by the present application. The transmission module includes a light source assembly, an optical fiber splitting assembly and an optical fiber head array, and the optical fiber splitting assembly is connected to the optical fiber head array (optical fiber splice) through an optical fiber. The optical fiber splitting assembly includes at least two stages of cascaded optical fiber splitters. The light source assembly is used to emit a first light beam. The optical fiber splitting assembly is used to split the first light beam into Q fourth light beams, and emit the Q fourth light beams through the optical fiber head array, where Q is an integer greater than 2; the intensities of the fourth light beams emitted by the first optical fiber head and the second optical fiber head in the optical fiber head array are different.

[0184] In one possible implementation, two cascaded fiber optic splitters are connected via optical fibers. It is understood that the greater the number of cascaded fiber optic splitters, the lower the intensity of the resulting fourth light beam. By varying the number of cascaded fiber optic splitters, a uniform intensity distribution can be achieved.

[0185] Based on the above solution, since the intensities of the fourth light beams emitted by the first and second optical fiber heads in the optical fiber head array differ, a non-uniform distribution of the intensity of the fourth light beam emitted by the transmitting module can be achieved. For example, the light spot formed by the Q fourth light beams has a convex or quasi-convex shape. For details on convex or quasi-convex light spots, please refer to the aforementioned relevant description and will not be repeated here.

[0186] The following describes the various functional components and structures shown in FIG. 7 to provide an exemplary specific implementation solution.

[0187] For the light source assembly, please refer to the above description of the light source assembly in FIG2 , which will not be repeated here.

[0188] 3. Fiber Head Array

[0189] In one possible implementation, the optical fiber tips in the optical fiber connector array are the end devices of the optical fibers, and the spacing between two adjacent optical fiber tips in the optical fiber connector array can be flexibly adjusted. Furthermore, optionally, the optical fiber tips in the optical fiber connector array can be unevenly distributed or evenly arranged.

[0190] Please refer to Figure 8a, which is a schematic diagram of the structure of a fiber optic head array provided in this application. In this example, the fiber optic head array includes a first fiber optic head array and a second fiber optic head array. The interval between the fiber optic heads in the first fiber optic head array is called the first interval, and the interval between the fiber optic heads in the second fiber optic head array is called the second interval, wherein the first interval is smaller than the second interval. In this example, the first intervals between the fiber optic heads in the first fiber optic head array are all the same, and the second intervals between the fiber optic heads in the second fiber optic head array are also the same.

[0191] Please refer to Figure 8b, which is a schematic diagram of the structure of another optical fiber head array provided in the present application. In this example, the optical fiber head array includes a first optical fiber head array and a second optical fiber head array. The interval between the optical fiber heads in the first optical fiber head array is called the first interval, and the interval between the optical fiber heads in the second optical fiber head array is called the second interval, and the first interval is smaller than the second interval. In this example, the first intervals between the optical fiber heads in the first optical fiber head array are different (such as gradual), and the second intervals between the optical fiber heads in the second optical fiber head array are also different (such as gradual). It can be understood that the largest first interval in the first optical fiber head array is smaller than the smallest second interval in the second optical fiber head array.

[0192] In one possible implementation, the first fiber tip array corresponds to the region of interest, and the second fiber tip array corresponds to the region of no interest. For an introduction to the regions of interest and no interest, please refer to the aforementioned related description and will not be repeated here. Furthermore, the first spacing between the fiber tips in the first fiber tip array is smaller than the second spacing between the fiber tips in the second fiber tip array. Based on this, the light spot of the fourth light beam corresponding to the region of interest is denser, while the light spot of the fourth light beam corresponding to the region of no interest is sparser.

[0193] Furthermore, optionally, the region of interest includes an area corresponding to the central field of view of the emission module, and the region of non-interest includes an area corresponding to the peripheral field of view of the emission module. Based on this, the light spots of the fourth light beam corresponding to the central field of view of the emission module are denser, and the light spots of the fourth light beam corresponding to the peripheral field of view of the emission module are sparser.

[0194] It should be noted that the first intervals between different optical fiber heads in the first optical fiber head array may be the same or different, and the second intervals between different optical fiber heads in the second optical fiber head array may be the same or different, and this application does not limit this. Furthermore, if the different first intervals in the first optical fiber head array are the same, the intervals between the light spots of the corresponding fourth light beams may be the same; if the different first intervals in the first optical fiber head array are different, the intervals between the light spots of the corresponding fourth light beams may be different. If the different second intervals in the second optical fiber head array are the same, the intervals between the light spots of the corresponding fourth light beams may be the same; if the different second intervals in the second optical fiber array are different, the intervals between the light spots of the corresponding fourth light beams may be different. For the method of determining the first interval, please refer to the following formula 2, and for the method of determining the second interval, please refer to the following formula 3, which will not be repeated here.

[0195] It is understandable that the interval between the first optical fiber head array and the second optical fiber head array may be greater than, less than, or equal to the first interval, or greater than, less than, or equal to the second interval.

[0196] 4. Fiber Optic Splitter Components

[0197] In one possible implementation, the fiber optic splitting assembly includes a first fiber optic splitting region and a second fiber optic splitting region, and at least one of the first fiber optic splitting region and the first fiber optic splitting region includes at least two stages of cascaded fiber optic splitters, and each fiber optic splitter is used to split a received light beam (such as a first light beam or a second light beam) into at least two. For example, the first fiber optic splitting region includes at least two stages of cascaded fiber optic splitters, and the second fiber optic splitting region includes a single-stage fiber optic splitter. For another example, the first fiber optic splitting region includes at least two stages of cascaded fiber optic splitters, and the second fiber optic splitting region includes at least two stages of fiber optic splitters. The number of splits of the received light beam by different fiber optic splitters can be the same or different, and the splitting intensities of the received light beam by different fiber optic splitters can be the same or different, and this application does not limit this. It should be noted that the fiber optic splitting assembly can also include more than two fiber optic splitting regions, for example, including three fiber optic splitting regions or four fiber optic splitting regions, and the number of cascaded fiber optic splitters in different fiber optic splitting regions is different.

[0198] For the convenience of describing the solution, the following takes as an example an optical fiber splitting assembly including two optical fiber splitting regions, namely, a first optical fiber splitting region and a second optical fiber splitting region.

[0199] In one possible implementation, the number of cascaded fiber optic splitters in the first fiber optic splitting region is smaller than the number of cascaded fiber optic splitters in the second fiber optic splitting region. Based on this, the intensity of the fourth light beam obtained through the first fiber optic splitting region is greater than the intensity of the fourth light beam obtained through the second fiber optic splitting region. Furthermore, the first fiber optic splitting region corresponds to the region of interest, and the second fiber optic splitting region corresponds to the region of no interest. For an introduction to the regions of interest and no interest, please refer to the aforementioned related introduction and will not be repeated here. Based on this, the intensity of the fourth light beam corresponding to the region of interest is greater, and the intensity of the fourth light beam corresponding to the region of no interest is less.

