Scanning system, detection system and terminal equipment

Abstract

The invention discloses a scanning system, a detection system and terminal equipment, which can be applied to the fields of automatic driving, intelligent driving, auxiliary driving or surveying and mapping. The scanning system comprises a scanning module and an optical processing module, the optical processing module comprises a light insulation assembly, the light insulation assembly comprises a first flange and / or a second flange, the scanning module comprises a scanner which is divided into a first sub-scanner and a second sub-scanner based on the light insulation assembly, the first flange faces one side of the first sub-scanner, and the second flange faces one side of the second sub-scanner. The second flange faces one side of the second sub-scanner; the first sub-scanner is used for reflecting the detection light from the transmitting module to a detection area, the second sub-scanner is used for reflecting an echo signal to the receiving module, and the echo signal comprises reflected light obtained by reflecting the detection light through a target in the detection area. When stray light is reflected and / or scattered and / or absorbed by the first turnup and / or the second turnup, part or even all of energy can be consumed, and therefore stray light generated by the scanner can be restrained or eliminated.

Description

[0001] This application is a divisional application. The application number of the original application is 202180101967.7, and the original application date is October 11, 2021. The entire contents of the original application are incorporated into this application by reference. Technical Field

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

[0003] Generally, stray light will affect the normal detection light. Taking LiDAR (light detection and ranging) as an example, LiDAR usually includes a light source, a transmitting optical system, a scanner, a detector, a receiving optical system, etc. The transmitting optical system is mainly used to shape the laser beam emitted by the light source into the detection light required by the LiDAR, and reflect the detection light to the detection area through the scanner. The target in the detection area reflects the detection light back to the scanner, and then the scanner reflects it to the receiving optical system (the reflected light obtained by the target reflecting the detection light is called the echo signal). The receiving optical system collects the echo signal reflected from the target and transmits it to the detector to realize the detection of the detection area. However, in the process of the detection light propagating from the light source to the detection area, stray light may be generated in the LiDAR, and these stray lights may be received by the detector, thereby affecting the detection accuracy of the LiDAR. In particular, when the LiDAR detects a close target, these stray lights may cause greater interference to the echo signal received by the detector, thereby reducing the detection accuracy of the LiDAR. Summary of the invention

[0004] The present application provides a scanning system, a detection system and a terminal device for suppressing or eliminating stray light.

[0005] In a first aspect, the present application provides a scanning system, which includes a scanning module and an optical processing module, wherein the optical processing module includes a light isolation component, wherein the light isolation component includes a first flange and / or a second flange, and wherein the scanning module includes a scanner, wherein the scanner is divided into a first sub-scanner and a second sub-scanner based on the light isolation component, wherein the first flange faces one side of the first sub-scanner, and the second flange faces one side of the second sub-scanner. The first sub-scanner is used to reflect the detection light from the transmitting module to the detection area, and the second sub-scanner is used to reflect the echo signal obtained by reflecting the detection light from the target in the detection area to the receiving module.

[0006] Based on the scanning system, since the scanner is divided into a first sub-scanner and a second sub-scanner based on the light isolation component, the first flange included in the light isolation component faces a side of the first sub-scanner, and / or the second flange included in the light isolation component faces a side of the second sub-scanner, therefore, the first stray light generated by reflection and / or scattering of the scanner can be propagated to the first flange and / or the second flange, further, the first flange and / or the second flange can reflect and / or scatter and / or absorb the incident first stray light again, based on the propagation optical path, part or even all of the energy of the first stray light will be lost, so that the first stray light generated by the scanner can be suppressed or eliminated through the first flange and / or the second flange.

[0007] In a possible implementation, the light isolation assembly further includes a bottom plate, the bottom plate can be disposed between the first sub-scanner and the second sub-scanner, and the first flange and / or the second flange surround the bottom plate. Further, the first flange and / or the second flange surround the periphery of the bottom plate.

[0008] The light isolation component and the scanner can be fixed together through the bottom plate, and the energy of the first stray light generated by the scanner can be dissipated by the first flange and / or the second flange and / or the bottom plate surrounded by the bottom plate, thereby helping to reduce the first stray light.

[0009] In a possible implementation, the first surface of the first flange has a matte function, and / or the first surface of the base plate has a matte function, the first surface of the first flange is the surface of the first flange facing the scanner, and the first surface of the base plate is the surface of the base plate facing the first flange.

[0010] By having an extinction function on the first surface of the first flange, it helps to absorb the first stray light emitted to the first surface of the first flange; by having an extinction function on the first surface of the base plate, it helps to absorb the first stray light emitted to the first surface of the base plate, thereby helping to further reduce the first stray light in the system.

[0011] In a possible implementation, the reflectivity of the first surface of the first flange with the matting function is not greater than 10%, or not greater than 8%, or not greater than 4%. Further, the reflectivity of the first surface of the bottom plate with the matting function is not greater than 10%, or not greater than 8%, or not greater than 4%.

[0012] In a possible implementation, the scanning module further includes a bracket for supporting the scanner, and the light isolation component is disposed between the scanner and the bracket.

[0013] When the scanner may reflect part of the detection light to the bracket to generate second stray light due to factors such as engineering errors, the second stray light can be eliminated or suppressed by arranging the light isolation component between the scanner and the bracket.

[0014] In a possible implementation, the first surface of the bracket has a matte function, and / or the second surface of the second flange has a matte function, and / or the second surface of the first flange has a matte function; wherein, the first surface of the bracket is the surface of the bracket facing the second flange, the second surface of the second flange is the surface of the second flange facing the bracket, and the second surface of the first flange is the surface of the first flange facing the bracket.

[0015] By having the first surface of the bracket have a light extinction function, and / or the second surface of the second flange has a light extinction function, and / or the second surface of the first flange has a light extinction function, part or all of the second stray light can be absorbed, thereby helping to reduce the second stray light in the system.

[0016] In a possible implementation, the reflectivity of the first surface of the bracket with the extinction function is not greater than 10%, or not greater than 8%, or not greater than 4%. Further, the reflectivity of the second surface of the second flange with the extinction function is not greater than 10%, or not greater than 8%, or not greater than 4%. Further, the reflectivity of the second surface of the first flange with the extinction function is not greater than 10%, or not greater than 8%, or not greater than 4%.

[0017] In a possible implementation, the scanner includes a polygonal rotating mirror, the projection of the light isolation component on a first plane is a circumscribed circle of the projection of the scanner on the first plane, and the first plane is a plane perpendicular to a scanning axis of the scanner.

[0018] By setting the projection of the light-isolating component on the first plane to be the circumscribed circle of the projection of the scanner on the first plane, it helps to reduce the volume of the optical processing module, thereby miniaturizing the scanning system.

[0019] In a possible implementation, the scanner and the light isolation component share a scanning axis of the scanner. In other words, the scanner and the light isolation component can rotate synchronously around the scanning axis of the scanner.

[0020] By digging a relatively shallow groove on the scanner, the light isolation component can be inserted (or embedded) into the groove to fix the scanner and the light isolation component, so that the light isolation component and the scanner can rotate synchronously, which helps to improve the reliability of the scanner.

[0021] In a possible implementation, the scanning module further includes a motor, which is fixed to the bracket and is used to drive the scanner to rotate around a scanning axis.

[0022] In a possible implementation, a soft material is filled between the bottom plate of the light isolation component and the scanner.

[0023] Since there may be a certain gap between the scanner and the light isolation component, by filling soft material between the light isolation component and the scanner, stray light (such as the first stray light and / or the second stray light) can be prevented as much as possible from entering the receiving module through the gap, thereby preventing the stray light from interfering with the useful echo signal.

[0024] In one possible implementation, the scanning system also includes a window, and the optical processing module also includes at least two sheet structures, and the at least two sheet structures form a first structure having at least one opening, and the size of a first angle between the opening direction of the first structure and the window belongs to [0°, 90°], and the first angle is an angle in the direction toward the scanner.

[0025] Since the window may not be able to achieve 100% transmission, a small amount of detection light will be reflected back by the window to generate third stray light. Through the first structure having at least one opening, the third stray light can be confined within the first structure and reflected and / or scattered multiple times, thereby wasting the energy of the third stray light, which helps to reduce the third stray light in the system.

[0026] In a possible implementation manner, at least one of the at least two sheet-like structures has a matte function.

[0027] Further, optionally, the reflectivity of the sheet structure with the matting function may be less than 10%, or less than 8%, or less than 4%, etc.

[0028] The sheet structure with a low reflectivity can absorb or transmit the incident third stray light, thereby helping to reduce the third stray light in the system.

[0029] In a possible implementation, the scanning system further includes a first side wall, the first side wall is a side wall connected to the window, and the first structure is disposed between the scanner and the first side wall; or, the first structure is disposed on the first side wall.

[0030] By arranging the first structure between the scanner and the first side wall, or arranging the first structure on the first side wall, it is helpful to confine the third stray light in the first structure as much as possible, thereby reducing the third stray light.

[0031] In a possible implementation, the first structure is a semi-open component, and the opening direction of the semi-open component is toward the window.

[0032] By using a half-open component with its opening direction facing the window, the third stray light generated by reflection and / or scattering of the window can be collected into the half-open component as much as possible. The third stray light is confined to be reflected and / or scattered within the half-open component, which can dissipate the third stray light and thus reduce the third stray light in the system.

[0033] In a possible implementation, the shape of the semi-open component includes a π-shape, a U-shape, or a semi-closed rectangle.

[0034] In a possible implementation, the inner surface of the semi-open component has a matte function.

[0035] The third stray light in the system can be further reduced by allowing the third stray light to be absorbed by the inner surface of the half-open component with the extinction function.

[0036] In a possible implementation, the reflectivity of the inner surface of the half-open component with the matte function is no greater than 10%, or no greater than 8%, or no greater than 4%.

[0037] In a possible implementation manner, the first structure is a grating-like structure, and a surface of the grating-like structure has an extinction function.

