Detection device, laser radar and terminal

Abstract

A detection device, a laser radar and a terminal are applied to the technical field of laser radars. The detection device comprises a transmitting module, a first receiving module, a second receiving module and a scanning module. Wherein the transmitting module is used for transmitting light beams to an object space, the first receiving module and the second receiving module are both used for receiving the light beams from the object space, and the view fields of the first receiving module and the second receiving module are different. A transmitting light path of the transmitting module, a receiving light path of the first receiving module and a receiving light path of the second receiving module pass through the same reflecting surface of the scanning module, so that the matching degree of the light spots received by the multiple groups of receiving modules can be improved, and the energy distribution difference caused by the reflecting surface difference is obviously reduced; on the premise of ensuring large FOV and high resolution, the performance of the detection device can be improved, and the performance is stable.

Description

Technical Field

[0001] The present application relates to the field of laser radar technology, and in particular to a detection device, a laser radar and a terminal. Background Art

[0002] With the development of information technology and computer vision, detection technology has achieved rapid development, bringing great convenience to people's lives and travel. The detection device is the "eye" of the equipment to perceive the environment, including vision sensors such as cameras and radar sensors such as millimeter wave radar, lidar and ultrasonic radar. Among them, lidar (light detection and ranging, Lidar, or light detection and ranging device) has the advantages of high resolution, good detection performance and strong concealment. It plays an important role in the process of equipment perceiving the environment, especially in the field of intelligent driving, and has been widely used, helping to further develop intelligent driving technology.

[0003] Scanning laser radar is a type of laser radar. Scanning laser radar includes a transmitter, a receiver and a scanner. Its architecture can be a line-scanning receiver, a line-scanning receiver or a fully solid-state architecture. Regardless of the aforementioned architecture design, it is limited by the scale of the laser radar's receiving module. If the field of view (FOV) of the receiving module is designed to be larger, the laser radar's angular resolution will be lower and the ranging capability will be poor. If the FOV of the receiving module is designed to be smaller, the laser radar's angular resolution will be improved and the ranging capability will also be higher, but the laser radar's field of view will be reduced. Moreover, the stability of the laser radar's detection performance is also affected by the positional relationship between the transmitter, the receiver and the scanner.

[0004] In short, for the current lidar architecture design, it is difficult to achieve a large FOV, high resolution, and performance stability. Summary of the invention

[0005] The present application provides a detection device, a laser radar and a terminal, which can improve the matching degree of light spots received by multiple groups of receiving modules, significantly reduce the energy distribution differences caused by the differences in the reflecting surfaces of the scanning modules (such as surface differences, pyramidal differences, etc.), and improve the performance of the detection device. It can improve the performance of the detection device and ensure stable performance while ensuring a large FOV and high resolution.

[0006] In a first aspect, the present application provides a detection device, including a transmitting module, a first receiving module, a second receiving module and a scanning module. The transmitting module is used to transmit a first light beam, and the first light beam is transmitted to the object space through the scanning module. The second receiving module is used to receive a second light beam from the object space, and the second light beam is transmitted to the first receiving module through the scanning module, and the second light beam includes the echo of the first light beam. The first receiving module is used to receive a third light beam from the object space, and the third light beam is transmitted to the second receiving module through the scanning module, and the third light beam includes the echo of the first light beam. The first field of view corresponding to the first receiving module and the second field of view corresponding to the second receiving module are at least partially non-overlapping. The scanning module includes at least one reflecting surface, and the scanning module is used to move, including moving around a movable axis.

[0007] In the detection device, the optical path of the first light beam, the optical path of the second light beam and the optical path of the third light beam pass through the same reflective surface of the scanning module. Among them, the first light beam represents the transmitting light path of the transmitting module, the second light beam represents the receiving light path of the first receiving module, and the third light beam represents the receiving light path of the second receiving module. When the scanning module is active, the angular relationship between the reflective surface and the light beam passing through the reflective surface is constantly changing, and the angle of the light beam passing through the reflective surface of the scanning module is changed. Among them, the scanning module includes one or more scanning devices such as a swing mirror, a rotating mirror, and a galvanometer mirror, among which the movable axis of the swing mirror is a swing axis, the movable axis of the rotating mirror is a rotating axis, and the movable axis of the galvanometer mirror is also a pre-designed component that can support the movement of the galvanometer mirror.

[0008] In the above scheme, the detection device includes two sets of receiving modules, so that one transmission can receive two echoes, which can increase the point cloud density in the echo and improve the resolution of the detection device. Moreover, the fields of view of the two sets of receiving modules are staggered, that is, at least partially non-overlapping, which can increase the FOV of the detection device. At the same time, the scanning module is used to perform scanning detection of the object space, which can further improve the resolution and increase the FOV. Since two receiving modules and one transmitting module are used, the matching degree between the receiving field of view of the two receiving modules and the transmitting field of view of the transmitting module is the key to the performance of the detection device.

[0009] Consider a possible situation. When the scanning module includes multiple reflective surfaces, due to the influence of manufacturing process, application environment, etc., there will inevitably be face difference and / or pyramid difference between the surfaces. When the same light beam passes through reflective surfaces with different positional relationships, there will be a difference in the pointing angle. For example, taking a rotating mirror as an example, the rotating mirror includes a reflective surface R1 and a reflective surface R2, wherein there is a face difference and / or pyramid difference between the reflective surfaces R1 and R1. For the same light beam, when it passes through the reflective surface R1, it will fall into the A area, and when it passes through the reflective surface R2, it will deviate from the A area, that is, there is a difference in the pointing angle between the light beams emitted from the two reflective surfaces. The difference in the pointing angle will cause the position difference of the light spot on the receiving array of the receiving module, resulting in a large difference in the energy distribution of the light beams received by the two receiving modules. The point cloud data obtained by the two receiving modules have a low matching degree, which affects the back-end algorithm processing and further affects the performance of the detection device. In addition, the reflective surface through which the light beam emitted by the transmitting module passes and the light beam received by one of the receiving modules (or even two receiving modules) may not pass through the same reflective surface, resulting in a large deviation between the field of view of the transmitting module and the field of view of the receiving module on the opposite side due to the difference in reflective surfaces, which also affects the energy distribution difference of the light spot on the receiving array.

[0010] In the above scheme, the light beam emitted by the transmitting module and the light beams received by the two receiving modules all pass through the same reflecting surface of the scanning module, which can improve the matching degree of the light spots received by multiple groups of receiving modules, significantly reduce the energy distribution difference caused by the difference in the reflecting surface of the scanning module (such as face difference, pyramidal difference or abnormality of partial reflecting surface, etc.), and improve the performance stability of the detection device.

[0011] In summary, the present application can improve the performance of the detection device and ensure stable performance while ensuring a large FOV and high resolution.

[0012] Optionally, the second light beam and the third light beam are two independent light beams, which pass through the scanning module and then enter different receivers respectively. Independently receiving light paths can improve the detection accuracy of each receiving path.

[0013] In a possible implementation of the first aspect, the transmitting module, the first receiving module, and the second receiving module are located on the same side of the scanning module. As a possible implementation, the extension direction of the active axis of the scanning module is the Y direction, the direction in which the first light beam is incident on the scanning module is the X direction, and the Z direction is a direction perpendicular to the Y direction and the X direction. Along the X-axis direction, relative to the YOZ plane, the transmitting module, the first receiving module, and the second receiving module are located on the same side of the scanning module. Among them, point O is the intersection of the X direction, the Y direction, and the Z direction, which can be used as an origin exemplarily.

[0014] Since the transmitting optical path of the transmitting module, the receiving optical path of the first receiving module and the optical path of the second receiving module pass through the same reflective surface of the scanning module, the light ports of the transmitting module, the first receiving module and the second receiving module can directly or indirectly face the same reflective surface. Designing the three on one side of the scanning module can make it easier to realize the optical path design in which the three optical paths pass through the same reflective surface.