[0200] Further, optionally, the intensity of the fourth light beam corresponding to the area of ​​interest may be the same, or may be gradual; the intensity of the fourth light beam corresponding to the area of ​​non-interest may be the same, or may be gradual; this application does not limit this. As shown in Figure 9a, this is a schematic diagram of the distribution of the light spot of the fourth light beam emitted by an emission module provided in this application in the first direction. In this example, the intensity of the fourth light beam corresponding to the area of ​​interest is gradual, and the intensity of the light spot of the fourth light beam corresponding to the center of the area of ​​interest is greater than the intensity of the light spot of the fourth light beam near the area of ​​non-interest; the intensity of the fourth light beam corresponding to the area of ​​non-interest is also taken as an example of gradual change, and the intensity of the light spot of the fourth light beam near the area of ​​interest is greater than the intensity of the light spot of the fourth light beam away from the area of ​​interest. The darker the filled color in Figure 9a, the stronger the intensity of the light spot.

[0201] Furthermore, optionally, the region of interest includes an area corresponding to the central field of view of the transmitting module, and the region of non-interest includes an area corresponding to the peripheral field of view of the transmitting module. Based on this, the intensity (or power) of the light spot of the fourth light beam corresponding to the central field of view of the transmitting module is greater, and the intensity (or power) of the light spot of the fourth light beam corresponding to the peripheral field of view of the transmitting module is less.

[0202] In one possible implementation, the fiber optic splitter in the first fiber optic splitting area can be connected to the first fiber optic head in the above-mentioned first fiber optic head array through an optical fiber, and the fiber optic splitter in the second fiber optic splitting area can be connected to the second fiber optic head in the second fiber optic head array through an optical fiber.

[0203] Please refer to Figure 9b, which is a schematic diagram of the structure of a fiber optic splitting component provided in the present application. The fiber optic splitting component includes a first fiber optic splitting region, a second fiber optic splitting region, and a third fiber optic splitting region. Among them, the first fiber optic splitting region includes a cascaded 2-level fiber optic splitter, the second fiber optic splitting region includes a cascaded 3-level fiber optic splitter, and the third fiber optic splitting region includes a cascaded 4-level fiber optic splitter. In this example, each level of fiber optic splitter splits the received light beam into two light beams of equal intensity. It can also be understood that the fiber optic splitter in this example is a fiber optic splitter with uniform light splitting, and the splitting intensity ratio is 50:50. In this example, the intensity of the first light beam is taken as 1, and the losses of each splitter are ignored. Based on this, the two-stage fiber optic splitter cascaded in the first fiber optic splitting region is used to split the intensity of the first light beam from the light source assembly into a fourth light beam with an intensity of 1 / 4, the three-stage fiber optic splitter cascaded in the second fiber optic splitter region is used to split the intensity of the first light beam from the light source assembly into a fourth light beam with an intensity of 1 / 8, and the four-stage fiber optic splitter cascaded in the third fiber optic splitting region is used to split the intensity of the first light beam into a fourth light beam with an intensity of 1 / 16. It can also be understood that the fourth light beam with an intensity of 1 / 4 is obtained by splitting the first light beam by the first fiber optic splitting region in the fiber optic splitting assembly, the fourth light beam with an intensity of 1 / 8 is obtained by splitting the first light beam by the second fiber optic splitting region in the fiber optic splitting assembly, and the fourth light beam with an intensity of 1 / 16 is obtained by splitting the first light beam by the third fiber optic splitting region in the fiber optic splitting assembly.

[0204] It is understandable that the emission module may also include other possible structures, for example, the emission module may also include a first lens group. The first lens assembly includes at least one lens. The lens may be, for example, a spherical lens (such as a concave lens, or a convex lens, etc.), or it may be an aspheric lens. The combination of multiple spherical lenses and / or aspheric lenses as the first lens assembly helps to improve the imaging quality of the detection device and reduce the aberration of the optical imaging system. It should be understood that there are many different types of convex lenses and concave lenses, for example, convex lenses include biconvex lenses, plano-convex lenses and concave-convex lenses, and concave lenses include biconcave lenses, plano-concave lenses and concave-convex lenses. The present application does not limit the types of convex lenses and concave lenses.

[0205] The lens element in the first lens assembly can be made of an optical material such as glass, resin, or crystal. When the lens element is made of resin, it helps reduce the mass of the emission module. When the lens element is made of glass, it helps further improve the imaging quality of the emission module. Furthermore, to effectively suppress temperature drift, the first lens assembly includes at least one lens element made of glass.

[0206] Based on the above, the following describes a possible implementation of the aforementioned transmit module, combined with a specific hardware structure. This will facilitate a further understanding of the structure of the transmit module. It should be noted that, unless otherwise specified or logically conflicting, the components or structures described above can be combined to form other possible transmit modules based on their inherent logical relationships. The two transmit modules described below are merely examples.

[0207] As shown in Figure 10a, it is a schematic structural diagram of another transmission module provided by the present application. The transmission module includes a light source assembly, a fiber optic splitting assembly, a fiber optic head array and a first lens assembly. The fiber optic splitting assembly includes a first fiber optic splitting area and a second fiber optic splitting area, and the fiber optic head array includes a first fiber optic head array and a second fiber optic head array. Among them, the first fiber optic splitting area includes a cascaded three-level fiber optic splitter, and the second fiber optic splitting area includes a cascaded four-level fiber optic splitter. It can also be understood that in this example, the part of the fiber optic splitter with a total of three levels of cascade is called the first fiber optic splitting area, and the part of the fiber optic splitter with a total of four levels of cascade is called the second fiber optic splitting area. The first fiber optic splitter area and the second fiber optic splitter may have partially shared fiber optic splitters. The fiber optic heads in the first fiber optic head array are connected to the fiber optic splitters in the first fiber optic splitting area through optical fibers, and the fiber optic heads in the second fiber optic head array are connected to the fiber optic splitters in the second fiber optic splitting area through optical fibers. The fourth light beam, obtained after the first light beam is split by the fiber optic splitter in the first fiber optic splitting region, propagates via optical fibers to the first fiber optic head array and is emitted from the first fiber optic head array. The fourth light beam, obtained after the first light beam is split by the fiber optic splitter in the second fiber optic splitting region, propagates via optical fibers to the second fiber optic head array and is emitted from the second fiber optic head array. The first spacing between the first fiber optic heads in the first fiber optic head array is smaller than the second spacing between the second fiber optic heads in the second fiber optic head array. Therefore, the angular spacing of the fourth light beam emitted by the first fiber optic head array is smaller than the angular spacing of the fourth light beam emitted by the second fiber optic head array. This is because the number of cascaded fiber optic splitters in the first fiber optic splitting region is smaller than that in the second fiber optic splitting region. Therefore, the intensity of the first light beam after being split by the first optical fiber splitting area is 1 / 8, and the intensity of the first light beam after being split by the second optical fiber splitting area is 1 / 16. Furthermore, the intensity of the fourth light beam emitted by the first optical fiber head in the first optical fiber head array is greater than the intensity of the fourth light beam emitted by the second optical fiber head in the second optical fiber head array. Please refer to Figure 10b. The darker the filled color, the greater the intensity of the light spot.