[0038] By using the quasi-grating, the third stray light can be limited to be reflected and / or scattered within the quasi-grating, thereby consuming the third stray light, thereby reducing the third stray light in the system. Furthermore, by having an extinction function on the quasi-grating surface, the third stray light can be further absorbed, thereby further reducing the third stray light in the system.

[0039] In a possible implementation, the reflectivity of the grating-like surface with extinction function is no greater than 10%, or no greater than 8%, or no greater than 4%.

[0040] In a possible implementation, the optical processing module further includes a perforated structural member, the perforated structural member includes a perforated area and a non-perforated area, and the perforated area faces the scanner.

[0041] The third stray light can be transmitted through the opening area toward the scanner, and the transmitted third stray light can be reflected and / or scattered between the non-opening area and the side wall of the scanning system to lose the third stray light, thereby reducing the third stray light in the system.

[0042] In a possible implementation, the outer surface of the non-perforated area has a light-extinction function, and the outer surface of the non-perforated area is the surface facing away from the scanner.

[0043] The non-opening area with the extinction function on the outer surface can absorb part or all of the third stray light, thereby further reducing the third stray light in the system.

[0044] In a possible implementation, the reflectivity of the outer surface of the non-opening area having the extinction function is no greater than 10%, or no greater than 8%, or no greater than 4%.

[0045] In a second aspect, the present application provides a scanning system, which includes a scanning module, an optical processing module and a window; the scanning module is used to reflect the detection light from the transmitting module to the window, and reflect the echo signal to the receiving module, and the echo signal includes the reflected light obtained by reflecting the detection light through the target in the detection area; the optical processing module includes at least two sheet structures, and the at least two sheet structures form a first structure with at least one opening, and the size of the first angle between the opening direction of the first structure and the window belongs to [0°, 90°], and the first angle is the angle toward the direction of the scanning module.

[0046] Based on the scanning system, since the window in the scanning system may not be able to achieve 100% transmission, a small amount of detection light will be reflected back by the window to generate third stray light. Through the first structure with at least one opening, the third stray light can be confined within the first structure and reflected and / or scattered multiple times, thereby wasting the energy of the third stray light, which helps to reduce the third stray light in the system.

[0047] In a possible implementation manner, at least one of the at least two sheet-like structures has a matte function.

[0048] Further, optionally, the reflectivity of the sheet structure with the matting function may be less than 10%, or less than 8%, or less than 4%, etc.

[0049] The sheet structure with a low reflectivity can absorb or transmit the incident third stray light, thereby helping to reduce the third stray light in the system.

[0050] In a possible implementation, the scanning system may further include a first side wall, the first side wall is a side wall connected to the window, the first structure is arranged on the first side wall, or the first structure is arranged between the first side wall and the scanning module.

[0051] By arranging the first structure between the scanning module and the first side wall, or arranging the first structure on the first side wall, it helps to confine the third stray light in the first structure as much as possible, thereby reducing the third stray light.

[0052] In a possible implementation, the first structure is a semi-open component, and the opening direction of the semi-open component is toward the window.

[0053] By using a half-open component with its opening direction facing the window, the third stray light generated by reflection and / or scattering of the window can be collected into the half-open component as much as possible. The third stray light is confined to be reflected and / or scattered within the half-open component, which can dissipate the third stray light and thus reduce the third stray light in the system.

[0054] In a possible implementation, the shape of the semi-open component includes a π-shape, a U-shape, or a semi-closed rectangle.

[0055] In a possible implementation, the inner surface of the semi-open component has a matte function.

[0056] The third stray light in the system can be further reduced by allowing the third stray light to be absorbed by the inner surface of the half-open component with the extinction function.

[0057] In a possible implementation, the reflectivity of the inner surface of the half-open component with the matte function is no greater than 10%, or no greater than 8%, or no greater than 4%.

[0058] In a possible implementation manner, the first structure is a grating-like structure, and a surface of the grating-like structure has an extinction function.

[0059] The grating-like surface can limit the third stray light to be reflected and / or scattered within the grating-like surface, thereby losing the third stray light and further reducing the third stray light in the system; further, the grating-like surface has an extinction function, which can further absorb the third stray light and further reduce the third stray light in the system.

[0060] In a possible implementation, the reflectivity of the grating-like surface with extinction function is no greater than 10%, or no greater than 8%, or no greater than 4%.

[0061] In a possible implementation, the optical processing module further includes a perforated structural member, the perforated structural member includes a perforated area and a non-perforated area, and the perforated area faces the scanner.

[0062] The third stray light may be transmitted through the opening area toward the scanner, and the transmitted third stray light may be reflected and / or scattered between the non-opening area and the side wall of the scanning system to lose the third stray light.

[0063] In a possible implementation, the outer surface of the non-perforated area has a light-extinction function, and the outer surface of the non-perforated area is the surface facing away from the scanner.

[0064] The non-opening area with the extinction function on the outer surface can absorb part or all of the third stray light, thereby further reducing the third stray light in the system.

[0065] In a possible implementation, the reflectivity of the outer surface of the non-opening area having the extinction function is no greater than 10%, or no greater than 8%, or no greater than 4%.

[0066] In a third aspect, the present application provides a detection system, which may include a transmitting module, a receiving module, and the first aspect or any one of the scanning systems in the first aspect, wherein the transmitting module is used to transmit the detection light, and the receiving module is used to receive the echo signal reflected from the second sub-scanner.

[0067] In a possible implementation, the detection system further includes a detection module; the detection module is used to receive the echo signal from the receiving module, and perform photoelectric conversion on the echo signal to obtain an associated information electrical signal for determining the target.

[0068] In a fourth aspect, the present application provides a detection system, which may include a transmitting module, a receiving module, and the second aspect or any one of the scanning systems in the second aspect, wherein the transmitting module is used to transmit the detection light, and the receiving module is used to receive the echo signal reflected from the scanning module.

[0069] In a possible implementation, the detection system further includes a detection module; the detection module is used to receive the echo signal from the receiving module, and perform photoelectric conversion on the echo signal to obtain an associated information electrical signal for determining the target.

[0070] In a fifth aspect, the present application provides a terminal device, which may include the third aspect above or any one of the scanning systems in the third aspect.

[0071] Further, optionally, the terminal device may also include a controller, and the controller is used to determine the associated information of the target according to the electrical signal.

[0072] The target-related information includes, but is not limited to, the target's distance information, the target's position, the target's speed, and / or the target's grayscale information.

[0073] In a sixth aspect, the present application provides a terminal device, which may include the above-mentioned fourth aspect or any one of the scanning systems in the fourth aspect.

[0074] Further, optionally, the terminal device may also include a controller, and the controller is used to determine the associated information of the target according to the electrical signal.

[0075] The target-related information includes, but is not limited to, the target's distance information, the target's position, the target's speed, and / or the target's grayscale information.

[0076] The technical effects that can be achieved in any of the third and fifth aspects can refer to the description of the beneficial effects in the first aspect, and will not be repeated here. The technical effects that can be achieved in any of the fourth and sixth aspects can refer to the description of the beneficial effects in the first aspect, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0077] Figure 1a A schematic diagram of a possible application scenario provided for this application;

[0078] Figure 1b A schematic diagram of the position of a laser radar on a vehicle provided in this application;

[0079] Figure 2 A light path diagram for generating stray light provided in this application;

[0080] Figure 3 A schematic diagram of a structure for eliminating stray light provided in this application;

[0081] Figure 4 A schematic diagram of the architecture of a scanning system provided in this application;

[0082] Figure 5a A schematic diagram of the structure of a light-isolating component provided in this application;

[0083] Figure 5b A propagation optical path diagram of a first stray light provided in the present application;

[0084] Figure 5c A schematic diagram of the structure of another light-isolating component provided in the present application;

[0085] Figure 5d A schematic structural diagram of another light-isolating component provided in the present application;

[0086] Figure 5e A schematic structural diagram of another light-isolating component provided in the present application;

[0087] Figure 5f A schematic diagram of a light-isolating component and a scanner provided in the present application that is filled with a soft material;

[0088] Figure 6a A schematic diagram of the structure of another light-isolating component provided in the present application;

[0089] Figure 6b A propagation optical path diagram of a second stray light provided in the present application;

[0090] Figure 6c A schematic structural diagram of another light-isolating assembly provided in the present application;

[0091] Figure 7a A schematic structural diagram of another light-isolating component provided in the present application;

[0092] Figure 7b A propagation optical path of a first stray light and a propagation optical path diagram of a second stray light provided in the present application;

[0093] Figure 8a A projection schematic diagram of a scanner and a light isolation component provided in the present application;

[0094] Figure 8b A projection diagram of another scanner and light isolation component provided in the present application;

[0095] Figure 9a A schematic diagram of the structure of a semi-open component provided in this application;

[0096] Figure 9b A schematic diagram of the architecture of a scanning system including a semi-opening component provided in the present application;

[0097] Fig.9c A schematic diagram of the architecture of another scanning system including a semi-opening component provided in the present application;

[0098] Figure 9d A schematic diagram of the structure of another half-open component provided in this application;

[0099] Fig.10a A schematic diagram of a grating-like structure provided in this application;

[0100] Fig.10b A schematic diagram of the architecture of a grating-like scanning system provided in the present application;

[0101] Fig.11a A schematic diagram of the structure of a perforated structural member provided in this application;

[0102] Fig.11b A schematic diagram of the architecture of a scanning system including a perforated structural member provided in the present application;

[0103] Fig.12 A schematic diagram of the architecture of another scanning system provided by the present application;

[0104] Fig.13 A schematic diagram of the architecture of a detection system provided in this application;

[0105] Fig.14aA schematic diagram of the structure of a light source assembly provided in this application;

[0106] Fig.14b A schematic diagram of the structure of a transmitting optical system provided in this application;

[0107] Fig.15 A schematic diagram of the structure of a receiving optical system provided in this application;

[0108] Fig.16 A schematic diagram of the structure of a pixel array provided in this application;

[0109] Fig.17 A schematic diagram of the position relationship between a laser radar and a vehicle provided in this application;

[0110] Fig.18 A schematic diagram of the structure of a terminal device provided for this application. DETAILED DESCRIPTION

[0111] The embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0112] Below, some terms in this application are explained. It should be noted that these explanations are for the convenience of understanding by those skilled in the art and do not constitute a limitation on the scope of protection claimed in this application.