[0015] Optionally, the scanning module includes a rotating mirror, and the rotating mirror includes multiple reflective surfaces, for example, the rotating mirror is a double-sided rotating mirror, a three-sided rotating mirror, a four-sided rotating mirror, a five-sided rotating mirror, etc. Among them, the double-sided rotating mirror has two reflective surfaces for scanning, the three-sided rotating mirror includes four reflective surfaces for scanning, and the rest are analogous. Further, along the direction of the rotation axis, the ground surface and the top surface of the rotating mirror are arranged opposite to each other, and the reflective surface is arranged on the side of the rotating mirror.

[0016] Alternatively, the scanning module is a swing mirror, which includes one reflecting surface or two reflecting surfaces. Exemplarily, the swing mirror can swing back and forth along a swing axis.

[0017] In another possible implementation of the first aspect, the first receiving module includes a first detector and a first receiving optical component, and the second light beam is transmitted to the first detector through the first receiving optical component. The second receiving module includes a second detector and a second receiving optical component, and the third light beam is transmitted to the second detector through the second optical component.

[0018] The first receiving optical component includes a receiving lens of the first receiving module, and the second receiving optical component includes a receiving lens of the second receiving module. The first receiving module and the second receiving module use independent receiving optical components to achieve independent two-way reception, which can improve the resolution of the detection data obtained by each receiving module and improve the detection accuracy without affecting the receiving aperture of each receiving module.

[0019] In another possible implementation of the first aspect, the first receiving optical component and the first detector are integrated. For example, the first detector is integrated on a circuit board, the first receiving optical component is fixedly arranged in a first lens barrel, the first lens barrel is fixedly connected to the circuit board on which the first detector is arranged, and the first lens barrel covers the first detector. The integrated design can reduce the volume of the detection device, improve the stability of the receiving module, and improve the performance stability of the detection device.

[0020] In another possible implementation of the first aspect, the second receiving optical component and the second detector are integrated. For example, the second detector is integrated on a circuit board, the second receiving optical component is fixedly disposed in a second lens barrel, the second lens barrel is fixedly connected to the circuit board on which the second detector is disposed, and the second lens barrel covers the first detector.

[0021] In another possible implementation of the first aspect, the focal length of the first receiving optical component is different from the focal length of the second receiving optical component. In this way, the first receiving module and the second receiving module can work together to enable the detection device to have both a large FOV and high resolution.

[0022] Exemplarily, the first receiving optical component is short-focus, and the first receiving module is used to achieve a large FOV index. The second receiving optical component is long-focus, and the first receiving module is used to achieve a high-resolution index.

[0023] In yet another possible implementation of the first aspect, the detection device further includes a reflector, and the reflector is used to reflect the first light beam from the emission module to a reflective surface of the scanning module.

[0024] In the above solution, a reflector may be provided in the detection device, and the reflector is used to fold the emission light path, so that the position design of the emission module is more flexible and can adapt to various light path design requirements.

[0025] In another possible implementation of the first aspect, the direction of the light outlet of the transmitting module is different from the direction of the light inlet of the first receiving module, the reflector is arranged on the optical path between the first receiving module and the scanning module, and the first light beam and the second light beam are coaxial after passing through the reflector.

[0026] In the above embodiment, the coaxial optical path design of the transmitting module and the first receiving module can significantly reduce the parallax between the two, improve the matching degree between the transmitting field of view and the field of view of the first receiving module, improve the accuracy of the detection results received by the first receiving module, and help improve the performance of the detection device.

[0027] Furthermore, the light inlet of the first receiving module is opposite to the reflective surface of the scanning module. In this way, the components in the detection device can be simplified, and the detection device can be optimized in volume and cost.

[0028] In another possible implementation of the first aspect, the orientation of the light outlet of the transmitting module is different from the orientation of the light inlet of the first receiving module, the reflector is arranged on the optical path between the first receiving module and the scanning module, and / or, is arranged on the optical path between the second receiving module and the scanning module, and the main optical axis of the first light beam and the main optical axis of the second light beam after passing through the reflector are not coaxial.

[0029] In this way, the reflector does not need to be set on the optical axis of the first receiving module and the second receiving module, which can reduce the impact of the reflector on the amount of light entering the first receiving module and the second receiving module, reduce the stray light inside the detection device, and help improve the effectiveness of the light beam received by the detection device.

[0030] In another possible implementation of the first aspect, along the first direction (X direction), the orthographic projection of the reflector on the first plane partially overlaps with the orthographic projection of the first receiving module on the first plane, and the orthographic projection of the reflector on the first plane partially overlaps with the orthographic projection of the second receiving module on the first plane, and the first direction is the direction in which the first light beam is emitted from the reflector. The first plane is a plane perpendicular to the first direction.

[0031] In the above scheme, the reflector is arranged in the middle of the optical path of the first receiving module and the second receiving module. The emission and the two groups of receiving both form a paraxial optical path, but the reflector reduces the influence of the receiving aperture of a single receiving module and the influence of the light input to the receiving module, which helps to ensure the ranging capability of the detection device.

[0032] In another possible implementation of the first aspect, the transmitting module is disposed on the first circuit board, and the first receiving module is disposed on the second circuit board. The transmitting module and the receiving module are electrically driven. Furthermore, the transmitting module and the receiving module are both fixedly connected to the circuit board.

[0033] Since the power of the transmitting module is relatively high, splitting the transmitting module and the receiving module into two circuit boards and driving them separately can reduce the heat dissipation pressure of the detection device.

[0034] In another possible implementation of the first aspect, the light outlet of the transmitting module, the light inlet of the first receiving module and the light inlet of the second receiving module face the same direction. The transmitting module, the first receiving module and the second receiving module are arranged along a second direction perpendicular to the rotation axis of the scanning module.

[0035] In the above embodiment, the three modules are arranged in the same direction, which can reduce the number of refracting elements such as reflectors, reduce the stray light inside the detection device, reduce the impact on the aperture of the receiving module, and ensure the ranging capability of the receiving module.

[0036] In another possible implementation of the first aspect, the transmitting module and the second receiving module are arranged along the second direction. The first receiving module and the second receiving module are arranged along the second direction, and the transmitting module and the first receiving module are arranged along the third direction, and the third direction is parallel to the rotation axis of the scanning module. Further, along the Z direction, the orthographic projections of the transmitting module and the second receiving module partially overlap, and the orthographic projections of the first receiving module and the second receiving module partially overlap.

[0037] In the above embodiment, the three modules are arranged in a two-dimensional staggered manner, which can reduce the problem of increased height or depth caused by arrangement in a single direction, and at the same time reduce the size requirement of the scanning module, which is in line with the development direction of miniaturization and high integration of the detection device.

[0038] In another possible implementation of the first aspect, the light outlet of the transmitting module, the light inlet of the first receiving module and the light inlet of the second receiving module are all oriented toward the scanning module. In this way, the components in the detection device can be simplified to achieve optimal volume and cost of the detection device.

[0039] In another possible implementation of the first aspect, the transmitting module and the first receiving module and the second receiving module are arranged on the same circuit board. In this way, the components in the detection device can be simplified, the integration of the detection device can be greatly improved, and the detection device can be optimized in volume and cost.

[0040] In another possible implementation of the first aspect, the first receiving module and the second receiving module are both disposed on a same circuit board.

[0041] In another possible implementation of the first aspect, the field of view angle of the first field of view is greater than the field of view angle of the second field of view. In the above scheme, the first receiving module is used to achieve a large FOV index of the detection device, and the second receiving module is used to achieve high-resolution detection, which can ensure that the resolution of the detection device is improved when the detection device has a large FOV.

[0042] In a second aspect, the present application provides a laser radar, wherein the laser radar comprises the detection device described in the first aspect or any one of the first aspects and at least one circuit board. The transmitting module, the first receiving module and the second receiving module in the detection device are arranged on at least one circuit board.