[0208] Further, optionally, the first intervals between the first optical fiber heads in the first optical fiber head array satisfy the following formula 2, and the second intervals between the second optical fiber heads in the second optical fiber head array satisfy the following formula 3.

[0209]

[0210] Where f1 is the equivalent focal length of the first lens group, D1 is the first distance, is the angular interval of the fourth light beam emitted from the first optical fiber head array.

[0211]

[0212] Where f1 is the equivalent focal length of the first lens group, D2 is the second distance, is the angular interval of the fourth light beam emitted from the second optical fiber head array.

[0213] It should be noted that, in this example, different first intervals in the first optical fiber head array are the same, and different second intervals in the second optical fiber head array are the same.

[0214] Example 3

[0215] Please refer to Figure 11, which is a schematic diagram of the structure of another emission module provided by the present application. The emission module includes a light source array and a second lens assembly. The light sources in the light source array are non-uniformly distributed. For example, the light source array includes a first light source array and a second light source array, and the third interval between the light sources in the first light source array is different from the fourth interval between the light sources in the second light source array. The light source array is used to emit K fifth light beams, where K is an integer greater than 2. The second lens assembly is used to propagate the K fifth light beams from the light source array to the detection area.

[0216] Based on the above-described emission module, the non-uniform distribution of light sources in the light source array can be used to control the angular spacing of the K fifth light beams emitted by the emission module, thereby controlling the non-uniform distribution of the light spots of the K fifth light beams. For example, the non-uniform distribution of the angular spacing of the K fifth light beams can be controlled by the third spacing of the first light source array, the fourth spacing of the second light source array, and the equivalent focal length of the second lens assembly in the light source array. It can be understood that the smaller the angular spacing, the smaller the angular resolution, and the larger the angular spacing, the greater the angular resolution.

[0217] It should be noted that the third intervals between different light sources in the first light source array can be the same or different, and the fourth intervals between different light sources in the second light source array can be the same or different; this application does not limit this. Furthermore, the interval between the first and second light source arrays can be the same as the third or fourth intervals, or different from both the third and fourth intervals; this application does not limit this.

[0218] The following describes and explains each functional component and structure shown in FIG11 to provide an exemplary specific implementation solution.

[0219] 5. Light Source Array

[0220] In one possible implementation, the light source array includes m×n light sources, where m is an integer greater than 1 and n is a positive integer; or m is a positive integer and n is an integer greater than 1. Specifically, the light source array can be a one-dimensional light source array (or called a linear array). Please refer to Figure 12a. In this example, the light source array includes 8 light sources. These 8 light sources are arranged in strips, and the light source array is distributed at unequal intervals. Specifically, the light source array includes a first light source array and a second light source array. In this example, the different third intervals in the first light source array are the same in size, and the different fourth intervals in the second light source array are the same in size.

[0221] Alternatively, the light source array may be a two-dimensional array (or a planar array). Referring to FIG. 12b , a light source array comprising 8×8 light sources is used as an example. The light source array includes a first light source array and a second light source array. The intervals between light sources in the first light source array are referred to as third intervals, and the intervals between light sources in the second light source array are referred to as fourth intervals. In this example, different third intervals are of the same size, and different fourth intervals are of the same size.

[0222] In one possible implementation, the first light source array includes light sources corresponding to the area of ​​interest in the light source array, and the second light source array includes light sources corresponding to the area of ​​non-interest in the light source array. Specifically, the interval between the light sources in the first light source array corresponding to the area of ​​interest in the light source array is called the third interval, and the interval between the light sources in the second light source array corresponding to the area of ​​non-interest in the light source array is called the fourth interval, and the third interval is smaller than the fourth interval. Based on this, the light spots of the fifth light beam corresponding to the area of ​​interest are denser, and the light spots of the fifth light beam corresponding to the area of ​​non-interest are sparser. Further, optionally, the area of ​​interest includes the area corresponding to the central field of view of the emission module, and the area of ​​non-interest includes the area corresponding to the edge field of view of the emission module. In this way, it can be achieved that the light spots of the fifth light beam corresponding to the central field of view of the emission module are denser, and the light spots of the fifth light beam corresponding to the edge field of view of the emission module are sparser. It can be understood that the light sources in the light source array can be adaptively adjusted based on demand.

[0223] It should be noted that the shapes of the light sources in the light source arrays shown in FIG12a and FIG12b are merely examples, and the present application does not limit the shapes of the light sources. For example, the shapes of the light sources may also be circular, square, or elliptical.

[0224] In one possible implementation, the light source array can be independently addressed. Independent addressing means that the light sources in the light source array can be independently strobed (or called lit or turned on or powered on), and the strobed light sources can be used to emit a third light beam. Specifically, a driving current can be input to the light source to be strobed to achieve the strobing of the light source. Specifically, the current intensity input to the light sources of the first light source array in the light source array is greater than the current intensity input to the light sources of the second light source array. In this way, the intensity of the fifth light beam emitted by the light sources in the first light source array can be greater than the intensity of the fifth light beam emitted by the light sources in the second light source array. Based on this, the intensity of the fifth light beam corresponding to the area of ​​interest is greater than the intensity of the fifth light beam corresponding to the area of ​​non-interest. Further, optionally, the area of ​​interest includes the area corresponding to the central field of view of the emission module, and the area of ​​non-interest includes the area corresponding to the edge field of view of the emission module. In this way, the intensity (or power) of the light spot of the fourth light beam corresponding to the central field of view of the emission module can be larger, and the intensity (or power) of the light spot of the fourth light beam corresponding to the edge field of view of the emission module can be smaller.

[0225] In one possible implementation, the addressing method of the light source array may include, but is not limited to, selecting the light sources column by column, or selecting the light sources row by row, or selecting the light sources according to the area of ​​interest, etc. It can be understood that the addressing method of the light source array is also related to the physical connection relationship of the light sources. In conjunction with the above-mentioned Figure 12b, for example, if the light sources in the same column of the light source array are connected in series, and the light sources in different columns are connected in parallel, then the light sources in the light source array can be selected column by column. For another example, if the light sources in the same row of the light source array are connected in series, and the light sources in different rows are connected in parallel, then the light sources in the light source array can be selected row by row. For another example, if the light sources on each diagonal line in the light source array are connected in series, and the light sources on different diagonals are connected in parallel, then the light sources in the light source array can be selected diagonally.