[0113] 1. Flanging

[0114] Flanging refers to the process of forming a straight wall or flange with a certain angle along the edge of a closed or unclosed curve on a flat or curved surface by using a mold. In this application, flanging refers to the process of forming a side wall or flange with a certain angle along the edge of a flat surface (i.e., bottom plate) of a light-isolating component by using a mold.

[0115] 2. Pockmarks

[0116] Pits are a kind of defect that affects the surface quality of products. They are manifested as uneven rough surfaces on the surface of products, also known as pitting. They are mostly continuous, but also localized or periodically distributed.

[0117] 3. Scattering and reflection

[0118] Reflection of light refers to the phenomenon that when light propagates to different substances, it changes its propagation direction at the interface and returns to the original substance. Reflection in this application refers to specular reflection, that is, light from a single incoming direction is reflected to a single outgoing direction.

[0119] Light scattering refers to the fact that when light strikes a rough or granular surface, it is reflected in all directions due to the microscopic irregularities of the interface.

[0120] Based on the above content, some possible application scenarios of the present application are shown below by way of example.

[0121] See also Figure 1a , which shows a possible application scenario of the present application. In this application scenario, a laser radar is installed on a vehicle as an example. The vehicle can be, for example, an unmanned vehicle, a smart car, an electric car, or a digital car. The laser radar can be deployed at various locations of the vehicle (see Figure 1b ). For example, the laser radar can be deployed in any one or more of the four directions of the front, rear, left, and right of the vehicle to capture the vehicle's surrounding environment information. Figure 1a For example, the laser radar is deployed in front of the vehicle. The laser radar can sense Figure 1a The fan-shaped area shown by the dotted box can be called the detection area of ​​the laser radar (or the field of view of the laser radar).

[0122] In a possible implementation, the laser radar can obtain the latitude and longitude, speed, direction, or related information of targets within a certain range (such as other vehicles around) of the vehicle in real time or periodically (such as the distance of the target, the moving speed of the target, the posture of the target, or the grayscale image of the target, etc.). The laser radar or the vehicle can determine the position of the vehicle and / or path planning based on this related information. For example, the longitude and latitude are used to determine the position of the vehicle, or the speed and direction are used to determine the driving direction and destination of the vehicle in the future, or the distance of the surrounding objects is used to determine the number and density of obstacles around the vehicle. Further, optionally, the function of the advanced driving assistant system (ADAS) can also be combined to realize assisted driving or automatic driving of the vehicle. It should be understood that the principle of laser radar detecting the related information of the target is: the laser radar emits detection light in a certain direction. If there is a target in the detection area of ​​the laser radar, the target can reflect the received detection light back to the laser radar (the reflected detection light can be called an echo signal), and the laser radar determines the related information of the target based on the echo signal.

[0123] It should be noted that the above application scenarios are only examples. The laser radar provided in this application (the laser radar includes the receiving optical system provided in this application) can also be applied to a variety of other possible scenarios, not limited to the above-mentioned examples. For example, the laser radar can also be installed on a drone as an airborne radar. For another example, the laser radar can also be installed on a road side unit (RSU) as a roadside traffic laser radar, which can realize intelligent vehicle-road collaborative communication. For another example, the laser radar can be installed on an automated guided vehicle (AGV), where AGV refers to a transport vehicle equipped with an electromagnetic or optical automatic navigation device that can travel along a specified navigation path and has safety protection and various transfer functions. They are not listed here one by one. It should be understood that the application scenarios described in this application are to more clearly illustrate the technical solutions of this application, and do not constitute a limitation on the technical solutions provided in this application. It is known to those skilled in the art that with the emergence of new application scenarios, the technical solutions provided in this application are also applicable to similar technical problems.

[0124] Based on the above content, the above application scenarios can be applied to unmanned driving, automatic driving, assisted driving, intelligent driving, connected vehicles, security monitoring, remote interaction, surveying and mapping or artificial intelligence and other fields.

[0125] Taking laser radar as an example, the following illustrates possible situations in which stray light is generated in the laser radar.

[0126] In the first scenario, the scanner scatters part of the detection light to generate the first stray light.

[0127] Since the reflective surface of the scanner may be rough, have scratches, or have pitting, etc., after the detection light is emitted to the scanner, the scanner may scatter part of the detection light. This scattered part of the detection light cannot be emitted to the detection area. In the laser radar, it is stray light, which can be called the first stray light. This first stray light may enter the detector. After these first stray lights enter the detector, they will affect the detector's detection of the actual echo signal, thereby reducing the accuracy of the laser radar detection. It should be understood that since the propagation time of the first stray light in the laser radar is short, the laser radar may mistakenly detect the first stray light as an echo signal reflected by a target closer to the laser radar, causing the laser radar to detect a ghost image. Therefore, the first stray light will affect the accuracy of the laser radar detection, especially when the laser radar is used in close-range detection scenarios.

[0128] In the second scenario, the scanner reflects part of the detection light onto some structural components within the laser radar, generating second stray light.

[0129] Due to factors such as engineering errors, the scanner may reflect part of the detection light onto some structural parts in the laser radar. For example, the scanner may reflect part of the detection light onto the bracket of the scanner, generating second stray light. These second stray lights will also affect the accuracy of laser radar detection. Specifically, since the propagation time of the second stray light in the laser radar is also short, the laser radar may mistakenly detect the second stray light as an echo signal reflected by a target closer to the laser radar. Therefore, the second stray light will affect the accuracy of laser radar detection, especially for scenes where the laser radar is used for close-range detection.

[0130] In case three, the window reflects and / or scatters the detection light, generating third stray light.

[0131] See also Figure 2 After the detection light propagates to the scanner, it is reflected by the scanner to the window. Most of the detection light is transmitted through the window to the detection area to scan the detection area. However, since the window may not be able to achieve 100% transmission, a small amount of the detection light will be reflected back to the laser radar by the window, generating the third stray light. The third stray light may enter the detector, which will affect the detector's detection of the actual echo signal, thereby reducing the accuracy of the laser radar detection. It should be understood that the propagation time of the third stray light in the laser radar is also short. The laser radar will mistakenly detect that the third stray light is also an echo signal reflected by a target close to the laser radar, causing the laser radar to detect a ghost image. Therefore, the third stray light also has a greater impact on the laser radar's close-range detection scene.

[0132] It should be noted that the possible situations for generating stray light given above are only examples, and the present application does not limit how to generate stray light.

[0133] Since stray light may interfere with light carrying valid information (such as echo signals), in one possible implementation, a large partition can be added between the receiving optical path and the transmitting optical path to isolate the transmitting optical path from the receiving optical path (see Figure 3 However, the method of adding a large partition to isolate the transmitting light path and the receiving light path will block more detection light and echo signals, resulting in insufficient transceiver efficiency of the laser radar, which will further reduce the detection capability of the laser radar (for example, reduce the ranging capability).

[0134] In view of this, the present application proposes two scanning systems, which can suppress or even eliminate stray light as much as possible. Furthermore, when the scanning system is applied to a detection system (such as a laser radar, etc.), the detection accuracy of the detection system can be improved.

[0135] Based on the above content, the following Figure 4 , Figure 5a-5f , Figure 6a-6c , Figure 7a-Figure 7b , Figure 8a-8b , Figure 9a-9d , Figure 10a-Figure 10b , Figure 11a-Figure 11b as well as Fig.12 , the scanning system proposed in this application is specifically explained.

[0136] It should be noted that the scanning system hereinafter may also be referred to as a stray light elimination system, and the optical processing module may also be referred to as a stray light elimination module. It should be understood that the names of the system and each functional module in the embodiment of the present application are only examples, and the names of the system and each functional module in the specific implementation may be other, and the present application does not specifically limit this.

[0137] like Figure 4 As shown, it is a schematic diagram of the architecture of a scanning system provided by the present application. The scanning system includes a scanning module 401 and an optical processing module 402, the scanning module 401 includes a scanner 4011, the optical processing module 402 includes a light isolation component 4021, the scanner 4011 is divided into a first sub-scanner and a second sub-scanner based on the light isolation component 4021, the first sub-scanner is used to reflect the detection light from the transmitting module to the detection area, the second sub-scanner is used to reflect the echo signal to the receiving module, the echo signal includes the reflected light obtained by reflecting the detection light through the target in the detection area, the light isolation component includes a first flange 40211 and / or a second flange 40212, the first flange 40211 is toward the side of the first sub-scanner, and the second flange 40212 is toward the side of the second sub-scanner.

[0138] Based on the above scanning system, since the scanner is divided into a first sub-scanner and a second sub-scanner based on the light isolation component, the first flange included in the light isolation component faces one side of the first sub-scanner, and / or the second flange included in the light isolation component faces one side of the second sub-scanner, therefore, stray light generated by reflection and / or scattering and / or absorption of the scanner (such as the first stray light in the above situation one or the second stray light in the above situation two) can be propagated to the first flange and / or the second flange, and further, the first flange and / or the second flange can reflect and / or scatter the incident stray light again, and based on the propagation optical path, part or even all of the energy of the stray light will be lost, so that the stray light generated by the scanner can be suppressed or eliminated through the first flange and / or the second flange.

[0139] In one possible implementation, the scanning angle of the scanner can be changed to change the propagation direction of the detection light, so that the detection light can be reflected to the detection area in different directions, thereby realizing the scanning of the detection area. It can also be understood that the scanner is at a scanning angle, and can reflect the detection light to one direction of the detection area, and the scanner is at different scanning angles, and can reflect the detection light to different directions of the detection area, thereby realizing the scanning of the detection area. It should be understood that the scanner realizes the scanning of the detection area by utilizing the principles of geometric optics (such as the law of reflection), and has a large scanning field of view and a high scanning efficiency. It should be noted that the scanner can rotate in a continuous operation mode, or it can also rotate in a stepping operation mode, and this application does not limit this. In actual applications, the specific mode of rotation can be preset.