[0043] Furthermore, the laser radar also includes a shell, and the transmitting module, the first receiving module, the second receiving module and the scanning module in the detection device are all fixedly connected to the shell. Optionally, the shell includes a bottom shell, the scanning module and at least one circuit board are fixedly connected to the bottom shell, and the transmitting module, the second receiving module and the second receiving module are fixedly connected to at least one circuit board.

[0044] Optionally, the scanning module includes a rotating mirror, and / or the scanning module includes an oscillating mirror. For example, the scanning module includes an oscillating mirror and a rotating mirror to achieve two-dimensional scanning.

[0045] In a third aspect, the present application also provides a terminal, which includes the laser radar of the second aspect, or includes the detection device described in the first aspect or any item of the first aspect.

[0046] The beneficial effects of the second to third aspects of the present application can refer to the beneficial effects of the scheme of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The following is a brief introduction to the drawings required for describing the embodiments.

[0048] Figure 1is a schematic diagram of the architecture of a detection device;

[0049] Figure 2 is a schematic diagram of the detection range of two receiving ends of the detection device;

[0050] Figure 3 is a schematic diagram of the difference between the two types of reflecting surfaces;

[0051] Figure 4 It is a schematic diagram of energy distribution of four types of light spots;

[0052] Figure 5 are the locations where the four light spots fall in the receiver array;

[0053] Figure 6 is a schematic diagram of the structure of a detection device provided in an embodiment of the present application;

[0054] Figure 7 is a structural schematic diagram of a receiving module provided in an embodiment of the present application;

[0055] Figure 8 yes Figure 7 The receiving module shown is a cross-sectional view taken along line AA';

[0056] Fig. 9 is a schematic structural diagram of another possible detection device provided in an embodiment of the present application;

[0057] Fig.10 is a schematic diagram of an optical path of a detection device provided in an embodiment of the present application;

[0058] Fig.11 is a schematic diagram of the positional relationship between a reflector and a first receiving module provided in an embodiment of the present application;

[0059] Fig.12 is a schematic diagram of an optical path of another detection device provided in an embodiment of the present application;

[0060] Fig.13 is a schematic diagram of the positional relationship of a reflector, a first receiving module, and a second receiving module provided in an embodiment of the present application;

[0061] Fig.14 is a schematic diagram of an optical path of another detection device provided in an embodiment of the present application;

[0062] Fig.15 is a structural schematic diagram of another detection device provided in an embodiment of the present application;

[0063] Fig.16 is a structural schematic diagram of another detection device provided in an embodiment of the present application;

[0064] Fig.17is a structural schematic diagram of another detection device provided in an embodiment of the present application;

[0065] Fig.18 is a structural schematic diagram of another detection device provided in an embodiment of the present application;

[0066] Fig.19 is a structural schematic diagram of another detection device provided in an embodiment of the present application;

[0067] Fig. 20 is a structural schematic diagram of another detection device provided in an embodiment of the present application;

[0068] Fig.21 is a schematic diagram of the positions of a first field of view and a second field of view provided in an embodiment of the present application;

[0069] Fig. 22 is another schematic diagram of the positions of the first field of view and the second field of view provided in an embodiment of the present application;

[0070] Fig.23 is another schematic diagram of the positions of the first field of view and the second field of view provided in an embodiment of the present application;

[0071] Fig.24 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0072] Detection device products such as LiDAR that use light beams to detect object space have been widely used in various industries. At present, the architecture of mainstream detection devices has entered the semi-solid or fully solid stage. The typical detection device architecture includes a transmitter (transmit, TX), a receiver (receive, RX) and a scanning mechanism. The transmitter emits lasers, the receiver receives light beams from the object space (including the echo of the emitted laser), and the scanning mechanism performs scanning. Limited by the size of the detector array at the receiving end, it is difficult for detection devices to have both large FOV and high resolution.

[0073] In order to achieve the performance requirements of large FOV and high resolution at the same time, some detection devices use dual receiving ends for reception. Figure 1 , Figure 1 This is a schematic diagram of the structure of a detection device, which includes a transmitting module TX, a first receiving module RX1, a second receiving module RX2 and a rotating mirror. The rotation direction of the rotating mirror is only an example. Figure 2 , Figure 2 It is a schematic diagram of the detection range of the two receiving ends of the detection device. Figure 1 and Figure 2It can be seen that the first receiving module RX1 has a larger field of view angle, which is mainly used to detect close-range targets and can achieve a large FOV index. The second receiving module RX2 has a smaller field of view angle, which is mainly used to detect long-range targets and can achieve a high-resolution index. Of course, the above field of view design is a possible situation. In the specific implementation, the field of view of the receiving module may have other designs, and the ranging range may also have other designs.

[0074] In the dual-receiver architecture, the relative position relationship between the transmitter, the two sets of receivers and the rotating mirror has a significant impact on the performance of the detection device. Since the detection device uses two receiving modules, the matching degree between the receiving field of view of the two receiving modules and the transmitting field of view of the transmitting module is the key to the performance of the detection device.

[0075] Combination Figure 1 , the transmitting module TX and the first receiving module RX1 are arranged on one side of the rotating mirror, and the second receiving module RX2 is arranged on the other side of the rotating mirror. Since the rotating mirror includes multiple reflecting surfaces, the relative positions of the multiple reflecting surfaces are easily different. For example, see Figure 3 , take the rotating mirror including four reflecting surfaces as an example, the four reflecting surfaces are respectively called reflecting surface R1, reflecting surface R2, reflecting surface R3 and reflecting surface R4. The relative angle (i.e., face difference) of the four reflecting surfaces observed along the rotating axis direction can be obtained as Figure 3 Schematic diagram of part (a) of . Ideally, the angles between the reflection surface R1 and the reflection surface R4 (i.e., β1, β2, β2, and β4) are all right angles, but in reality, the angle β2 between the reflection surface R2 and the reflection surface R1 may have a face difference deviation. Similarly, when observing the inclination angle (i.e., the pyramidal error) between the reflection surface and the bottom surface of the rotating mirror in the direction perpendicular to the rotation axis, ideally, the reflection surface R1 and the reflection surface R2 have the same angle relative to the bottom surface, but in reality, there is a pyramidal error deviation between the reflection surface R4 and the reflection surface R2, as shown in FIG. Figure 3 Part (b), that is, the angle α1 between the reflecting surface R4 and the bottom surface is different from the angle α2 between the reflecting surface R2 and the bottom surface.

[0076] For two surfaces with pyramidal and / or facet errors, the same return beam will have different pointing angles when it is viewed from the two surfaces, causing the return beam to jitter. Figure 4 , Figure 4 Parts (a), (b), (c), and (d) are used to represent four possible light spot energy distributions. In one possible case, the energy distribution of the light spot received by the receiving module is as follows: Figure 4 As shown in part (a) of Figure 4 In part (b), the light spot shifts left and right. Figure 4 In part (c), the light spot shifts up and down. Figure 4 In part (d), the light spot appears tilted or rotated.

[0077] The receiving module includes an array detector, which can obtain the energy of the light spot. The energy of the light spot can be converted into an electrical signal, and then processed to obtain the detection result (such as point cloud data). The jitter of the light spot will affect the position of the light spot on the receiver array, and then affect the accuracy of the detection result. Please refer to Figure 5 , Figure 5 are the locations where the four light spots fall in the receiver array. Figure 4 The light spot shown in part (a) of FIG. 1 is located in the array as shown in FIG. Figure 5 As shown in part (a) of Figure 5 In parts (b), (c), and (d), when the light spot is offset or rotated, the position where the light spot falls on the array receiver also changes accordingly, causing the data output by the detector to change. For the two receiving ends set on the opposite sides of the rotating mirror, when the light spot energy distribution obtained by the two receiving ends is different, the difficulty of aligning the data obtained by the two receiving ends increases. When the data obtained by the two receiving ends are spliced ​​or fused, the accuracy of the results is reduced. For example, the reflectivity of the target cannot be accurately measured, the maximum detection distance of the detection device is reduced, and the ranging accuracy is reduced. Even part of the light spot may deviate from the area where the receiver array can obtain the energy of the echo, such as Figure 5 The (d) part, that is, the area where the energy of the echo cannot be obtained, causes the loss of light spot energy, resulting in further reduction of ranging capability and detection accuracy. In short, under the existing architecture, the difference between the reflective surfaces of the rotating mirror affects the performance stability of the detection device.