[0226] Exemplarily, the light sources in the light source array may be, for example, VCSEL, EEL, DPSS, fiber laser, or LD.

[0227] 6. Second Lens Assembly

[0228] In a possible implementation, the second lens assembly may include at least one lens. For details about the lens, refer to the introduction to the first lens assembly, which will not be repeated here.

[0229] In a possible implementation, the third interval between the light sources in the first light source array satisfies the following formula 4, and the fourth interval between the light sources in the second light source array satisfies the following formula 5.

[0230] ω1=D3 / f2 Formula 4

[0231] Wherein, f2 is the equivalent focal length of the second lens assembly, D3 is the third interval, and ω1 is the angular interval of the fifth light beams emitted by the light sources in the first light source array.

[0232] ω2=D4 / f2 Formula 5

[0233] Wherein, f2 is the equivalent focal length of the second lens assembly, D4 is the fourth interval, and ω2 is the angular interval of the fifth light beam emitted by the light source occupied by the second light source.

[0234] Based on the above, the following describes a possible implementation of the aforementioned transmit module, combined with a specific hardware structure. This will facilitate a further understanding of the structure of the transmit module. It should be noted that, unless otherwise specified or logically conflicting, the components or structures described above can be combined to form other possible transmit modules based on their inherent logical relationships. The two transmit modules described below are merely examples.

[0235] As shown in Figure 13, it is a structural schematic diagram of another emission module provided by the present application. The emission module includes a light source array and a second lens assembly. The light source array is located on the object focal plane of the second lens assembly. In this example, the light source array is taken as a one-dimensional light source array as an example. The light source array includes a first light source array and a second light source array. The third interval between the light sources in the first light source array is smaller than the fourth interval between the light sources in the second light source array. The current intensity injected into the light sources in the first light source array is greater than the current intensity injected into the light sources in the second light source array. For a more detailed introduction to the first light source array and the second light source array, please refer to the aforementioned related description, which will not be repeated here.

[0236] By controlling the intensity of the current injected into the first and second light source arrays within the light source array, the intensity of the K fifth light beams emitted by the light source arrays can be controlled to be non-uniformly distributed. By controlling the third spacing of the first light source array and the fourth spacing of the second light source array within the light source array, the angular spacing of the K fifth light beams can be controlled to be non-uniformly distributed, thereby controlling the non-uniform distribution of the light spots of the K fifth light beams.

[0237] Example 4

[0238] Please refer to Figure 14, which is a schematic diagram of the structure of a receiving module provided in this application. The receiving module includes a detector array and a third lens assembly. The detectors in the detector array are unevenly distributed. For example, the detector array includes a first detector array and a second detector array, and the fifth spacing between the detectors in the first detector array is different from the sixth spacing between the detectors in the second detector array. The third lens assembly is used to propagate L sixth light beams from the detection area to the detector array, where L is an integer greater than 2. The detector array is used to convert the L sixth light beams into electrical signals, which are used to determine information about the detection area.

[0239] The information of the detection area includes but is not limited to the associated information of the target in the detection area, wherein the associated information of the target includes but is not limited to the distance information of the target, the direction of the target, the speed of the target, and / or the grayscale information of the target.

[0240] Based on the above receiving module, the detectors in the detector array are designed to be non-uniformly distributed so that the detector array can receive the non-uniformly distributed sixth light beam. For example, the detectors in the detector array can be non-uniformly distributed by designing the fifth interval in the first detector array to be different from the sixth interval in the second detector array.

[0241] In one possible implementation, the sixth light beam may also be referred to as an echo signal, which is a light beam obtained by reflecting the light beam emitted by the emission module from the target in the detection area. In combination with the above-mentioned embodiment one, the L sixth echo signals are echo signals reflected by the target in the detection area from the N1-2 second light beams and the N2 third light beams emitted by the emission module, that is, L=N1-2+N2. In combination with the above-mentioned embodiment two, the L sixth echo signals are echo signals obtained by reflecting the Q fourth echo signals emitted by the emission module, that is, L=Q. In combination with the above-mentioned embodiment three, the L sixth echo signals are echo signals obtained by reflecting the K fifth light beams emitted by the emission module from the target, that is, L=K.

[0242] It should be noted that the fifth spacing between detectors in the first detector array can be the same or different, and the sixth spacing between detectors in the second detector array can be the same or different, and this application does not limit this. Furthermore, the spacing between the first and second detector arrays can be different from the fifth spacing and also different from the sixth spacing; or it can be equal to the fifth spacing or the sixth spacing, and this application does not limit this.

[0243] In one possible implementation, the first detector array includes detectors corresponding to the region of interest, and the second detector array includes detectors corresponding to the region of no interest. Further, optionally, the fifth interval is smaller than the sixth interval. For the region of interest and the region of no interest, please refer to the aforementioned related introduction, which will not be repeated here. Since the angular interval of the sixth light beam corresponding to the detection region is smaller, and the angular interval of the sixth light beam corresponding to the region of no interest is larger, by designing the fifth interval to be smaller than the sixth interval, the detector array can receive the sixth light beam as accurately as possible, thereby helping to improve the energy utilization rate of the sixth light beam.

[0244] The following describes and explains each functional component and structure shown in FIG14 to provide an exemplary specific implementation solution.

[0245] 7. Third Lens Assembly

[0246] In a possible implementation, the third lens assembly is configured to receive L sixth light beams from the detection area and propagate the L sixth light beams to the detector array.

[0247] Exemplarily, the third lens assembly includes at least one lens. For details about the lens, refer to the introduction to the first lens assembly, which will not be repeated here.

[0248] Detector Array

[0249] In one possible implementation, the detector array is located at the image-side focal plane of the third lens assembly. Exemplarily, the detector array includes a first detector array and a second detector array, wherein a fifth spacing between detectors in the first detector array satisfies the following formula 6, and a sixth spacing between detectors in the second detector array satisfies the following formula 7.

[0250] Ω1=D5 / f3 Formula 6

[0251] Wherein, f3 is the equivalent focal length of the third lens assembly, D5 is the fifth interval, and Ω1 is the angular interval at which the detectors in the first detector array receive the sixth light beam;

[0252] Ω2=D6 / f3 Formula 7

[0253] Wherein, f3 is the equivalent focal length of the third lens assembly, D6 is the sixth interval, and Ω2 is the angular interval at which the detectors in the second detector array receive the sixth light beam.