[0140] Exemplarily, the scanner includes a rotating mirror or a swinging mirror. The rotating mirror may be, for example, a polyhedral rotating mirror, specifically, a tetrahedral rotating mirror, a hexahedral rotating mirror, or an octahedral rotating mirror; the swinging mirror may be, for example, a swinging mirror with a reflective function on one side, or a swinging mirror with a reflective function on both sides. It should be noted that the scanner may also include other structures that enable the scanner to realize the scanning function, which is not limited in this application.

[0141] In a possible implementation, the scanning module may further include a motor, which may drive the scanner to rotate around the scanning axis, thereby placing the scanner at different scanning angles.

[0142] Below Figure 4 Each functional module shown is introduced and explained separately to provide an exemplary specific implementation scheme. For the convenience of explanation, the scanning module, optical processing module, first flange and second flange are not marked below.

[0143] 1. Optical processing module

[0144] In a possible implementation, the optical processing module is used to suppress or eliminate stray light generated by the system. The following exemplarily shows the structures of three possible optical processing modules.

[0145] Structure 1, the optical processing module includes a light isolation component.

[0146] Three possible structures of the light-isolating components are given as examples below. In the following description, the scanner is taken as an example of a tetrahedron mirror, and the optical path of the stray light is described by taking the corresponding propagation optical path of one surface of the tetrahedron mirror as an example.

[0147] Structure 1.1, the light isolation component includes a bottom plate and a first flange.

[0148] See also Figure 5a, is a schematic diagram of the structure of a light isolation component provided by the present application. The light isolation component includes a bottom plate and a first flange, the first flange surrounds the periphery of the bottom plate (that is, the first flange is arranged along the edge of the bottom plate), the first flange faces one side of the first sub-scanner, and the bottom plate is arranged (such as fixed) between the first sub-scanner and the second sub-scanner. For example, the bottom plate can be embedded in the groove between the first sub-scanner and the second sub-scanner. Exemplarily, the bottom plate can be embedded (or referred to as inserted) into a shallow groove in the middle area of ​​the scanner, see Figure 5c , a protruding structure is provided in the middle area of ​​the bottom plate, and the middle area formed by these protruding structures is a hole. These protruding structures can be nested in the grooves corresponding to the middle area of ​​the scanner to realize setting the bottom plate between the first sub-scanner and the second sub-scanner. Based on this fixing method, the scanner and the light isolation component rotate synchronously around the scanning axis of the scanner, that is, the scanner and the light isolation component share the scanning axis of the scanner. Based on this, the reliability of the scanner is also high. For another example, the bottom plate is nested between the first sub-scanner and the second sub-scanner. Specifically, the middle area of ​​the scanner can be dug through to embed the bottom plate into the dug-through area. Based on this prescribed method, the light isolation component can rotate independently of the rotation of the scanner. Furthermore, the bottom plate can be further fixed by screws or adhesives. It should be noted that, Figure 5a This is just an example given in this embodiment. This embodiment does not limit the specific shape of the bottom plate. Any shape that can realize the bottom plate being set between the first sub-scanner and the second sub-scanner is within the protection scope of this application.

[0149] In a possible implementation, the first flange includes a first surface (see Figure 5b ), the first surface of the first flange is the surface of the first flange facing the scanner. In other words, the first surface of the first flange is arranged opposite to the surface of the scanner for emitting detection light. Further, optionally, the first surface of the first flange has an extinction function. For example, the extinction function can be achieved by spraying an extinction material (such as extinction paint) process, or an electrophoresis process, or an anodizing process, or a coating process, etc. The reflectivity of the first surface of the first flange with the extinction function is not more than 10%, or not more than 8%, or not more than 4%, etc. It can also be understood that the reflectivity of the first surface of the first flange with the extinction function is low.

[0150] In a possible implementation, the bottom plate also includes a first surface (see Figure 5b ), the first surface of the bottom plate is the surface of the bottom plate facing the first flange side, and the first surface of the bottom plate may also have a matte function. For the introduction of the matte function, please refer to the above related description, which will not be repeated here.

[0151] It should be noted that the first flange can completely surround the periphery of the bottom edge, please refer to Figure 5c, that is, the first flange is arranged around the four faces of the tetrahedron rotating mirror. Alternatively, the first flange can also partially surround the periphery of the bottom plate, that is, the first flange is arranged around one, two or three of the four faces of the tetrahedron rotating mirror, please refer to Figure 5d , so that the first flange is arranged around two faces of the tetrahedron rotating mirror. Alternatively, the first flange can also surround the periphery of the bottom plate at uniform intervals or non-uniform intervals (similar to a fence type) around at least one face of the tetrahedron rotating mirror, see Figure 5e , with the first flanges formed at even intervals around the four faces of the tetrahedron rotating mirror surrounding the periphery of the bottom plate. It should be noted that the heights of the first flanges arranged around the tetrahedron rotating mirror can be the same or different, and this application does not limit this.

[0152] In one possible implementation, the angle formed between the first flange and the bottom plate is (0°, 180°). For example, the angle between the first flange and the bottom plate is equal to 90° (such as a downward "L-shape"), that is, the first flange is perpendicular to the bottom plate. For another example, the angle between the first flange and the bottom plate is equal to 30°, 45°, 60°, or 120°, etc., which are not listed here. It should be noted that the first flange can be a plane (such as a flat thin plate) or a curved surface, and this application does not limit this. It should be understood that the above Figure 5a The example is that the first flange is perpendicular to the bottom plate and is a plane.

[0153] In a possible implementation, the base plate and the first flange may be integrally formed, or the first flange may be fixed to the base plate by gluing (such as spot gluing) or screws.

[0154] When the first sub-scanner scatters the incident detection light to generate the first stray light, based on the above Figure 5a The light isolation component shown in FIG. 1 , the propagation path of the first stray light can be seen in FIG. Figure 5b Specifically, the first stray light is scattered to the first surface of the first flange by the first sub-scanner, and is reflected and / or scattered to the first surface of the bottom plate by the first surface of the first flange. Furthermore, the first stray light can also reflect and / or scatter through the first surface of the bottom plate and lose a lot of energy. In other words, the first stray light is reflected and / or scattered between the first surface of the first flange and the first surface of the bottom plate. Since the first stray light has a large energy loss after passing through the propagation optical path, even the remaining energy can be ignored; further, the first surface of the bottom plate and / or the first surface of the first flange have an extinction function (such as being coated with an extinction material with a low reflectivity), so the energy loss of the first stray light is greater, so that the first stray light can be suppressed or even eliminated.

[0155] Since the scanner and the light isolation component are both made of hard materials, there may be a certain gap between the scanner and the light isolation component. In order to prevent the first stray light from entering the receiving module through the gap as much as possible, soft material can be filled between the light isolation component and the scanner. For details, please refer to Figure 5f In this way, the first stray light can be prevented from entering the receiving module through the gap between the scanner and the light-isolating component, thereby further suppressing or eliminating the interference caused by the first stray light. Exemplarily, the soft material includes but is not limited to silicone rubber or glue. It should be noted that a soft material can be filled between part of the light-isolating component and the scanner. Figure 5f , the soft material may be filled between part of the gap between the tetrahedron rotating mirror and the light isolation component, or the soft material may be filled in all the gaps between the tetrahedron rotating mirror and the light isolation component.

[0156] In a possible implementation, the soft material may be filled into the gap between the scanner and the bottom plate of the light isolation component by secondary injection molding or dispensing.

[0157] Structure 1.2, the light isolation component includes a bottom plate and a second flange.

[0158] In a possible implementation, the angle formed between the second flange and the bottom plate belongs to (0°, 180°), in other words, the angle formed between the second flange and the bottom plate is a value of (0°, 180°). Exemplarily, the angle between the second flange and the bottom plate is equal to 90° (such as an upward "L-shape"), that is, the second flange is perpendicular to the bottom plate, or the angle between the second flange and the bottom plate is equal to 30°, 45°, 60°, 120°, or 145°, etc. It should be noted that the second flange can be a plane (such as a flat thin plate) or a curved surface, and this application does not limit this.

[0159] Further, optionally, the bottom plate and the second flange can be integrally formed, or the second flange can be fixed to the bottom plate by gluing (such as spot gluing) or screws.

[0160] In a possible implementation, the second flange can completely surround the periphery of the bottom edge. Figure 6a , that is, the four faces of the tetrahedron mirror are all provided with second flanges; or, the second flanges can also partially surround the periphery of the bottom plate, combined with Figure 6a That is, a second flange is arranged around one, two or three of the four faces of the tetrahedron rotating mirror; or it can also be surrounded by the outer periphery of the bottom plate at uniform or non-uniform intervals (similar to a fence type) around at least one face of the tetrahedron rotating mirror.

[0161] See also Figure 6a, is a schematic diagram of the structure of another light isolation component provided by the present application. The light isolation component includes a bottom plate and a second flange, the second flange surrounds the periphery of the bottom plate (i.e., the second flange is arranged along the edge of the bottom plate), the second flange faces one side of the second sub-scanner, and the bottom plate is arranged between the first sub-scanner and the second sub-scanner (for details, please refer to the introduction in the above structure 1.1).

[0162] In one possible implementation, the second flange includes a second surface, and the second surface of the second flange is the surface of the second flange facing the bracket. It can also be understood that the second surface of the second flange is arranged opposite to the surface of the bracket for reflecting and / or scattering the detection light. Further, optionally, the second surface of the second flange has an extinction function. For the introduction of the extinction function, please refer to the above description, which will not be repeated here. It should be understood that the scanning module may also include a bracket, and the bracket is used to support the scanner, or it can also be understood that the bracket is used to fix the scanner. Exemplarily, the bracket can be distributed around the scanner to fix the scanner. It should be noted that the bracket is fixed and does not rotate with the rotation of the scanner. For example, the bracket can be fixed to a motor for driving the scanner to rotate.