[0078] In view of this, the present application provides a detection device, a laser radar and a terminal, which can improve the matching degree of light spots received by multiple groups of receiving modules, significantly reduce the energy distribution differences caused by the differences in the reflecting surfaces of the rotating mirrors (such as surface aberrations, pyramidal aberrations, etc.), and improve the performance of the detection device. It can improve the performance of the detection device and ensure stable performance while ensuring a large FOV and high resolution.

[0079] See also Figure 6 , Figure 6 1 is a schematic diagram of the structure of a detection device provided in an embodiment of the present application. The detection device 100 includes a transmitting module 10, a first receiving module 21, a second receiving module 22 and a scanning module 30. Each module is introduced below:

[0080] The emission module 10 is used to emit a first light beam, such as light beam L1. The emission module 10 includes a laser, and the light beam emitted by the emission module 10 is generated by the laser. Exemplarily, the emission module may include one or more of the following lasers: vertical cavity surface emitting laser (VCSEL), photonic crystal surface emitting semiconductor lasers (PCSEL), edge emitting laser (EEL), laser diode (LD), distributed feedback laser diode (DFB-LD), grating coupled sampling reflection laser diode (GCSR-LD), or micro opto electromechanical system laser diode (MOEMS-LD), etc. Furthermore, the transmitting module also includes a transmitting optical component, which includes one or more optical elements, such as a lens (including a lens group formed by multiple lenses), a microlens, a meta-lens, a collimating optical system, a beam expansion system, a homogenizer, a light shaping device, a polarization optical element, etc.

[0081] The receiving module, such as the first receiving module 21 and / or the second receiving module 22, is used to receive a light beam. For ease of description, the light beam received by the first receiving module 21 is referred to as the second light beam L2, and the light beam received by the second receiving module 22 is referred to as the third light beam L3. It should be understood that the light beam L1, light beam L2, and light beam L3 shown herein can exemplarily represent light paths. Generally speaking, the light beams received by the first receiving module 21 and the second receiving module 22 include an echo (or returned light) of the emitted light beam, so that the back-end processing module can calculate the relevant information of the target in the object space based on the characteristics of the echo, such as one or more of the distance, speed, reflectivity, color, size, or texture.

[0082] The receiving module includes a detector. The detector may include one or more detection elements, such as a single-photon avalanche diode (SPAD), a silicon photomultiplier (SiPM), a semiconductor avalanche photodiode (APD), a multi-pixel photon counter (MPPC), or an electron multiplying charge-coupled device (EMCCD). The number of detection elements in the detector is usually multiple, and the multiple detection elements can be arranged in an array to form a detector array. For example, the first receiving module 21 and the second receiving module 22 include a SPAD array.

[0083] Furthermore, the receiving module also includes a receiving optical component, and the transmitting optical component includes one or more optical elements, and the optical elements include, for example, one or more of a lens (including a lens group formed by multiple lenses), a microlens, a meta-lens, a homogenizer, a light shaping device, a filter, a spectrometer, a polarization optical element, etc.

[0084] Optionally, the first receiving module 21 and the second receiving module 22 in the embodiment of the present application may share the same back-end system on chip (SoC) chip, or may be respectively connected to two different back-end SoC chips, which is not limited in the embodiment of the present application.

[0085] The scanning module 30 includes at least one reflective surface. When working, the scanning module can move around the movable axis to reflect the incident light beam at different angles, that is, the rotation of the scanning module can change the angle of the light beam passing through the reflective surface of the scanning module. Optionally, in the case where the scanning module includes multiple reflective surfaces, the angle of each reflective surface can be changed in sequence.

[0086] In some possible implementations, the scanning module includes one or more scanning devices such as a swing mirror, a rotating mirror, and a galvanometer mirror, wherein the movable axis of the swing mirror is a swing axis, the movable axis of the rotating mirror is a rotating axis, and the movable axis of the galvanometer mirror is also a pre-designed component that can support the movement of the galvanometer mirror.

[0087] It should be understood that Figure 6 The other embodiments in this article are described by taking the scanning module as a rotating mirror as an example, and Figure 6The rotation direction shown is only an example, but the present application is also applicable to the case where the scanning module includes other scanning mechanisms. In some schemes, the scanning module 30 includes a rotating mirror, and the multiple reflective surfaces of the rotating mirror are installed on the main body of the rotating mirror in the form of patches. In some other schemes, the multiple reflective surfaces of the rotating mirror and the main body of the rotating mirror are of an integrated design. Optionally, there are multiple possible designs for the number of reflective surfaces included in the rotating mirror. For example, the rotating mirror is a double-sided rotating mirror, a three-sided rotating mirror, a four-sided rotating mirror, a five-sided rotating mirror, etc. Among them, the double-sided rotating mirror has two reflective surfaces for scanning, the three-sided rotating mirror includes four reflective surfaces for scanning, and the rest of the cases are similar. Further, along the direction of the rotation axis, the ground and top surfaces of the rotating mirror are arranged opposite to each other, and the reflective surface is arranged on the side of the rotating mirror. In some other schemes, the scanning module includes a swing mirror, and the swing mirror includes one reflective surface or two reflective surfaces. Exemplarily, the swing mirror can swing back and forth along the swing axis.

[0088] In the embodiment of the present application, the transmitting module 10 is used to transmit a first light beam, represented by L1, and the first light beam L1 is transmitted to the object space through the scanning module 30. The first receiving module 21 is used to receive a second light beam from the object space, represented by L2, and the second light beam L2 is transmitted to the first receiving module 21 through the scanning module 30, and the second light beam L2 includes the echo of the first light beam. The second receiving module 22 is used to receive a third light beam from the object space, represented by L3, and the third light beam L3 is transmitted to the second receiving module 22 through the scanning module 30, and the third light beam also includes the echo of the first light beam. Among them, the first field of view corresponding to the first receiving module and the second field of view corresponding to the second receiving module at least partially do not overlap (a possible implementation is described below). The detection data corresponding to the first field of view and the detection data corresponding to the second field of view can be spliced ​​or fused, and the detection results obtained by splicing or fusion can meet the requirements of large FOV and high resolution, so that the detection device has the performance of large FOV and high resolution at the same time. Optionally, the echo of the first light beam included in the second light beam and the echo of the first light beam included in the third light beam are different echoes.

[0089] The optical paths of the first light beam L1, the second light beam L2, and the third light beam L3 mentioned above pass through the same reflective surface of the scanning module 30. Among them, the optical path of the first light beam L1 is the optical path of the transmitting module 10 (i.e., the transmitting light path), the optical path of the second light beam L2 is the optical path of the first receiving module 21 (i.e., a group of receiving light paths), and the optical path of the third light beam L3 is the optical path of the second receiving module 22 (i.e., another group of receiving light paths). In other words, the reflective surface through which the transmitting light beam passes and the echo of the transmitting light beam pass through the same reflective surface of the scanning module. That is, during the rotation of the scanning module, the transmitting light beam passes through the reflective surface 1, and the echo of the transmitting light beam still passes through the reflective surface 1, and the time interval between the transmitting light beam and the echo is not enough for the scanning module to complete one rotation, and the transmitting light beam and the echo pass through the same reflective surface in the same rotation. For example, taking the scanning module 30 including a rotating mirror as an example, the rotating mirror includes a reflective surface R1, and in a detection process (i.e., emitting and receiving waves), the light beam emitted by the first receiving module 10, the light beam received by the first receiving module 21, and the light beam received by the second receiving module 22 all pass through the reflective surface R1 of the scanning module 30. Further, in the aforementioned detection process, the reflective surface R1 through which the emitted light beam passes and the reflective surface R1 through which the received light beam passes are located in the same scanning circle, that is, the scanning module 30 has not yet switched to the next reflective surface.