[0254] Please refer to Figure 15, which is a schematic diagram of the structure of a detector array provided in the present application. Taking the detector array including 8×1 detectors as an example, it can also be called a line detector array. The detector array includes a first detector array and a second detector array. In this example, the different fifth intervals in the first detector array are the same as an example, and the different sixth intervals in the second detector array are the same as an example. Among them, the fifth interval is smaller than the sixth interval. It can be understood that in this example, the detector array includes two detector arrays with different intervals. The detector array can also include more than two detector arrays with different intervals, and will not be repeated here.

[0255] Exemplarily, the detectors in the detector array can be, for example, a photon detector (PD), a P-type semiconductor-intrinsic level-N1 type semiconductor (positive intrinsic negative, PIN) photodiode (also known as a PIN junction diode), an avalanche photodiode (APD), or a single-photon avalanche diode (SPAD) array, a silicon photomultiplier (SiMP) array, etc.

[0256] It should be understood that the detector array shown in FIG. 15 is merely an example, and this application does not limit the number of rows and columns included in the detector array. For example, the detector array may also be a multi-row, one-column detector array, or other multi-row, multi-column detector arrays, which are not listed here. Furthermore, the detectors in the detector array may also have other possible shapes (e.g., circular, square, or elliptical), which are not limited in this application.

[0257] Based on the above, a possible implementation of the aforementioned receiving module is described below, combined with a specific hardware structure. This will facilitate a further understanding of the structure of the aforementioned receiving module. It should be noted that, unless otherwise specified or logically conflicting, the various components or structures described above can be combined to form other possible receiving modules based on their inherent logical relationships. The two receiving modules described below are merely examples.

[0258] As shown in Figure 16, it is a schematic diagram of the structure of another receiving module provided by the present application. The receiving module includes a detector array and a third lens assembly. Among them, the detector array is taken as an example in Figure 15 above. The sixth light beam is converged to the detector array through the third lens assembly. It can be understood that the fifth interval of the first detector array and the equivalent focal length of the third lens assembly determine the iFOV of a single detector in the first detector array, and the sixth interval of the second detector array and the equivalent focal length of the third lens assembly determine the iFOV of the detector in the second detector array.

[0259] Example 5

[0260] Please refer to Figure 17, which is a structural diagram of another receiving module provided by the present application. The receiving module includes an optical fiber head array and a detector array. The optical fiber head array and the detector array are connected by optical fibers. The optical fiber heads in the optical fiber head array are unevenly distributed. For example, the optical fiber head array includes a third optical fiber head array and a fourth optical fiber head array. The seventh interval between the optical fiber heads in the third optical fiber head array is different from the eighth interval between the optical fiber heads in the fourth optical fiber head array. The optical fiber head array is used to transmit H seventh light beams from the detection area to the detector array, where H is an integer greater than 2. The detector array is used to convert the H seventh light beams into electrical signals, which are used to determine the information of the detection area. For information about the detection area, please refer to the relevant introduction in the above-mentioned embodiment 4, which will not be repeated here.

[0261] Based on the above-described receiving module, by designing a non-uniform distribution of the spacing between the optical fiber tips in the optical fiber tip array, the receiving module can receive a non-uniformly distributed seventh light beam. For example, the optical fiber tip array can be designed to include a third optical fiber tip array and a fourth optical fiber tip array, where the seventh spacing between the optical fiber tips in the third optical fiber tip array is different from the eighth spacing between the optical fiber tips in the fourth optical fiber tip array, thereby achieving a non-uniform distribution of the spacing between the optical fiber tips in the optical fiber tip array.

[0262] In one possible implementation, the third fiber head array corresponds to the region of interest, and the fourth fiber head array corresponds to the region of no interest. For an introduction to the region of interest and the region of no interest, please refer to the aforementioned related introduction and will not be repeated here. Since the angular interval of the seventh light beam corresponding to the detection area is smaller, and the angular interval of the seventh light beam corresponding to the region of no interest is larger, by designing the seventh interval to be smaller than the eighth interval, the fiber head array can receive the seventh light beam as accurately as possible, thereby helping to improve the energy utilization rate of the seventh light beam.

[0263] It should be noted that the seventh intervals between different optical fiber tips in the third optical fiber tip array may be the same or different, and the eighth intervals between different optical fiber tips in the fourth optical fiber tip array may be the same or different, and this application does not impose any restrictions on this. Furthermore, the interval between the third and fourth optical fiber tip arrays may be the same as the seventh or eighth intervals, or may be different from both the seventh and eighth intervals, and this application does not impose any restrictions on this.

[0264] In a possible implementation, an optical fiber head in the optical fiber head array is connected to a detector in the detector array via an optical fiber.

[0265] It should be noted that the receiving module further includes a fourth lens assembly. The fourth lens assembly may include at least one lens. For details about the lens, refer to the introduction to the first lens assembly and will not be repeated here.

[0266] Based on this, the seventh interval between the optical fiber heads in the third optical fiber head array satisfies the following formula 8, and the eighth interval between the optical fiber heads in the fourth optical fiber head array satisfies the following formula 9.

[0267] η1=D7 / f4 Formula 8

[0268] Wherein, f4 is the equivalent focal length of the fourth lens assembly, D7 is the seventh interval, and η1 is the angular interval of the seventh light beam received by the third optical fiber head array;

[0269] η2=D8 / f4 Formula 9

[0270] Wherein, f4 is the equivalent focal length of the fourth lens assembly, D8 is the eighth interval, and η2 is the angular interval of the seventh light beam received by the fourth optical fiber head array.

[0271] The following describes and explains each functional component and structure shown in FIG17 to provide an exemplary specific implementation solution.

[0272] Detector Array

[0273] In one possible implementation, the detectors in the detector array may be evenly distributed, as shown in Figure 18. Alternatively, the detectors in the detector array may be non-uniformly distributed, as shown in Figure 15 above, which will not be repeated here.

[0274] It should be noted that FIG. 18 and FIG. 15 given above are only two possible distribution modes of the detection array. It should be understood that the detector array may also have other possible distribution modes, and this application does not limit this.

[0275] 10. Fiber Optic Head Array

[0276] For an introduction to the optical fiber heads in the optical fiber connector array, please refer to the aforementioned related introduction. Further, optionally, the optical fiber heads in the optical fiber connector array are non-uniformly distributed.

[0277] Please refer to Figure 19a, which is a schematic diagram of the structure of a fiber optic head array provided in this application. In this example, the fiber optic head array includes a third fiber optic head array and a fourth fiber optic head array. The interval between the fiber optic heads in the third fiber optic head array is the seventh interval, and the interval between the fiber optic heads in the fourth fiber optic head array is the eighth interval, where the seventh interval is smaller than the eighth interval. In this example, the seventh interval between the fiber optic heads in the third fiber optic head array is the same, and the eighth interval between the fiber optic heads in the fourth fiber optic head array is also the same.