[0163] In a possible implementation, the bracket faces the first surface of the second flange (see below). Figure 6b ) also has a matting function. For the introduction of the matting function, please refer to the above description, which will not be repeated here. In other words, the first surface of the bracket is arranged opposite to the second surface of the second flange.

[0164] It should be noted that the second flange can completely surround the periphery of the bottom edge, please refer to the above Figure 6a , that is, the second flange is arranged around the four faces of the tetrahedron rotating mirror. Alternatively, the second flange can also partially surround the periphery of the bottom plate, that is, the second flange is arranged around one, two or three of the four faces of the tetrahedron rotating mirror. Alternatively, the second flange can also surround the periphery of the bottom plate at uniform intervals or non-uniform intervals (similar to a fence type) around at least one face of the tetrahedron rotating mirror, see Figure 6c The second flanges formed at even intervals are arranged around the four faces of the tetrahedron rotating mirror to surround the periphery of the bottom plate. It should be noted that the heights of the second flanges arranged around the tetrahedron rotating mirror can be the same or different, and this application does not limit this.

[0165] In one possible implementation, the angle formed between the second flange and the bottom plate is (0°, 180°). For example, the angle between the second flange and the bottom plate is equal to 90° (such as an upward "L-shape"), that is, the second flange is perpendicular to the bottom plate. For another example, the angle between the second flange and the bottom plate is equal to 30°, 45°, 60°, or 120°, etc., which are not listed here. It should be noted that the second flange can be a plane or a curved surface, and this application does not limit this. It should be understood that the above Figure 6a The example is that the second flange is perpendicular to the bottom plate and is a plane.

[0166] In a possible implementation, the bottom plate and the second flange may be integrally formed, or the second flange may be fixed to the bottom plate by gluing (such as spot gluing) or screws.

[0167] When the first sub-scanner reflects the detection light to the first surface of the bracket to generate second stray light, based on the above Figure 6a The propagation path of the second stray light can be found in Figure 6b Specifically, the second stray light is reflected by the first sub-scanner to the first surface of the bracket, and is reflected and / or scattered by the first surface of the bracket to the second surface of the second flange. In other words, the second stray light is scattered and / or reflected between the first surface of the bracket and the second surface of the second flange. After the second stray light passes through the propagation light path, the energy loss is large, and even the remaining energy can be ignored. Furthermore, the first surface of the bracket and / or the second surface of the second flange have an extinction function (such as coated with an extinction material with a low reflectivity). Therefore, the energy loss of the second stray light is greater, so as to suppress or even eliminate the second stray light.

[0168] There may be a certain gap between the scanner and the light isolation component. In order to prevent the second stray light from entering the receiving module through the gap as much as possible, a soft material may be filled between the light isolation component and the scanner (see Figure 6b ). For the relevant introduction of soft materials (such as filling method, specific materials, etc.), please refer to the above-mentioned relevant description, which will not be repeated here.

[0169] Structure 1.3, the light isolation assembly includes a base plate, a first flange and a second flange.

[0170] See also Figure 7a, which is a structural schematic diagram of another light isolation component provided by the present application. The light isolation component includes a bottom plate, a first flange and a second flange, wherein the first flange surrounds the periphery of the bottom plate on the side facing the first sub-scanner, and the second flange surrounds the periphery of the bottom plate on the side facing the second sub-scanner (i.e., the first flange and the second flange are arranged along the edge of the bottom plate, and the first flange and the second flange face opposite to each other), and the bottom plate is arranged between the first sub-scanner and the second sub-scanner (for details, please refer to the introduction in the above structure 1.1).

[0171] In a possible implementation, the first flange includes a first surface and a second surface, the first surface of the first flange is the surface of the first flange facing the scanner, and the second surface of the first flange is the surface facing the bracket. In other words, the first surface of the first flange is arranged opposite to the surface of the scanner for emitting and / or scattering detection light, and the second surface of the first flange is arranged opposite to the first surface of the bracket. Further, optionally, the first surface and the second surface of the first flange may both have an extinction function, and / or the second surface of the second flange may also have an extinction function, and / or the first surface of the bottom plate may also have an extinction function. For relevant introductions, please refer to the above description, which will not be repeated here.

[0172] In one possible implementation, the angle formed between the first flange and the base plate is (0°, 180°), and the angle formed between the second flange and the base plate is also (0°, 180°). For details, please refer to the above-mentioned related description, which will not be repeated here. Figure 7b The second flange is perpendicular to the bottom plate, and the first flange is perpendicular to the bottom plate (such as "T-shaped"). It should be understood that the angle formed between the first flange and the bottom plate is the same as or different from the angle formed between the second flange and the bottom plate, and this application does not limit this.

[0173] In a possible implementation, the bottom plate, the first flange and the second flange may be integrally formed, or the first flange and the second flange may be fixed to the bottom plate by gluing (such as point gluing) or screws. It should be noted that the fixing method of the first flange to the bottom plate may be the same as the fixing method of the second flange to the bottom plate, or may be different, and this application does not limit this.

[0174] It should be noted that the manner in which the first flange surrounds the periphery of the bottom plate may be the same as or different from the manner in which the second flange surrounds the periphery of the bottom plate, and this application does not limit this. Specifically, the manner in which the first flange surrounds the bottom plate can refer to the relevant introduction in the aforementioned structure 1.1, and the manner in which the second flange surrounds the bottom plate can refer to the relevant introduction in the aforementioned structure 1.2, and both are not repeated here.

[0175] The first sub-scanner may scatter the detection light to generate first stray light, and may also reflect the detection light to the bracket to generate second stray light.

[0176] The propagation paths of the first stray light and the second stray light can be found in Figure 7b Specifically, the first stray light is scattered to the first surface of the first flange, and is reflected and / or scattered to the first surface of the base plate through the first surface of the first flange, that is, the first stray light is reflected and / or scattered between the first surface of the first flange and the first surface of the base plate, and further, the first surface of the base plate and / or the first surface of the first flange have an extinction function (such as being coated with an extinction material with a low reflectivity), and the energy loss of the first stray light is greater, so that the first stray light can be suppressed or eliminated; the second stray light is reflected to the first surface of the bracket through the first sub-scanner, and is scattered and / or reflected to the second surface of the second flange through the first surface of the bracket, that is, the second stray light is scattered and / or reflected between the first surface of the bracket and the second surface of the second flange, and further, the first surface of the bracket and / or the second surface of the second flange have an extinction function (such as being coated with an extinction material with a low reflectivity), therefore, the energy loss of the second stray light is greater, so that the second stray light can be suppressed or eliminated.

[0177] Based on the structure 1.3, there may be a certain gap between the scanner and the light isolation component. In order to prevent the first stray light and / or the second stray light from entering the receiving module through the gap as much as possible, a soft material may be filled between the light isolation component and the scanner (see Figure 7b ). For the relevant introduction of soft materials (such as filling method, specific materials, etc.), please refer to the above-mentioned relevant description, which will not be repeated here.

[0178] It should be noted that, combined with the above Figure 7b When the length of the first flange is short, the first sub-scanner may also reflect part of the detection light to the bracket to generate fourth stray light. The fourth stray light may be scattered and / or reflected between the second surface of the first flange and the first surface of the bracket, and / or the fourth stray light may be scattered and / or reflected between the second surface of the second flange and the first surface of the bracket to suppress or even eliminate the fourth stray light.

[0179] In a possible implementation, the projection of the light-isolating component on the first plane is the circumscribed circle of the projection of the scanner on the first plane, wherein the first plane is a plane perpendicular to the scanning axis. This helps to reduce the volume of the optical processing module, thereby miniaturizing the scanning system. Figure 8a , taking the scanner as a tetrahedron mirror as an example, a schematic diagram of the projection of the scanner and the light isolation component on the first plane is given. Figure 8b , taking the scanner as a hexahedron as an example, a schematic projection diagram of the scanner and the light isolation component on the first plane is given.

[0180] In a possible implementation, the material of the light-isolating component may be, for example, plastic with a low reflectivity (eg, less than 10%), such as silicone.

[0181] The above embodiment is an example in which the first flange and / or the second flange are surrounded by the periphery of the bottom plate. It should be understood that the first flange and / or the second flange can also be arranged on the bottom plate, that is, the first flange and / or the second flange can be arranged at any position between the center and the edge of the bottom plate.

[0182] Structure 2: The optical processing module includes at least two sheet structures.

[0183] In a possible implementation, at least two sheet structures form a first structure having at least one opening, and a first angle θ between the opening direction of the first structure and the window is one of [0°, 90°], and the first angle is an angle in the direction toward the scanner. Further, optionally, at least one of the at least two sheet structures has a light extinction function, for example, the reflectivity of the sheet structure is less than a reflectivity threshold, wherein the reflectivity threshold may be, for example, 10%, 8%, or 4%. In other words, the sheet structure has a lower reflectivity.

[0184] Exemplarily, the material of the sheet structure may be plastic with low reflectivity (eg, less than 10%), such as silica gel, etc. It should be noted that the material of the sheet structure may be the same as that of the light isolation component, or may be different, and this application does not limit this.

[0185] It should be noted that the shapes of at least two sheet structures may be the same, or different, or partially the same. The shape of the sheet structure is not limited to a rectangle, for example, the shape of the sheet structure may also be "L-shaped", or other irregular shapes. In addition, the lengths of at least two sheet structures may be the same, or different, or partially the same; the thicknesses of at least two sheet structures may be the same, or different, or partially the same, and this application does not limit this.

[0186] In the following, two possible first structures are exemplarily shown based on the structure formed by at least two sheet-like structures.

[0187] Structure 2.1: The first structure formed by at least two sheet-like structures is a semi-open component.

[0188] In a possible implementation, the first structure formed by at least two sheet structures is a semi-open component. The opening direction of the semi-open component is toward the window (see the following Figure 9b or Fig.9c ). It should be understood that in order to prevent the external environment from interfering with the scanning system, the scanning system may also include a window.