[0090] Since the light beam emitted by the transmitting module and the light beams received by the two receiving modules all pass through the same reflective surface of the scanning module, the energy distribution of the light beam emitted by the transmitting module and the energy distribution of the light beams received by the two receiving modules are matched, which greatly reduces the phenomenon of light spot jitter and significantly reduces the energy distribution difference caused by the difference in the reflective surface of the scanning module (such as face difference, pyramidal difference, etc.), which can improve the detection accuracy of the reflectivity of the target, improve the ranging capability of the detection device, increase the ranging accuracy, and improve the performance stability of the detection device.

[0091] In summary, the embodiments of the present application can improve the performance of the detection device and make the performance of the detection device stable while ensuring a large FOV and high resolution.

[0092] In some possible implementations, the transmitting module 10, the first receiving module 21, and the second receiving module 22 are located on the same side of the scanning module 30. Figure 6 As shown, the transmitting module 10, the first receiving module 21 and the second receiving module 22 are located on the right side of the scanning module 30. Of course, the positional relationship here is only an example. Further, the light ports of the transmitting module, the first receiving module and the second receiving module can directly or indirectly (for example, after being folded by a reflector) face the same reflective surface of the scanning module 30. Designing the three on one side of the scanning module can make it easier to realize the optical path design of the three optical paths passing through the same reflective surface.

[0093] In some possible implementations, the field of view angle of the first field of view is greater than the field of view angle of the second field of view. In this case, the first receiving module 21 is used to realize a large FOV of the detection device, and the second receiving module 22 is used to realize high-resolution detection, which can ensure that the resolution of the detection device is improved when the detection device has a large FOV.

[0094] For some possible implementations, see Figure 7 and Figure 8 , the first receiving module 21 includes a first detector 2101 and a first receiving optical component 2102. Further, the second light beam after passing through the scanning module 30 is transmitted to the first detector 2101 through the first receiving optical component 2102. The light port of the first receiving module 21, or the light inlet of the first receiving module 21, is the end of the first receiving optical component 2102 away from the first detector 2101.

[0095] Further, the first receiving optical component 2102 and the first detector 2101 are integrated. Figure 7 and Figure 8 The first receiving module includes a first detector 2101, a first receiving optical component 2102, a first lens barrel 2103, and the first detector 2101 is integrated on a circuit board, the first receiving optical component 2102 is fixedly arranged in the first lens barrel 2103, the first lens barrel 2103 is fixedly connected to the circuit board on which the first detector 2101 is arranged, and the first lens barrel 2103 covers the first detector 2101. In other words, the first receiving optical component 2102 is used to receive the second light beam, and the second light beam propagates in the first lens barrel and reaches the first detector 2101.

[0096] Similarly, the structure of the second receiving module 22 is the same as that of the first receiving module 21. The first receiving module and the second receiving module use independent receiving optical components to achieve independent two-way reception, which can improve the resolution of the detection data obtained by each receiving module without affecting the receiving aperture of each receiving module and improve the detection accuracy.

[0097] Further, the optical parameters of the second receiving optical component may be different from the optical parameters of the first receiving optical component. For example, the first receiving optical component is short-focus, and the first receiving module is used to achieve a large FOV index. The second receiving optical component is long-focus, and the first receiving module is used to achieve a high-resolution index.

[0098] It should be understood that Figure 6 The positional relationship between the transmitting module 10, the first receiving module 21 and the second receiving module 22 shown is only an example. Some possible implementations of the present application are described below in conjunction with the accompanying drawings. The embodiments and various possible implementations provided by the present application can be implemented separately or in combination.

[0099] See also Fig. 9 , Fig. 9 1 is a schematic diagram of the structure of another possible detection device provided by an embodiment of the present application. The detection device 100 also includes a reflector 40, which is used to reflect the first light beam from the emission module 10 to the scanning module 30. For example, at a certain moment, the first light beam can be reflected to the reflection surface of the scanning module 30, and as the scanning module 30 rotates, the reflection surface of the scanning module 30 reflects the first light beam to the object space at different angles.

[0100] The following introduces several possible locations of the reflector 40 and the location relationship design between the emission module and other components:

[0101] In a possible design, the direction of the light outlet of the transmitting module 10 is different from the direction of the light inlet of the first receiving module 21, and the reflector 40 is arranged on the optical path between the first receiving module 21 and the scanning module 30. Fig.10 , the first light beam and the second light beam after passing through the reflector 40 are coaxial. Among them, the light inlet (or light port) of the emission module 10 refers to the end of the emission module 10 that emits the light beam. For example, the emission module 10 includes an emission optical component and a laser, and the light outlet of the emission module is the end of the emission optical component away from the light source. In some cases, the emission module 10 includes a lens barrel, an emission optical component and a laser. The light beam emitted by the laser propagates in the lens barrel, passes through the emission optical component and propagates to the outside of the lens barrel. The port of the lens barrel close to one end of the emission optical component is the light outlet.

[0102] Combination Fig. 9 and Fig.10 , taking an exemplary coordinate system as an example, the light outlet of the transmitting module 10 faces the positive direction of the Z axis, and the light inlet of the first receiving module 21 faces the positive direction of the X axis. At this time, the optical axis of the first light beam emitted by the transmitting module 10 and the second light beam received by the first receiving module are different. The reflector can be designed between the scanning module 30 and the first receiving module 21, and the reflector 40 can fold the light beam from the transmitting module 10 so that the direction of the first light beam is opposite to the direction of the second light beam after passing through the scanning module 30. Furthermore, the first light beam and the second light beam are coaxial after passing through the reflector 40. When the first light beam is coaxial with the second light beam, the transmitting field of view of the transmitting module 10 and the receiving field of view of the first receiving module 21 are aligned, and no parallax is introduced, which can improve the accuracy of the detection result obtained by the first receiving module 21.

[0103] Furthermore, the light inlet of the first receiving module 21 is opposite to the reflective surface of the scanning module 30. The light beam passing through the scanning module 30 can directly reach the first receiving module 21 without being deflected by a reflector. In this way, the components in the detection device can be simplified, and the detection device can be optimized in size and cost.

[0104] In some possible implementations, along the first direction, the orthographic projection of the reflector 40 on the first plane coincides with the orthographic projection of the first receiving module 21 on the first plane. Further, the orthographic projection of the first receiving module 21 on the first plane partially or completely covers the orthographic projection of the reflector 40 on the first plane. The first direction is the direction in which the first light beam emerges from the reflector, and the first plane is a plane perpendicular to the first direction.

[0105] Please refer to Fig.10 and Fig.11 , the first direction is the X direction, that is, the direction in which the first light beam is emitted from the reflector, and the third direction (Y direction) is the direction extending parallel to the rotation axis and perpendicular to the first direction, and the second direction (Z direction) is the direction perpendicular to the first direction and the third direction. The first plane is the YOZ plane, and along the X direction, the orthographic projection of the first receiving module 21 in the YOZ direction covers the orthographic projection of the reflector in the YOZ direction.

[0106] Optionally, the field of view of the first receiving module 21 is greater than the field of view of the second receiving module 22. Or optionally, the distance measurement capability of the first receiving module 21 is lower than the distance measurement capability of the second receiving module 22. Or optionally, the caliber of the first receiving module 21 is smaller than the caliber of the second receiving module 22. In the above case, the caliber of the first receiving module 21 is smaller than the caliber of the second receiving module 22, and the second receiving module 22 is used to achieve a high-resolution index, which is more affected by the amount of incoming light. The effect of setting a reflector in front of the first receiving module 21 is smaller than the effect of setting a reflector in front of the second receiving module 22, which can ensure that the overall performance of the detection device is optimal.