[0278] Please refer to Figure 19b, which is a schematic diagram of the structure of another optical fiber head array provided by the present application. In this example, the optical fiber head array includes a third optical fiber head array and a fourth optical fiber head array. The interval between the optical fiber heads in the third optical fiber head array is the seventh interval, and the interval between the optical fiber heads in the fourth optical fiber head array is the eighth interval, and the seventh interval is smaller than the eighth interval. In this example, the seventh interval between the optical fiber heads in the third optical fiber head array is different, and the eighth interval between the optical fiber heads in the fourth optical fiber head array is also different. It can be understood that the largest seventh interval in the third optical fiber head array is smaller than the smallest eighth interval in the fourth optical fiber head array.

[0279] It should be noted that the structures of the optical fiber head arrays given in FIG. 19 a and FIG. 19 b are merely examples. The optical fiber head arrays in this application may also be in other possible non-uniform distribution modes, and this application does not limit this.

[0280] Based on the structure and functional principles of the transmitting module described above, the present application may also provide a detection device, as shown in Figure 20. The detection device may include the transmitting module of any of the above embodiments and the receiving module of any of the above embodiments, and no further details will be given here. It should be noted that, unless otherwise specified or logically conflicting, the modules described above may be combined to form other possible detection devices based on their inherent logical relationships.

[0281] The following exemplarily shows six possible structures of the detection device.

[0282] Structure 1: The detection device includes the transmitting module of embodiment 1 and the receiving module of embodiment 2.

[0283] Based on this structure 1, taking as an example a case where the light beams emitted by the transmitting module toward the detection area include N1-2 second light beams and N2 third light beams, where the angular interval of the N1 second light beams is θ1, and the angular interval of the N2 third light beams is θ2, and taking as an example a case where the detector array in the receiving module includes a first detector array and a second detector array, accordingly, the angular interval Ω1 at which the detectors in the first detector array receive the sixth light beam is the same as the angular interval θ1 of the N1 second light beams, and the angular interval Ω2 at which the detectors in the second detector array receive the sixth light beam is the same as the angular interval θ2 of the N2 third light beams.

[0284] Structure 2, the detection device includes the transmitting module of embodiment 2 and the receiving module of embodiment 4.

[0285] Based on this structure 2, take the example of the optical fiber head array in the transmitting module including the first optical fiber head array and the second optical fiber head array. Take the example of the detector array in the receiving module including the first detector array and the second detector array. Accordingly, the fifth interval between the detectors in the first detector array is the same as the first interval between the optical fiber heads in the first optical fiber head array, and the sixth interval between the detectors in the second detector array is the same as the second interval between the optical fiber heads in the second optical fiber head array.

[0286] Structure 3: The detection device includes the transmitting module of the third embodiment and the receiving module of the fourth embodiment.

[0287] Based on this structure 3, taking the example of the light source array in the transmitting module including the first light source array and the second light source array, and the example of the detector array in the receiving module including the first detector array and the second detector array, the fifth interval between the detectors in the first detector array is the same as the third interval between the light sources in the first light source array, and the sixth interval between the detectors in the second detector array is the same as the fourth interval between the light sources in the second light source array. It can also be understood that the light sources in the light source array correspond one-to-one with the detectors in the detector array.

[0288] Structure 4: The detection device includes the transmitting module of embodiment 1 and the receiving module of embodiment 5.

[0289] Based on this structure 4, taking as an example a case where the light beams emitted by the transmitting module toward the detection area include N1-2 second light beams and N2 third light beams, where the angular interval of the N1 second light beams is θ1, and the angular interval of the N2 third light beams is θ2, and taking as an example a case where the optical fiber head array in the receiving module includes a third optical fiber head array and a fourth optical fiber head array, accordingly, the angular interval η1 of the seventh light beam received by the third optical fiber head array is the same as the angular interval θ1 of the N1 second light beams, and the angular interval η2 of the seventh light beam received by the fourth optical fiber head array is the same as the angular interval θ2 of the N2 third light beams.

[0290] Structure 5: The detection device may also include the transmitting module of embodiment 2 and the receiving module of embodiment 5.

[0291] Based on this structure 5, taking the example of the optical fiber tip array in the transmitting module including the first optical fiber tip array and the second optical fiber tip array, and taking the example of the optical fiber tip array in the receiving module including the third optical fiber tip array and the fourth optical fiber tip array, accordingly, the seventh interval between the optical fiber tips in the third optical fiber tip array is the same as the first interval between the optical fiber tips in the first optical fiber tip array, and the eighth interval between the optical fiber tips in the fourth optical fiber tip array is the same as the second interval between the optical fiber tips in the second optical fiber tip array.

[0292] Structure 6: The detection device includes the transmitting module of the third embodiment and the receiving module of the fifth embodiment.

[0293] Based on this structure 6, taking the example of the light source array in the transmitting module including the first light source array and the second light source array, and taking the example of the optical fiber head array in the receiving module including the third optical fiber head array and the fourth optical fiber head array, accordingly, the seventh interval between the optical fiber heads in the third optical fiber head array is the same as the third interval between the light sources in the first light source array, and the eighth interval between the optical fiber heads in the fourth optical fiber head array is the same as the fourth interval between the light sources in the second light source array.

[0294] Furthermore, optionally, the above-mentioned detection device may also include a scanning module, as shown in FIG20 , which is used to project (eg, reflect) the received light beam toward the detection area.

[0295] In one possible implementation, the light beam emitted by the emitting module is distributed in a first direction, and the scanning module can scan along the second direction to achieve a two-dimensional scan in the detection area. For example, the first direction is perpendicular to the second direction. Alternatively, the light beam emitted by the emitting module is distributed in the second direction, and the scanning module can scan along the first direction to achieve a two-dimensional scan in the detection area. Scanning through a one-dimensional scanning module helps to simplify the structure of the scanning module, reduce the complexity of the detection device, and improve the scanning efficiency. Specifically, the scanning module is used to change the scanning angle of the scanning module to change the propagation direction of the second light beam from the emitting module to the detection area, thereby achieving scanning of the detection area. It should be noted that the scanning module can rotate in a continuous operation mode, or it can rotate in a stepping operation mode, and this application does not limit this. In actual applications, the specific mode of rotation can be preset.

[0296] In one possible implementation, the scanning module may be located at the waist of the light beam emitted by the emitting module, thereby helping to reduce the volume of the detection device.

[0297] For example, the scanning module can be a polyhedron (e.g., an octahedron, a hexahedron, or a tetrahedron) rotating mirror, a microelectromechanical system (MEMS) galvanometer, or an oscillating mirror. It should be noted that this application does not limit the type of scanning module; any structure that can reflect the light beam from the transmitting module to the detection area is acceptable.