[0189] See also Figure 9a, is a schematic diagram of the structure of a semi-open component provided in the present application. The semi-open component includes three sheet structures (such as sheet structure A, sheet structure B and sheet structure C) as an example. Sheet structure A is spliced ​​with sheet structure C, and sheet structure B is also spliced ​​with sheet structure C. Sheet structure A and sheet structure B are arranged at intervals to form an opening, and the opening direction is toward the window. In this example, the sheet structure can be a baffle. Among them, sheet structure A, sheet structure B and sheet structure C can be formed together, or can also be spliced ​​into a semi-open component.

[0190] In a possible implementation, the shape formed by splicing three sheet structures may be, for example, a "Π" shape, an "η" shape, a "π" shape, a "U" shape, or a semi-enclosed rectangle. It should be understood that Figure 9a The example is based on three sheet structures spliced ​​together to form a semi-enclosed rectangle.

[0191] It should be noted that the sheet structure A and the sheet structure B may be parallel or non-parallel, and this application does not limit this.

[0192] In a possible implementation, the semi-opening component is disposed between the scanner and the first side wall of the scanning system, see Figure 9b It should be understood that the first side wall of the scanning system includes two opposite side walls connected to the window, Figure 9b The example of a half-open component being disposed between one of the first side walls and the scanner is taken. Based on this, the propagation optical path of the third stray light is specifically as follows: part of the detection light is reflected and / or scattered by the window to form the third stray light, the third stray light enters the half-open component through reflection and / or scattering of the window, and is reflected and / or scattered between the inner surfaces of the half-open component, that is, the third stray light is reflected and / or scattered to the inner surface of the sheet structure A, reflected and / or scattered to the inner surface of the sheet structure B through the inner surface of the sheet structure A, and then reflected and / or scattered to the inner surface of the sheet structure A through the inner surface of the sheet structure B, and then reflected and / or scattered back and forth in sequence. Further, the inner surface of the sheet structure A or the inner surface of the sheet structure B can also reflect and / or scatter the third stray light to the inner surface of the sheet structure C, and the inner surface of the sheet structure C can reflect and / or scatter the third stray light to the inner surface of the sheet structure B or the inner surface of the sheet structure A. In other words, the third stray light is reflected and / or scattered on the inner surface of the half-open component. Based on the propagation optical path, the energy loss of the third stray light is large, and even the remaining energy can be ignored, thereby suppressing or even eliminating the third stray light.

[0193] It should be noted that the opening direction of the semi-open component toward the window can be understood as the size of the first angle between the opening direction of the semi-open component and the window belongs to (0°~90°], that is, the first angle is one of (0°~90°], Figure 9bTake the first angle between the opening direction and the window as 90° as an example. Fig.9c This is exemplified by the first angle between the opening direction and the window being greater than 0° and less than 90°.

[0194] See also Figure 9d , is a schematic structural diagram of another semi-open component provided in the present application. The semi-open component includes two sheet structures (sheet structure a and sheet structure b) as an example, one end of sheet structure a is spliced ​​together with one end of sheet structure b, and the other end of sheet structure a is separated from the other end of sheet structure b to form an opening, and the opening direction is toward the window. Further, optionally, the size of the angle formed between the two sheet structures belongs to (0°~90°), in other words, the size of the angle formed between the two sheet structures is one of (0°~90°). It should be noted that sheet structure a and sheet structure b can be formed together, or can also be spliced ​​into a semi-open component.

[0195] based on Figure 9d The propagation optical path of the third stray light is specifically as follows: part of the detection light is reflected and / or scattered by the window to form the third stray light, the third stray light enters the half-open component through reflection and / or scattering of the window, and is reflected and / or scattered between the inner surfaces of the half-open component, that is, the third stray light is reflected and / or scattered to the inner surface of the sheet structure a, reflected and / or scattered to the inner surface of the sheet structure b through the inner surface of the sheet structure a, and then reflected and / or scattered to the inner surface of the sheet structure a through the inner surface of the sheet structure b, and then reflected and / or scattered back and forth in sequence. After the third stray light propagates through this propagation optical path, the energy loss is relatively large, and even the remaining energy can be ignored, so that the third stray light can be suppressed or even eliminated.

[0196] It should be noted that the present application does not limit the number of sheet structures forming the semi-opening component, which can be two or more than two. Figure 9a or Figure 9d There may be only one sheet structure on one side, or there may be multiple sheet structures spliced ​​together on one side.

[0197] In a possible implementation, the inner surface of the semi-open component may have a matte function. Figure 9a , Figure 9b or Fig.9c The inner surface of the opening component includes the surface of the sheet structure A facing the sheet structure B, the surface of the sheet structure B facing the sheet structure A, and the surface of the sheet structure C facing the opening, and at least one of the three surfaces has a matte function. Figure 9dThe inner surface of the opening component includes the surface of the sheet structure a facing the sheet structure b, and the surface of the sheet structure b facing the sheet structure a, and at least one of the two surfaces has a matte function. For the introduction of the matte function, please refer to the above related description, which will not be repeated here.

[0198] Structure 2.2: The first structure formed by at least two sheet-like structures is grating-like (or called grating teeth).

[0199] In a possible implementation, the first structure formed by at least two sheet-like structures is a quasi-grating. In other words, the quasi-grating is an optical device composed of at least two sheet-like structures arranged at intervals, and the intervals formed by the arrangement of at least two sheet-like structures may be equal or unequal. The range of the intervals may be, for example, (0-5 mm]. In other words, the sheet-like structures may be arranged periodically or non-periodically, and this application does not limit this. It should be understood that in this example, the sheet-like structures may also be referred to as teeth.

[0200] It should be noted that the at least two sheet structures may be arranged in parallel or in a non-parallel manner, and this application does not limit this.

[0201] See also Fig.10a , is a schematic diagram of a grating-like structure provided in the present application. The grating-like structure includes 8 sheet structures as an example, and some of the 7 intervals formed by the 8 sheet structures are the same and some are different. In this example, 8 sheet structures are arranged in parallel as an example. Further, optionally, the surface of the grating-like structure may have an extinction function. For a more detailed introduction to the extinction function, please refer to the aforementioned related description, which will not be repeated here.

[0202] In a possible implementation, the grating-like structure may be disposed on the first side wall, see Fig.10b It should be understood that the first side wall of the scanning system includes two opposite side walls connected to the window, Fig.10b The example is that the grating-like is arranged between one of the first side walls and the scanner. The opening direction of the grating-like is toward the field of view or the scanner. In this example, the first angle between the opening direction of the grating-like and the window is 0°, that is, the opening direction of the grating-like is toward the scanner.

[0203] based on Fig.10b The propagation optical path of the third stray light is specifically as follows: part of the detection light is reflected and / or scattered by the window to form the third stray light, and the third stray light enters the quasi-grating through the window and is reflected and / or scattered in the quasi-grating. In other words, the third stray light is confined to be reflected and / or scattered multiple times in the quasi-grating. After the third stray light propagates through this propagation optical path, the energy loss is large, and even the remaining energy can be ignored, so the third stray light can be suppressed or even eliminated.

[0204] Structure 3, the optical processing module includes a perforated structural member.

[0205] In a possible implementation, the punched structural member may be obtained by punching holes in the structural member of the scanning system, or an additional punched structural member may be added to the scanning system. The structural member of the scanning system includes but is not limited to mechanical structural members that play supporting and covering roles, such as the bracket for fixing the scanner, or a light shielding plate. Exemplarily, holes may be punched in the structural member of the scanning system by mechanical drilling.

[0206] See also Fig.11a , is a schematic diagram of a structure of a perforated structural member provided in the present application. The perforated structural member includes a perforated area and a non-perforated area. The holes in the perforated area allow the third stray light to pass through, and the non-perforated area is used to reflect and / or scatter the third stray light to suppress or eliminate the third stray light.

[0207] It should be noted that the above Fig.11a The perforated structural member shown is only an example. The present application does not limit the shape of the holes of the perforated structural member, which can be a regular shape or an irregular shape. Any shape that can transmit the third stray light is within the protection scope of the present application. In addition, the present application does not limit the position of the opening area, and any position that can transmit the third stray light is within the protection scope of the present application. The present application does not limit the size of the hole, and any size that can transmit the third stray light is within the protection scope of the present application.

[0208] In one possible implementation, the outer surface of the non-perforated area of ​​the perforated structural member has a matte function, and the outer surface of the non-perforated area is the surface on the side facing away from the scanner. It can also be understood that the outer surface of the non-perforated area is the surface facing the first side wall and / or the second side wall.

[0209] In a possible implementation, the perforated structural member may be disposed between the scanner, the first side wall and / or the second side wall, see Fig.11b Based on this, the propagation optical path of the third stray light is specifically as follows: the third stray light is transmitted through the opening area of ​​the perforated structural member to the first side wall and / or second side wall and other structures of the detection system, is reflected and / or scattered to the outer surface of the non-opening area through the first side wall and / or second side wall and other structures, is reflected and / or scattered to the first side wall and / or second side wall and other structures of the detection system through the outer surface of the non-opening area, and is then reflected and / or scattered to the outer surface of the non-opening area through the first side wall and / or second side wall and other structures, and is reflected and / or scattered in sequence, so that the energy of the third stray light is consumed, and even the remaining energy can be ignored, so as to suppress or even eliminate the third stray light.

[0210] The optical processing modules based on the above structures 2 and 3 can eliminate the third stray light generated by the window reflection and / or scattered detection light.

[0211] It should be noted that the structures of the optical processing module given above can be used alone or in combination. For example, structure 1 and structure 2 are combined, that is, the optical processing module includes a light isolation component and at least two sheet structures, wherein the light isolation component can suppress or eliminate the first stray light and the second stray light, and the at least two sheet structures can suppress or eliminate the third stray light. It should be understood that the combination of structure 1 and structure 2 can be a combination of any one of the three structures of structure 1 and any one of the two structures of structure 2.