[0107] In some possible implementations, the orientation of the light outlet of the transmitting module 10 is different from the orientation of the light inlet of the first receiving module 21, and the reflector 40 is disposed between the first receiving module 21 and the scanning module 30, or the reflector 40 is disposed between the second receiving module 22 and the scanning module 30. The main optical axis of the first light beam and the main optical axis of the second light beam after passing through the reflector are not coaxial. That is, the transmitting module 10 and the first receiving module 21 can also be designed with a paraxial design. In this way, the reflector does not need to be disposed on the optical axis of the first receiving module 21 and the second receiving module 22, which can reduce the influence of the reflector on the amount of light entering the first receiving module 21 and the second receiving module 22, reduce the stray light inside the detection device 100, and help improve the effectiveness of the light beam received by the detection device 100.

[0108] As a possible implementation, Fig.12 As shown, the reflector 40 is arranged between the first receiving module 21 and the second receiving module 22 as a whole and the scanning module 30. Of course, this situation can also be regarded as the reflector 40 being arranged between the first receiving module 21 and the scanning module 30, or as the reflector 40 being arranged between the second receiving module 22 and the scanning module 30.

[0109] Furthermore, combined with Fig.12 and Fig.13 , along the first direction (such as Fig.11 In the X direction shown in FIG. Fig.12 The orthographic projection of the first receiving module 21 on the first plane partially overlaps with the orthographic projection of the first receiving module 21 on the first plane, and the orthographic projection of the reflector 40 on the first plane partially overlaps with the orthographic projection of the second receiving module 22 on the first plane. Further, the first direction can be the direction in which the first light beam is emitted from the reflector 40, and the first plane can be a plane perpendicular to the first direction. In short, the reflector 40 is set in the middle of the optical path of the first receiving module 21 and the second receiving module 22, and the emission and the two groups of reception form a paraxial optical path. The reflector 40 reduces the influence of the receiving aperture of a single receiving module and the influence of the light input to the receiving module, which helps to ensure the ranging capability of the detection device 100.

[0110] Optionally, the position of the reflector 40 may have a variety of other possible designs. Fig.14 The reflector may be disposed between the first receiving module 21 and the scanning module 30 , and along the Y direction, the reflector 40 is disposed at an end of the first receiving module 21 away from the second receiving module 22 .

[0111] In the above example, only the light path of the transmitting module 10 is deflected by the reflector 40. In a specific implementation, the light beam received by the first receiving module 21 and / or the second receiving module 22 is also deflected by the reflector 40. Two possible designs are described below:

[0112] In yet another possible design, see Fig.15 , the light beam emitted by the transmitting module 10, the light beam received by the first receiving module 21 and the light beam received by the second receiving module 22 are all folded by the reflector 40. At this time, the light ports of the transmitting module 10, the first receiving module 21 and the second receiving module 22 are all oriented in the same direction. By folding the reflector, the width of the detection device 100 can be reduced, such as Fig.15 The dimension in the X direction shown can be reduced to adapt to various possible appearance designs or installation designs of the detection device.

[0113] In yet another possible design, see Fig.16, the light beam emitted by the transmitting module 10 and the light beam received by the second receiving module 22 are deflected by the reflector 40, while the light beam received by the first receiving module 21 is not deflected by the reflector 40. At this time, the light ports of the transmitting module 10 and the second receiving module 22 are oriented in the same direction, but they are oriented differently from the light port of the first receiving module 21. By deflecting the light path of the transmitting module and one receiving module by the reflector, a variety of possible light path designs, appearance designs or installation designs of the detection device can be adapted.

[0114] Fig.16 The second receiving module 22 and the first receiving module 21 shown are interchangeable.

[0115] In some other possible designs, the reflector 40 is used to fold the light beam received by the first receiving module 21 and / or the light beam received by the second receiving module 22, that is, the light beam emitted by the emitting module 10 is not folded before reaching the scanning module 30. Fig.17 and Fig.18 As shown, alternatively, Fig.18 The positions of the first receiving module 21 and the second receiving module 22 are interchangeable. There are many possible situations regarding the position of the reflector 40. The transmitting module 10 can be coaxially designed with one of the receiving modules (such as the first receiving module 21), or both can be paraxially designed. The relevant description can be found above.

[0116] The above describes some possible implementations of using a reflector to deflect the light beam of the transmitting module. In other embodiments, the light paths of the transmitting module 10, the first receiving module 21, and the second receiving module 22 are not deflected by a reflector, such as Fig.19 and Fig. 20 The embodiment shown.

[0117] See also Fig.19 , Fig.19 It is a structural schematic diagram of another detection device provided in an embodiment of the present application. The light opening of the transmitting module 10, the light opening of the first receiving module 21, and the light opening of the second receiving module 22 in the detection device 100 are oriented in the same direction. Furthermore, the light opening of the transmitting module 10, the light opening of the first receiving module 21, and the light opening of the second receiving module 22 are all relative to the scanning module 30. In this way, the number of refracting elements such as reflectors can be reduced, the stray light inside the detection device can be reduced, the influence on the aperture of the receiving module can be reduced, and the ranging capability of the receiving module can be guaranteed.

[0118] In some possible implementations, combining Fig.19 The transmitting module 10 , the first receiving module 21 and the second receiving module 22 are arranged along a second direction (eg, Z direction), and the second direction is perpendicular to the rotation axis of the scanning module 30 .

[0119] In some other possible implementations, in combination with Fig. 20 , the transmitting module and the second receiving module are arranged along the second direction (such as the Z direction). The first receiving module and the second receiving module are arranged along the second direction (such as the Z direction), and the transmitting module and the first receiving module are arranged along the third direction (such as the Y direction), and the third direction is parallel to the active axis of the scanning module, such as the rotating axis of the rotating mirror, the swinging axis of the swinging mirror, etc. Fig. 20 , along the third direction, the orthographic projection of the transmitting module 10 on the XOY plane partially overlaps with the orthographic projection of the first receiving module 21 on the XOY plane, and the orthographic projection of the second receiving module 22 on the XOY plane partially overlaps with the orthographic projection of the first receiving module 21 on the XOY plane. In this way, the three modules are arranged in a two-dimensional staggered manner, which can reduce the problem of increased height or increased depth caused by the arrangement in a single direction, and at the same time, the size requirement of the scanning module is also reduced, which is in line with the development direction of miniaturization and high integration of the detection device.

[0120] It should be understood that when all three modules are scanned, Fig.15 In the case shown, you can also use Fig.19 or Fig. 20 The arrangement shown. Fig. 20 The arrangement shown is an example, combined with Fig.15 The transmitting module and the second receiving module are first arranged in a certain direction, and then the transmitting module and the second receiving module as a whole are arranged with the first receiving module in another direction to form a two-dimensional arrangement layout.

[0121] In some possible implementations, the detection device is included in a laser radar, and the laser radar also includes a bottom shell. In the Y direction, the transmitting module and the first receiving module are stacked. The transmitting module is closer to the bottom shell of the laser radar than the first receiving module. Since the transmitting module has a high power, the transmitting module is designed to be closer to the bottom shell, which can improve the heat dissipation effect of the transmitting module and reduce the heat dissipation pressure.

[0122] The above describes the positional relationship between the transmitting module 10, the first receiving module 21 and the second receiving module 22. The following describes some possible implementations of the present application.