[0298] It should be noted that the detection device in the present application may also include other possible modules, such as a control module and / or a window (see Figure 20). The control device is used to control the detection device to detect the detection area. Alternatively, the control module is also used to plan the driving path based on the associated information of the determined target, such as avoiding obstacles on the path to be traveled, realizing automatic driving of the vehicle, etc. The window is used to isolate the influence of the external environment on the detection system.

[0299] Exemplarily, the control module may include one or more processing units, and the processing unit may be a circuit with signal (or data) processing capabilities. In one implementation, the processor may be a circuit with instruction reading and execution capabilities, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a microprocessor), or a digital signal processor (DSP); in another implementation, the processor may implement certain functions through the logical relationship of a hardware circuit, and the logical relationship of the hardware circuit is fixed or reconfigurable, such as a hardware circuit implemented by a processor as an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field programmable gate array (FPGA). In a reconfigurable hardware circuit, the process of the processor loading a configuration document to implement the hardware circuit configuration can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units. In addition, the processor can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), etc. For example, it can also be an application processor (AP), an image signal processor (ISP), or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. Among them, different processing units can be independent devices or integrated into one or more processors. Exemplarily, the above-mentioned detection device can be, for example, a lidar.

[0300] Based on the structure and functional principle of the detection device described above, the present application can also provide a terminal device. The terminal device may include the detection device in any of the above embodiments. Exemplarily, the terminal device can be, for example, a vehicle (such as an unmanned vehicle, a smart car, an electric car, or a digital car), a robot, a surveying and mapping equipment, a drone, a smart home device (such as a TV, a sweeping robot, a smart desk lamp, a sound system, an intelligent lighting system, an electrical control system, a home background music, a home theater system, an intercom system, or a video surveillance system), an intelligent manufacturing equipment (such as an industrial equipment), an intelligent transportation equipment (such as an AGV, an unmanned transport vehicle, or a truck), or an intelligent terminal (a mobile phone, a computer, a tablet computer, a PDA, a desktop computer, a headset, an audio system, a wearable device, an on-board device, a virtual reality device, an augmented reality device, etc.), etc.

[0301] 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.

[0302] 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 serving as an example, illustration, or illustration. Any embodiment or design described in this application as an "exemplary" should not be construed as being 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 on this application.

[0303] 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.

[0304] The above are only specific embodiments of the present application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A transmitting module, characterized in that: It includes a light source assembly and M optical splitters, where M is an integer greater than 1; The light source assembly is configured to emit a first light beam; A first beam splitter among the M beam splitters is configured to split the first light beam into N1 second light beams, wherein the viewing angle range of the N1 second light beams is [0, α], and N1 is an integer greater than 2; The second beam splitter among the M beam splitters is used to split the target second beam among the N1 second beams into N2 third beams, where the target second beam is a second beam located in the field of view angle range [0, β1], or a second beam located in the field of view angle range [β2, α], where β2 is less than α, and β1 is greater than 0 and less than β2.

2. The module according to claim 1, wherein: The intensity of the second light beam is greater than the intensity of the third light beam; and / or, An angular interval between any two adjacent second light beams in the N1 second light beams is smaller than an angular interval between any two adjacent third light beams in the N2 third light beams.

3. The module according to claim 1 or 2, wherein: The second light beams except the target second light beam in the N1 second light beams correspond to the region of interest, and the N2 third light beams correspond to the non-region of interest.

4. The module according to claim 3, wherein: The region of interest includes a region corresponding to a central field of view of the emission module, and the region of non-interest includes a region corresponding to a peripheral field of view of the emission module.

5. The module according to any one of claims 1 to 4, wherein: The transmitting module further includes M-1 first deflecting prisms, and one second beam splitter corresponds to one first deflecting prism; The first deflecting prism is used to deflect the target second light beam at a first angle and then propagate it to the second beam splitter.

6. The module according to claim 5, wherein: The angular interval between the adjacent second light beam and the third light beam located on both sides of β1 satisfies the following formula 1: Δθ1-θ2(N2-1) / 2 Formula 1 Wherein, Δθ1 is the first angle, and θ2 is the angular interval of the N2 third light beams.

7. The module according to any one of claims 1 to 6, wherein: The intensity of the second light beam is P / N1, the intensity of the third light beam is P / (N1×N2), and P is the intensity of the first light beam.

8. The module according to any one of claims 1 to 7, wherein: The beam splitter includes a diffractive optical element (DOE).

9. The module according to any one of claims 1 to 8, wherein: The M optical splitters further include a third optical splitter; The third beam splitter is used to split the target third beam in the N2 third beams into N3 fourth beams, the field of view angle range of the N2 third beams is [0, γ], the target third beam is a third beam located in the field of view angle range [0, β3], or a third beam located in the field of view angle range [β4, α], the β3 is greater than 0 and less than the β4, and the β4 is less than γ. The third beam splitter is at least one beam splitter after the second beam splitter.

10. The module according to any one of claims 1 to 9, wherein: The light source assembly includes a point light source.

11. A transmitting module, characterized in that: It includes a light source component, a fiber optic splitting component and a fiber optic head array, wherein the fiber optic splitting component is connected to the fiber optic head array through an optical fiber, and the fiber optic splitting component includes at least two stages of cascaded fiber optic splitters; The light source assembly is configured to emit a first light beam; The optical fiber splitting component is used to split the first light beam into Q fourth light beams, and emit the Q fourth light beams through the optical fiber head array, where Q is an integer greater than 2; the intensities of the fourth light beams emitted by the first optical fiber head and the second optical fiber head in the optical fiber head array are different.

12. The module according to claim 11, wherein: The optical fiber heads in the optical fiber head array are unevenly distributed or evenly arranged.

13. The module according to claim 11 or 12, wherein: The optical fiber head array includes a first optical fiber head array and a second optical fiber head array, the first optical fiber head belongs to the first optical fiber head array, and the second optical fiber head belongs to the second optical fiber head array; The intensity of the fourth light beam emitted through the first optical fiber head is greater than the intensity of the fourth light beam emitted through the second optical fiber head; And / or, a first interval between optical fiber heads in the first optical fiber head array is smaller than a second interval between optical fiber heads in the second optical fiber head array.

14. The module according to claim 13, wherein: The optical fiber splitting assembly includes a first optical fiber splitting area and a second optical fiber splitting area, the optical fiber splitter in the first optical fiber splitting area is connected to the first optical fiber head in the first optical fiber head array, and the optical fiber splitter in the second optical fiber splitting area is connected to the second optical fiber head in the second optical fiber head array; The number of cascaded optical fiber splitters in the first optical fiber splitting region is smaller than the number of cascaded optical fiber splitters in the second optical fiber splitting region.