[0212] For another example, structure 1 and structure 3 are combined, and the optical processing module includes a light isolation component and a perforated structural member, wherein the light isolation component can suppress or eliminate the first stray light and the second stray light, and the perforated structural member can suppress or eliminate the third stray light. It should be understood that the combination of structure 1 and structure 3 can be a combination of any one of the three structures of structure 1 and structure 3.

[0213] For another example, the combination of structure 1, structure 2 and structure 3, that is, the optical processing module includes a light isolation component, at least two sheet structures and a perforated structural member, wherein the light isolation component can suppress or eliminate the first stray light and the second stray light, and the at least two sheet structures and the perforated structural member can suppress or eliminate the third stray light. It should be understood that the combination of structure 1, structure 2 and structure 3 can be any one of the three structures of structure 1, any one of the two structures of structure 2, and a combination of structure 3.

[0214] Of course, the structure of the optical processing module in the present application may also be other possible combinations, which will not be listed here one by one.

[0215] like Fig.12 As shown, it is a schematic diagram of the architecture of another scanning system provided by the present application. The scanning system includes a scanning module 1201, an optical processing module 1202 and a window 1203. Further, the scanning system may also include a first side wall 1204. The scanning module 1201 is used to reflect the detection light from the transmitting module to the window 1203, and reflect the echo signal to the receiving module, and the echo signal includes the reflected light obtained by reflecting the detection light through the target in the detection area; the optical processing module 1202 includes at least two sheet structures, and the at least two sheet structures form a first structure with at least one opening. The size of the first angle between the opening direction of the first structure and the window 1203 belongs to [0°, 90°], and the first angle is the angle in the direction toward the scanning module 1201. The first side wall 1204 is a side wall connected to the window 1203.

[0216] Based on the scanning system, since the window in the scanning system may not be able to achieve 100% transmission, a small amount of detection light will be reflected back by the window to generate third stray light. Through the first structure with at least one opening, the third stray light can be confined within the first structure and reflected and / or scattered multiple times, thereby wasting the energy of the third stray light, which helps to reduce the third stray light in the system.

[0217] Two possible structures of the optical processing module 1202 in the scanning system are shown below as examples. To facilitate the description of the solution, the optical processing module is not labeled below.

[0218] Structure A, the first structure formed by at least two sheet-like structures is a semi-open component.

[0219] The structure A can be found in the introduction of the above structure 2.1, which will not be described again here.

[0220] Structure B: a first structure formed by at least two sheet-like structures is grating-like (or called grating teeth).

[0221] The structure B can be found in the introduction of the above structure 2.2, which will not be described again here.

[0222] In a possible implementation, the scanning system may further include a perforated structural member, and details may refer to the introduction of the above structure 3.

[0223] It should be noted that in this application, the scanning system can be the above Figure 4 , Figure 5a-5f , Figure 6a-6c , Figure 7a-Figure 7b , Figure 8a-8b , Figure 9a-9d , Figure 10a-Figure 10b , Figure 11a-Figure 11b In any of the scanning systems shown, the optical processing module in the scanning system can be any one of the structures 1, 2 or 3 above or a combination of any multiple structures. Alternatively, the scanning system can also be the above Fig.12 In the scanning system shown, the optical processing module in the scanning system can be any one of the above-mentioned structures 2, or the above-mentioned structure 3, or a combination of any one of the above-mentioned structures 2 and structure 3.

[0224] Based on the architecture and functional principle of the scanning system described in any of the above embodiments, the present application may also provide a detection system. Fig.13As shown, the detection system may include a transmitting module 1301, a receiving module 1302 and a scanning system 1303 in any of the above embodiments. The transmitting module 1301 is used to transmit detection light, and the receiving module 1302 is used to receive the echo signal reflected from the scanning module or the second sub-scanner. Further, the detection system may also include a control module 1304. Further, the detection system may also include a window 1305. Further, the detection system may also include a first side wall 1306 and a second side wall 1307, wherein the first side wall 1306 and the second side wall 1307 are mainly used to isolate the influence of the external environment.

[0225] Below Fig.13 Some of the functional modules shown are introduced and explained separately to provide exemplary specific implementation schemes. For the convenience of explanation, the transmitting module, receiving module and control module are not marked in the following text.

[0226] 2. Transmitter Module

[0227] In a possible implementation, the emission module may include a light source assembly and an emission optical system, wherein the light source is used to emit detection light, and the emission optical system is used to propagate the detection light to the detection area. The detection light may be a line beam or a surface beam.

[0228] Exemplarily, the light source assembly may be a light source array of M rows and N columns, wherein M and N are both positive integers. If M and N are both equal to 1, the light source assembly may be a single light source. If M is equal to 1 and N is an integer greater than 1, the light source assembly may be a light source array of 1 row and M columns. If M is an integer greater than 1 and N is equal to 1, the light source assembly may be a light source array of M rows and 1 column. If M and N are both integers greater than 1, the light source assembly may be a light source array of M rows and N columns.

[0229] like Fig.14a The figure is a schematic diagram of the structure of a light source assembly provided by the present application. The light source assembly takes M=5 and N=5 as an example, that is, the light source assembly is a 5×5 light source array. It should be noted that the above Fig.14a The shape of the light source given is only an example, and the present application does not limit this. For example, the shape of the light source may also be square, elliptical or other possible shapes.

[0230] Exemplarily, the light source in the light source array may be, for example, a vertical cavity surface emitting laser (VCSEL), an edge emitting laser (EEL), a diode pumped solid state laser (DPSS) or a fiber laser.

[0231] In a possible implementation, the light sources in the light source array can be independently addressed, and the so-called independent addressing means that the light sources in the light source array can be independently selected (or called lighting or turning on or energizing), and the selected light sources can be used to emit detection light. The addressing method of the light source array is related to the physical connection relationship of the light sources. Exemplarily, the light source array can select the light sources in row-by-row time-sharing or column-by-column time-sharing. The so-called row-by-row time-sharing selection of light sources refers to selecting at least one row of light sources in the light source array at the same time. The column-by-column time-sharing selection of light sources refers to selecting at least one column of light sources in the light source array at the same time. In other words, the row of light sources selected in row can be a row of light sources or multiple rows of light sources, and the column of light sources selected in column can be a column of light sources or multiple columns of light sources, and the present application does not limit this. Taking the selection of a row of light sources at the same time as an example, the first row of light sources in the light source array is selected at the first moment, the second row of light sources in the light source array is selected at the second moment, and the third row of light sources in the light source array is selected at the third moment, and a row of light sources selected at each moment emits detection light. Taking the example of selecting a column of light sources at the same time, the first column of light sources in the light source array is selected at the first moment, the second column of light sources in the light source array is selected at the second moment, and the third column of light sources in the light source array is selected at the third moment. The column of light sources selected at each moment emits detection light.

[0232] In a possible implementation, the emission optical system can also be used to shape and / or collimate and / or homogenize the detection light emitted by the light source assembly. Fig.14b , is a schematic diagram of the structure of an emitting optical system provided in the present application. The emitting optical system is used to shape and / or collimate and / or homogenize the signal emitted by the light source assembly, and reflect the shaped and / or collimated and / or homogenized detection light to the detection area through the first sub-scanner. The emitting optical system may include at least one emitting mirror, and the emitting mirror may be a spherical lens, or may be an aspheric lens. In other words, the emitting optical system may include a single spherical lens, or may include a combination of multiple spherical lenses, or may include a single aspheric lens, or may include a combination of multiple aspheric lenses. The combination of multiple spherical lenses and / or aspheric lenses helps to improve the imaging quality of the emitting optical system and reduce the aberration of the emitting optical system. It should be understood that, Fig.14b For example, the emission optical system includes three lenses.

[0233] It should be noted that the present application does not limit the number of emitting mirrors included in the emitting optical system, which can be more than the above Fig.14b More or more than the above Fig.14b There is no limitation on the type of the emitting mirror. For example, the emitting mirror can be a plano-convex lens, a plano-concave lens, a concave-convex lens, a bi-concave lens, or a bi-convex lens.

[0234] In a possible implementation, the material of the emission mirror in the emission optical system can be optical materials such as glass, resin or crystal, and the present application does not limit the material of the emission optical system. In order to effectively suppress temperature drift, the emission optical system usually includes at least one emission mirror made of glass material.

[0235] 3. Receiving Module

[0236] In a possible implementation, the receiving module may include a receiving optical system and a detection component, wherein the receiving optical system is used to receive the echo signal reflected by the second sub-scanner and converge the received echo signal to the detection component (see Fig.15 ). The detection component is used to perform photoelectric conversion on the echo signal to obtain an electrical signal of associated information for determining the target. The associated information of the target includes but is not limited to the distance information of the target, the orientation of the target, the speed of the target, and / or the grayscale information of the target. Exemplarily, the receiving optical system can converge the echo signal from the second sub-scanner to the photosensitive surface of the detection component.

[0237] See also Fig.15 , is a schematic diagram of the structure of a receiving optical system provided by the present application. The receiving optical system may include at least one receiving mirror, and the receiving mirror may be a spherical lens, or may also be a plurality of aspherical lenses. In other words, the receiving optical system may include a single spherical lens, or may also include a combination of multiple spherical lenses, or may also include a single aspherical lens, or may also include a combination of multiple aspherical lenses. The combination of multiple spherical lenses and / or aspherical lenses helps to improve the imaging quality of the receiving optical system and reduce the aberration of the receiving optical system. It should be understood that Fig.15 The example in which the receiving optical system includes four lenses is taken.

[0238] It should be noted that the present application does not limit the structure of the receiving optical system. Fig.15 The structure of the receiving optical system given is only an example. The present application does not limit the number of receiving mirrors included in the receiving optical system, and the number of receiving mirrors can be greater than the above. Fig.15 More or more than the above Fig.15 In addition, the present application does not limit the type of the receiving mirror, and the receiving mirror can be a convex lens, a concave lens, or a combination of a convex lens and a concave lens, wherein the convex lens is such as a biconvex lens, a plano-convex lens, and a concave-convex lens, and the concave lens is such as a biconcave lens, a plano-concave lens, and a concave-convex lens.