[0123] As mentioned above, the transmitting module 10, the first receiving module 21 and the second receiving module 22 are arranged on the same side of the scanning module. Fig. 9 , Fig.19 and Fig. 20 , the extension direction of the active axis of the scanning module is the Y direction, the direction in which the first light beam enters the scanning module is the X direction, and the Z direction is a direction perpendicular to the Y direction and the X direction. Along the X-axis direction, relative to the YZ plane, the transmitting module, the first receiving module and the second receiving module are located on the same side of the scanning module.

[0124] In some scenarios, the transmitting module and the receiving module are electrically driven, and the transmitting module and the receiving module can be electrically connected to the circuit board or fixedly understood. In the latter case, the transmitting module and the receiving module can be set on the circuit board. The following introduces the possible positional relationship between the transmitting module and the receiving module and the circuit board.

[0125] As a possible implementation, the transmitting module 10 is disposed on the first circuit board, and the first receiving module 21 is disposed on the second circuit board. That is, the transmitting module 10 and the first receiving module 21 are not connected to the same circuit board. Fig. 9 , Fig.10 , Fig.14 , Fig.16 , Fig.17 In other embodiments, the light ports of the transmitting module 10 and the first receiving module 21 are oriented in different directions and can be separately disposed on multiple circuit boards.

[0126] In some other possible implementations, the second receiving module 22 is not disposed on the first circuit board either. Since the power of the transmitting module is relatively high, driving the transmitting module solely using the first circuit board can reduce the heat dissipation pressure of the detection device.

[0127] In some other possible implementations, the first receiving module 21 and the second receiving module 22 are disposed on the same circuit board. Alternatively, the first receiving module 21 and the second receiving module 22 are not disposed on the same circuit board.

[0128] Optionally, when the first receiving module 21 and the second receiving module 22 are arranged on the same circuit board, the focal plane of the first receiving optical component in the first receiving module 21 and the focal plane of the second receiving optical component in the second receiving module 22 are coplanar.

[0129] In some other possible implementations, the transmitting module, the first receiving module, and the second receiving module are disposed on the same circuit board. Fig. 9 , Fig.15 , Fig.19 and Fig. 20 In the embodiments, the transmitting module and the first receiving module and the second receiving module can be arranged on the same circuit board. Such a design can simplify the components in the detection device, improve the integration of the detection device, and achieve the optimal volume and cost of the detection device. Figure 8 , Fig.15 , Fig.19 and Fig. 20 In other embodiments, the transmitting module, the first receiving module and the second receiving module may also be respectively arranged on multiple circuit boards.

[0130] Optionally, when the transmitting module and the first receiving module and the second receiving module are arranged on the same circuit board, the focal planes of the transmitting module and the first receiving module and the second receiving module are coplanar.

[0131] It is also mentioned in the foregoing that the fields of view of the first receiving module and the second receiving module do not overlap at least partially. That is, the area detected by the first receiving module is not exactly the same as the area detected by the second receiving module. In some cases, the field of view of the receiving module refers to the range of the light beam that can be captured by the receiving optical component in the receiving module. In other cases, the field of view of the receiving module refers to the range that can be detected by the detector in the receiving module. The embodiments of the present application are applicable to both of the above situations.

[0132] For ease of description, the field of view of the first receiving module is referred to as the first field of view, and the field of view of the second receiving module is referred to as the second field of view. The following introduces several possible situations with different fields of view:

[0133] In case 1, the first receiving module includes a first detector (including a detector array) and a first receiving optical component, and the second receiving module includes a second detector including a detector array and a second receiving optical component. The focal length of the first receiving optical component is different from the focal length of the second receiving optical component, and the first field of view and the second field of view overlap in angular space.

[0134] In a possible example, the focal length of the first receiving optical component in the first receiving module 21 is smaller than the focal length of the second receiving optical component in the second receiving module 22. Then, the FOV (i.e., the first field of view) covered by the first receiving module 21 is larger, the resolution is lower, and it is suitable for short-distance ranging. The FOV (i.e., the second field of view) covered by the second receiving module 22 is smaller, the resolution is higher, and it is suitable for long-distance ranging. Fig.21 As shown, the overlapping area of ​​the first field of view and the second field of view can meet the requirements of large FOV and high resolution at the same time. Of course, the first field of view and the second field of view at least partially do not overlap each other.

[0135] Optionally, the first field of view and the second field of view overlap in the angular space. The first field of view may include the second field of view (in this case, the area corresponding to the first field of view can be regarded as ROI), or the second field of view may include the first field of view (in this case, the area corresponding to the second field of view can be regarded as ROI), or the first field of view and the second field of view may intersect but there is no relationship of inclusion and being included. The embodiments of the present application do not limit this.

[0136] Optionally, there is a ROI in the overlapping area corresponding to the first field of view and the second field of view. For details, please refer to Fig. 22 , Fig. 22 A schematic diagram of field of view stitching provided in an embodiment of the present application.

[0137] like Fig. 22 As shown, the focal length of the first receiving optical component in the first receiving module 21 is shorter than the focal length of the second receiving optical component in the second receiving module 22, then the FOV (i.e., the first field of view) corresponding to the first receiving module 21 is larger, the angular resolution is lower, and it is suitable for short-distance ranging, and the FOV (i.e., the second field of view) corresponding to the second receiving module 22 is smaller, the angular resolution is higher, and it is suitable for long-distance ranging. And the first field of view is included in the second field of view (the area corresponding to the first field of view at this time can be regarded as ROI), which can improve the resolution of ROI (i.e., the area corresponding to the second field of view), so that the transceiver has both large FOV and ROI high resolution.

[0138] Case 2: The first receiving module 21 includes a first detector and a first receiving optical component, and the second receiving module 22 includes a second detector and a second receiving optical component. Furthermore, the focal length of the first receiving optical component is the same as the focal length of the second receiving optical component, the first detector is offset relative to the optical center of the first receiving optical component, the second detector is offset relative to the optical center of the second receiving optical component, and the first field of view and the second field of view are continuous and non-overlapping in angular space. Alternatively, the focal length of the first receiving optical component is the same as the focal length of the second receiving optical component, the optical axes of the first receiving module and the second receiving module are not parallel, and the first field of view and the second field of view are continuous and non-overlapping in angular space.

[0139] See also Fig.23 , Fig.23 A schematic diagram of field of view stitching provided in an embodiment of the present application. Fig.23 As shown, the focal length of the first receiving optical component in the first receiving module 21 and the focal length of the second receiving optical component in the second receiving module 22 are the same, and the FOV (i.e., the first field of view) corresponding to the first receiving module and the FOV (i.e., the second field of view) corresponding to the second receiving module are relatively small, and the resolution is relatively high. By eccentrically setting the detector relative to the receiving optical component, or by tilting the two receiving modules in different directions, the first field of view and the second field of view can be continuous and non-overlapping in the angular space (optionally designed to overlap), that is, the first field of view and the second field of view are seamlessly spliced ​​in the angular space to form a larger FOV, so that the transceiver can have the performance of large FOV and high resolution at the same time.

[0140] Of course, there may be more possible designs in the specific implementation to achieve different fields of view for the first receiving module 21 and the second receiving module 22, and the solution provided in the embodiment of the present application can be combined with these solutions. For example, the positions of the detectors of the first receiving module 21 and the second receiving module 22 relative to the optical axis are offset, for example, there is a first offset between the position of the first detector relative to the optical axis and the position of the second detector relative to the optical axis, the first offset is N+0.5 pixels, and the first field of view and the second field of view overlap in the angular space.

[0141] The embodiment of the present application also provides a laser radar, which includes the aforementioned detection device 100. Further, the laser radar also includes at least one circuit board, and the transmitting module, the first receiving module and the second receiving module in the detection device 100 are arranged on the at least one circuit board.

[0142] Furthermore, the laser radar also includes a shell, and the transmitting module, the first receiving module, the second receiving module and the scanning module in the detection device are fixedly connected to the shell.