15. The module according to any one of claims 11 to 14, wherein: The fourth light beam emitted through the first optical fiber head corresponds to the region of interest, and the fourth light beam emitted through the second optical fiber head corresponds to the region of no interest.

16. The module according to claim 15, wherein: The region of interest includes a region corresponding to a central field of view of the emission module, and the region of non-interest includes a region corresponding to a peripheral field of view of the emission module.

17. The module according to any one of claims 13 to 16, wherein: The emission module further includes a first lens assembly; The first interval satisfies the following formula 2: Wherein, f1 is the equivalent focal length of the first lens assembly, D1 is the first distance, is the angular interval of the fourth light beam emitted by the first optical fiber head array; The second interval satisfies the following formula 3: Wherein, f1 is the equivalent focal length of the first lens assembly, D2 is the second distance, is the angular interval of the fourth light beam emitted from the second optical fiber head array.

18. The module according to any one of claims 11 to 17, wherein: The optical fiber splitter is a splitter that evenly splits light.

19. The module according to any one of claims 11 to 18, wherein: The light source assembly includes a point light source.

20. A transmitting module, characterized in that: It comprises a light source array and a second lens assembly, wherein the light sources in the light source array are non-uniformly distributed; The light source array is configured to emit K fifth light beams, where K is an integer greater than 2; The second lens assembly is used to propagate the K fifth light beams from the light source array to a detection area.

21. The module according to claim 20, wherein: The light source array includes a first light source array and a second light source array, and a third interval between light sources in the first light source array is different from a fourth interval between light sources in the second light source array.

22. The module according to claim 21, wherein: The first light source array includes light sources corresponding to the region of interest in the light source array, and the second light source array includes light sources corresponding to the region of non-interest in the light source array; The third interval is smaller than the fourth interval.

23. The module according to claim 21 or 22, wherein: The current intensity injected into the light sources in the first light source array is greater than the current intensity injected into the light sources in the second light source array.

24. The module according to claim 22 or 23, wherein: The region of interest includes a region corresponding to a central field of view of the emission module, and the region of non-interest includes a region corresponding to a peripheral field of view of the emission module.

25. The module according to any one of claims 21 to 24, wherein: The third interval satisfies the following formula 4: ω1=D3 / f2 Formula 4 Wherein, f2 is the equivalent focal length of the second lens assembly, D3 is the third interval, and ω1 is the angular interval of the fifth light beams emitted by the light sources in the first light source array; The fourth interval satisfies the following formula 5: ω2=D4 / f2 Formula 5 Wherein, f2 is the equivalent focal length of the second lens assembly, D4 is the fourth interval, and ω2 is the angular interval of the fifth light beam emitted by the light source occupied by the second light source.

26. The module according to any one of claims 20 to 25, wherein: The light source array includes a one-dimensional light source array or a two-dimensional light source array.

27. A receiving module, characterized in that: comprising a detector array and a third lens assembly, wherein the detectors in the detector array are non-uniformly distributed; The third lens assembly is used to propagate L sixth light beams from the detection area to the detector array, where L is an integer greater than 2; The detector array is used to convert the L sixth light beams into electrical signals, and the electrical signals are used to determine information of the detection area.

28. The module according to claim 27, wherein: The detector array includes a first detector array and a second detector array, and a fifth interval between detectors in the first detector array is different from a sixth interval between detectors in the second detector array.

29. The module according to claim 27, wherein: The first detector array includes detectors corresponding to regions of interest, and the second detector array includes detectors corresponding to regions of no interest; The fifth interval is smaller than the sixth interval.

30. The module according to claim 28 or 29, wherein: The fifth interval satisfies the following formula 6: Ω1=D5 / f3 Formula 6 Wherein, f3 is the equivalent focal length of the third lens assembly, D5 is the fifth interval, and Ω1 is the angular interval at which the detectors in the first detector array receive the sixth light beam; The sixth interval satisfies the following formula 7: Ω2=D6 / f3 Formula 7 Wherein, f3 is the equivalent focal length of the third lens assembly, D6 is the sixth interval, and Ω2 is the angular interval at which the detectors in the second detector array receive the sixth light beam.

31. A receiving module, characterized in that: It includes an optical fiber head array and a detector array, wherein the optical fiber head array and the detector array are connected via optical fibers, and the optical fiber heads in the optical fiber head array are non-uniformly distributed; The optical fiber head array is used to transmit H seventh light beams from the detection area to the detector array, where H is an integer greater than 2; The detector array is used to convert the H seventh light beams into electrical signals, and the electrical signals are used to determine information of the detection area.

32. The module according to claim 31, wherein: The optical fiber tip array includes a third optical fiber tip array and a fourth optical fiber tip array, and the seventh interval between the optical fiber tips in the third optical fiber tip array is different from the eighth interval between the optical fiber tips in the fourth optical fiber tip array.

33. The module according to claim 32, wherein: The third optical fiber head array corresponds to the region of interest, and the fourth optical fiber head array corresponds to the region of no interest; The seventh interval is smaller than the eighth interval.

34. The module according to claim 32 or 33, wherein: The receiving module further includes a fourth lens assembly; The seventh interval satisfies the following formula 8: η1=D7 / f4 Formula 8 Wherein, f4 is the equivalent focal length of the fourth lens assembly, D7 is the seventh interval, and η1 is the angular interval of the seventh light beam received by the third optical fiber head array; The eighth interval satisfies the following formula 9: η2=D8 / f4 Formula 9 Wherein, f4 is the equivalent focal length of the fourth lens assembly, D8 is the eighth interval, and η2 is the angular interval of the seventh light beam received by the fourth optical fiber head array.

35. The module according to any one of claims 31 to 34, wherein: The detectors in the detector array are evenly distributed or non-evenly distributed.

36. A detection device, characterized in that: comprising the transmitting module according to any one of claims 1 to 10, and the receiving module according to any one of claims 27 to 30; or, comprising the transmitting module according to any one of claims 1 to 10, and the receiving module according to any one of claims 31 to 35; or, comprising the transmitting module according to any one of claims 11 to 19, and the receiving module according to any one of claims 27 to 30; or, comprising the transmitting module according to any one of claims 11 to 19, and the receiving module according to any one of claims 31 to 35; or, comprising the transmitting module according to any one of claims 20 to 26, and the receiving module according to any one of claims 27 to 30; or, It comprises the transmitting module according to any one of claims 20 to 26, and the receiving module according to any one of claims 31 to 35.

37. The device according to claim 36, wherein The detection device also includes a scanning module; The scanning module is used to transmit the second light beam and the third light beam, or the fourth light beam or the fifth light beam from the transmitting module to the detection area, and transmit the sixth light beam or the seventh light beam from the detection area to the receiving module.

38. A terminal device, characterized in that: comprising a control device and a detection device as claimed in claim 36 or 37; The control device is used to control the detection device to detect the detection area.

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