[0239] In a possible implementation, the receiving mirror in the receiving optical system may be made of optical materials such as glass, resin or crystal, and the present application does not limit the material of the receiving optical system. In order to effectively suppress temperature drift, the receiving optical system usually includes at least one receiving mirror made of glass.

[0240] Exemplarily, the detection component can be a photodetector (PD), a P-type semiconductor-intrinsic layer-N-type semiconductor (positive intrinsic negative, PIN) type photodiode (also known as a PIN junction diode), an avalanche photodiode (APD), or a pixel array, each pixel in the pixel array can include one or more single-photon avalanche diodes (SPAD), or silicon photomultipliers (SiMP), or PIN-type photodiodes, or APDs, etc.

[0241] In a possible implementation, the pixel array may include H rows and K columns, where H and K are both positive integers. If H and K are both equal to 1, the pixel component may be a single pixel. If H is equal to 1 and K is an integer greater than 1, the pixel component is a pixel array of 1 row and H columns. If H is an integer greater than 1 and K is equal to 1, the pixel component may be a pixel array of H rows and 1 column. If H and K are both integers greater than 1, the pixel component may be a pixel array of H rows and K columns.

[0242] like Fig.16 , which is a schematic diagram of the structure of a pixel array provided by the present application. Fig.16 Take H=5 and K=5 as an example, that is, the pixel array includes 5×5 pixels. If the light source array is selected by row, the pixel array can select at least one row; if the light source array is selected by column, the pixel array can select at least one column.

[0243] It should be noted that the shapes of the pixels given above are only examples, and the present application does not limit this. For example, the shape of the pixel may also be a direction, an ellipse, or other possible shapes.

[0244] 4. Control Module

[0245] In a possible implementation, the control module may receive an electrical signal from the detection component and determine the associated information of the target based on the electrical signal. Further, optionally, the control module may also perform driving path planning based on the determined associated information of the target, such as avoiding obstacles on the path to be driven.

[0246] Further, optionally, the control module can also be used to control the scanning module and the rotation, and further, can also be used to control the synchronization between the scanning module and the light source assembly, and to control the synchronization between the scanning module and the pixel array, etc.

[0247] In one possible implementation, the control module may include a controller, which may be, for example, a general controller, a field programmable gate array (FPGA), a digital signal processing (DSP) circuit, an application specific integrated circuit (ASIC), or other programmable logic devices.

[0248] For example, the controller may send a control signal to the pixel array to enable the pixel array to select at least one row or at least one column or other pixels that need to be selected. For another example, the controller may send a control signal to the light source array to enable the light source array to select light sources by row or by column. These are not listed here one by one.

[0249] In one possible implementation, the detection system may be, for example, a laser radar. The detection system may be installed on a vehicle, see Fig.17 The position of the laser radar on the vehicle in this example is only an example. The laser radar can also be set at any possible position around the vehicle body (see the above Figure 1b ), which is not limited in this application. Further, optionally, the detection system may also send the associated information of the determined target to the vehicle, and the vehicle may plan the driving path according to the associated information of the determined target, such as avoiding obstacles on the path to be driven.

[0250] It should be noted that Fig.17 The shape of the laser radar shown is only an example. The appearance of the laser radar may also be other shapes, such as a rectangular parallelepiped or other regular or irregular shapes, etc. This application is not limited to this.

[0251] Based on the architecture and functional principles of the detection system described above, the present application may also provide a terminal device. Fig.18As shown, it is a schematic diagram of the structure of a terminal device provided by the present application. The terminal device 1800 may include the detection system 1801 in any of the above embodiments. Further, optionally, the terminal device may also include a controller 1802, and the controller 1802 is used to call a program or instruction to control the above detection system 1801 to obtain detection information (such as an electrical signal for determining the associated information of the target or the associated information of the target, etc.). If the detection system obtains an electrical signal for determining the associated information of the target, the controller 1802 may also receive an electrical signal from the detection system 1801, and determine the associated information of the target according to the electrical signal. Further, the controller 1802 may also plan the driving path of the terminal device according to the determined associated information of the target, such as avoiding obstacles on the driving path. If the detection system obtains the associated information of the target, the controller 1802 may also be used to receive the associated information of the target from the detection system 1801, and perform further processing based on the associated information of the target, such as planning the driving path of the terminal device based on the associated information of the target. Optionally, the terminal device may also include a memory 1803, and the memory 1803 is used to store programs or instructions. Of course, the terminal device may also include other components, such as a wireless control device, etc., which are not listed here one by one.

[0252] Among them, the detection system 1801 can refer to the description of the above detection system, which will not be repeated here.

[0253] The controller 1802 may include one or more processing units. For example, the controller 1802 may include an application processor (AP), a graphics processing unit (GPU), an image signal processor (ISP), a controller, a digital signal processor (DSP), etc. Different processing units may be independent devices or integrated into one or more processors.

[0254] Memory 1803 includes, but is not limited to, random access memory (RAM), flash memory, read-only memory (ROM), programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), registers, hard disks, mobile hard disks, CD-ROMs, or any other form of storage medium known in the art. An exemplary storage medium is coupled to the controller so that the controller can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be a component of the controller. The controller and the storage medium can be located in an ASIC.

[0255] Exemplarily, the terminal device can be, for example, a vehicle (such as an unmanned vehicle, a smart vehicle, an electric vehicle, or a digital car), a robot, a surveying and mapping equipment, a drone, a smart home device (such as a television, a sweeping robot, a smart desk lamp, an audio system, a smart lighting system, an electrical appliance control system, home background music, a home theater system, an intercom system, or video surveillance, etc.), smart manufacturing equipment (such as industrial equipment), smart transportation equipment (such as AGV, an unmanned transport vehicle, or a truck, etc.), or a smart terminal (a mobile phone, a computer, a tablet computer, a PDA, a desktop computer, headphones, audio, wearable devices, vehicle-mounted devices, virtual reality devices, augmented reality devices, etc.), etc.

[0256] In the various embodiments of the present application, unless otherwise specified or provided in a logical conflict, the terms and / or descriptions between the different embodiments are consistent and may be referenced to each other, and the technical features in the different embodiments may be combined to form new embodiments according to their inherent logical relationships.

[0257] In the present 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 three relationships can exist. For example, A and / or B can represent: 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 represent: 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 the present application, the character " / " generally indicates that the front and back associated objects are in an "or" relationship. In the formula of the present application, the character " / " indicates that the front and back associated objects are in a "divided" relationship. In the present application, the symbol "(a, b)" represents an open interval, the range is greater than a and less than b; "[a, b]" represents a closed interval, the range is greater than or equal to a and less than or equal to b; "(a, b]" represents a semi-open and semi-closed interval, the range is greater than a and less than or equal to b; "(a, b]" represents a semi-open and semi-closed interval, the range is greater than a and less than or equal to b. In addition, in the present application, the word "exemplarily" is used to indicate an example, illustration or description. Any embodiment or design described as an "example" in the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Alternatively, it can be understood that the use of the word "example" is intended to present the concept in a specific way and does not constitute a limitation on the present application.

[0258] It is to be understood that the various digital numbers involved in the present application are only for the convenience of description and are not intended to limit the scope of the embodiments of the present application. The size of the sequence number of the above-mentioned processes does not mean the order of execution, and the order of execution of each process should be determined by its function and inherent logic. The terms "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, including a series of steps or units. Methods, systems, products or equipment are not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or equipment.

[0259] Although the present application has been described in conjunction with specific features and embodiments thereof, it is apparent that various modifications and combinations may be made thereto without departing from the spirit and scope of the present application. Accordingly, the present specification and the accompanying drawings are merely exemplary illustrations of the schemes defined by the appended claims, and are deemed to have covered any and all modifications, variations, combinations or equivalents within the scope of the present application.

[0260] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the embodiments of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A scanning system, characterized in that: It includes a scanning module, an optical processing module and a window; The scanning module is used to reflect the detection light from the transmitting module to the window, and reflect the echo signal to the receiving module, wherein the echo signal includes the reflected light obtained by reflecting the detection light from the target in the detection area; The optical processing module includes at least two sheet structures, and the at least two sheet structures form a first structure with at least one opening. The size of a first angle between the opening direction of the first structure and the window belongs to [0°, 90°], and the first angle is an angle in the direction toward the scanning module.

2. The system according to claim 1, characterized in that At least one of the at least two sheet-like structures has a matting function.

3. The system according to claim 2, characterized in that The reflectivity of the sheet-like structure with the extinction function is not greater than 10%.

4. The system according to any one of claims 1 to 3, characterized in that: The scanning system further includes a first side wall, the first side wall being connected to a side wall for the viewing window; The first structure is disposed on the first side wall; or, the first structure is disposed between the first side wall and the scanning module.

5. The system according to any one of claims 1 to 4, characterized in that: The first structure is a semi-open component, and the opening direction of the semi-open component is toward the window.

6. The system according to claim 5, characterized in that The shape of the semi-open component includes a π-shape, a U-shape or a semi-closed rectangle.

7. The system according to claim 6, characterized in that The inner surface of the semi-open component has a matte function.

8. The system according to any one of claims 1 to 4, characterized in that: The first structure is grating-like, and the surface of the grating-like structure has an extinction function.

9. The system according to any one of claims 1 to 8, characterized in that: The optical processing module also includes a perforated structural member; The perforated structural member includes a perforated area and a non-perforated area, and the perforated area faces the scanner.

10. The system according to claim 9, characterized in that The outer surface of the non-perforated area has a light-extinction function, and the outer surface of the non-perforated area is the surface facing away from the scanner.

11. A detection system, characterized in that: Comprising a transmitting module, a receiving module, and a scanning system as claimed in any one of claims 1 to 10; The emission module is used to emit the detection light; The receiving module is used to receive the echo signal reflected from the scanning module.

12. A terminal device, characterized in that: Comprising a detection system as claimed in claim 11.

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