[0143] The embodiment of the present application also provides a terminal, which includes the aforementioned detection device 100, or includes the aforementioned laser radar. The terminal here can be an intelligent terminal or a means of transportation such as a vehicle, a drone, or a robot. It should be understood that the vehicle here is a vehicle in a broad sense, which can be a means of transportation (such as a commercial vehicle, a passenger car, a motorcycle, a flying car, a train, etc.), an industrial vehicle (such as a forklift, a trailer, a tractor, etc.), an engineering vehicle (such as an excavator, a bulldozer, a crane, etc.), an agricultural equipment (such as a mower, a harvester, etc.), etc. For another example, the robot can be an intelligent handling robot (automated guided vehicle, AGV), a walkable conversational robot, a service robot, and other robots.

[0144] For example, if the detection device is a laser radar, see Fig.24 , Fig.24 This is a schematic diagram of a vehicle including a laser radar provided by the present application. The laser radar can sense the surrounding environment of the vehicle and obtain relevant information about targets in the surrounding environment. The relevant information of these targets can be used to control the vehicle or assist the driver in driving.

[0145] It should be understood that Fig.24 The laser radar installation position shown is only an example. In a specific implementation, the detection device can be installed in other positions, such as on the top of the cabin, or can also be installed at the head, side, or rear of the vehicle.

[0146] In addition, a few additional explanations are required for this application:

[0147] 1. The terms "center", "upper", "lower", "vertical", "horizontal", "inner", "outer", "left", "side", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present application. It should be understood that the X direction, Z direction, Y direction, etc. mentioned in some embodiments of the present application are based on the XYZ rectangular coordinate system as a reference to facilitate the description of the features in the present solution, and do not indicate or imply that the devices or elements referred to must have a specific position, be constructed and operated in a specific position.

[0148] Second, relative arrangement refers to the orientation relative to each other, and does not necessarily limit the orientation of the two components to two completely opposite directions. For example, the relative arrangement of the first component and the second component means that the first component is roughly oriented toward the first component, for example, roughly toward the positive direction of the X direction. In some cases, the orientation of the components may have a certain tilt angle.

[0149] 3. Unless otherwise specified, “plurality” means two or more.

[0150] 4. Unless otherwise specified or there is a logical conflict, the terms and / or descriptions between different embodiments of the present application are consistent and can be referenced to each other. The technical features in different embodiments can be combined to form new embodiments based on their internal logical relationships.

[0151] 5. The various digital numbers involved in this application are only used for the convenience of description and are not used to limit the scope of protection of this application. The size of the serial numbers involved in this application does not mean the order of execution. The execution order of each process should be determined by its function and internal logic. For example, the terms "first", "second", "third", "fourth" and other various terminology labels (if any) in the specification and claims and drawings of this application are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. Among them, the data used in this way can be interchangeable where appropriate, so that the embodiments described here can be implemented in an order other than what is illustrated or described here.

[0152] At the same time, any embodiment or design described in the present application as "exemplary" or "for example" should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a concrete manner for ease of understanding.

[0153] 6. The terms "include", "comprises", "has" and any variations thereof are intended to cover non-exclusive inclusions. For example, a system, product or device comprising a series of units is not necessarily limited to those units explicitly listed, but may include other units not explicitly listed or inherent to these products or devices.

Claims

1. A detection device, characterized in that: include: A transmitting module, a first receiving module, a second receiving module and a scanning module, wherein the scanning module comprises at least one reflecting surface; The emission module is used to emit a first light beam, and the first light beam is transmitted to the object space through the scanning module; The first receiving module is used to receive a second light beam from the object space, the second light beam is transmitted to the first receiving module through the scanning module, and the second light beam includes an echo of the first light beam; The second receiving module is used to receive a third light beam from the object space, the third light beam is transmitted to the second receiving module through the scanning module, the third light beam includes an echo of the first light beam, and the first field of view corresponding to the first receiving module and the second field of view corresponding to the second receiving module at least partially do not overlap; The scanning module is used to move around a movable axis to change the angle of the light beam passing through the reflective surface of the scanning module; The optical path of the first light beam, the optical path of the second light beam and the optical path of the third light beam pass through the same reflective surface of the scanning module.

2. The detection device according to claim 1, characterized in that: The scanning module includes a rotating mirror, and the rotating mirror includes a plurality of reflecting surfaces.

3. The detection device according to claim 1 or 2, characterized in that: The first receiving module includes a first detector and a first receiving optical component. The second light beam passing through the scanning module is transmitted to the first detector through the first receiving optical component. The first receiving module includes a second detector and a second receiving optical component, the second receiving component is used to acquire the second light beam from the object space, and the third light beam passing through the scanning module is transmitted to the second detector through the second receiving optical component.

4. The detection device according to claim 1 or 2, characterized in that: The focal length of the first receiving optical component is different from the focal length of the first receiving optical component.

5. The detection device according to any one of claims 1 to 4, characterized in that: The detection device further includes a reflector, and the reflector is used to reflect the first light beam from the emission module to a reflective surface of the scanning module.

6. The detection device according to claim 5, characterized in that: The direction of the light outlet of the transmitting module is different from the direction of the light inlet of the first receiving module. The reflector is arranged on the optical path between the first receiving module and the scanning module. The first light beam and the second light beam after passing through the reflector are coaxial.

7. The detection device according to claim 5, characterized in that: The direction of the light outlet of the transmitting module is different from the direction of the light inlet of the first receiving module. The reflector is disposed between the first receiving module and the scanning module. The main optical axis of the first light beam and the main optical axis of the second light beam after passing through the reflector are not coaxial.

8. The detection device according to claim 7, characterized in that: Along the first direction, the orthographic projection of the reflector on the first plane partially overlaps with the orthographic projection of the first receiving module on the first plane, and the orthographic projection of the reflector on the first plane partially overlaps with the orthographic projection of the second receiving module on the first plane. The first direction is the direction in which the first light beam is emitted from the reflector; The first plane is a plane perpendicular to the first direction.

9. The detection device according to any one of claims 1 to 8, characterized in that: The transmitting module is arranged on a first circuit board, and the first receiving module is arranged on a second circuit board.

10. The detection device according to any one of claims 1 to 4, characterized in that: The light outlet of the transmitting module, the light inlet of the first receiving module and the light inlet of the second receiving module are oriented in the same direction; The transmitting module, the first receiving module and the second receiving module are arranged along a second direction; The second direction is perpendicular to the active axis of the scan.

11. The detection device according to claim 10, characterized in that: The transmitting module and the second receiving module are arranged along a second direction; The first receiving module and the second receiving module are arranged along a second direction; The transmitting module and the first receiving module are arranged along a third direction, The second direction is perpendicular to the movable axis of the scanning module; The third direction is parallel to the movable axis of the scanning module.

12. The detection device according to claim 10 or 11, characterized in that: The light outlet of the transmitting module, the light inlet of the first receiving module and the light inlet of the second receiving module are all facing the scanning module.

13. The detection device according to any one of claims 10 to 12, characterized in that: The transmitting module, the first receiving module and the second receiving module are arranged on the same circuit board.

14. The detection device according to any one of claims 1 to 13, characterized in that: The first receiving module and the second receiving module are both provided with a same circuit board.

15. The detection device according to any one of claims 1 to 14, characterized in that: The viewing angle of the first field of view is greater than the viewing angle of the second field of view.

16. A laser radar, characterized in that: The laser radar comprises the detection device according to any one of claims 1 to 15 and at least one circuit board, wherein the transmitting module, the first receiving module and the second receiving module in the detection device are arranged on the at least one circuit board.

17. The laser radar according to claim 16, characterized in that: The laser radar also includes a shell, and the transmitting module, the first receiving module, the second receiving module and the scanning module in the detection device are fixed to the shell.

18. A terminal, characterized in that: The terminal includes the detection device described in any one of claims 1-17, or includes the laser radar described in claim 16 or 17.

19. The terminal according to claim 18, characterized in that: The terminals include vehicles, drones and robots.

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