Transceiving optical system, laser radar, terminal equipment, method and device

Abstract

A transmit-receive optical system (120), a laser radar (100), a terminal device, a method and an apparatus for suppressing stray light signals in the optical field. Wherein the transmitting-receiving optical system (120) comprises a first transmitting optical system (121) and a first receiving optical system (122), and a certain included angle (alpha) is formed between an optical axis (L11) of the first transmitting optical system (121) and an optical axis (L13) of the first receiving optical system (122), so that a certain included angle is also formed between an echo signal transmitted into the first receiving optical system (122) and the optical axis (L13) of the first receiving optical system (122). And therefore, the stray light signal can be transferred through the included angle (alpha), and the purpose of effectively suppressing the stray light signal can be achieved. Moreover, by setting the optical axis (L13) of the first receiving optical system (122) and the optical axis (L11) of the first transmitting optical system (122) to have a certain included angle (alpha), the effect of suppressing the stray light signal can be achieved, the structural complexity of the first receiving optical system and the first transmitting optical system (121) is not affected, and the implementation is more convenient.

Description

[0001] This application is a divisional application. The application number of the original application is 202180101026.3, and the original application date is August 17, 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 perception technology, in particular the field of optics, and provides a transceiver optical system, a laser radar, a terminal device, a method and an apparatus. Background Art

[0003] LiDAR (light detection and ranging) is an optical measurement device that works by emitting laser signals to an object, receiving the target echo signal reflected by the object, and then comparing the target echo signal with the laser signal to obtain relevant parameters such as the distance and speed of the object. LiDAR can form high-definition images by accurately scanning surrounding objects, which helps to achieve rapid identification and decision-making of surrounding objects. It has been widely used in smart cars, smart transportation, urban three-dimensional mapping, and atmospheric environment monitoring.

[0004] However, the target echo signal is affected by the transmission power, object reflectivity, atmospheric conditions and object distance, and only very weak target echo signals can be reflected back to the laser radar. In order to identify weak target echo signals, the laser radar needs to use a highly sensitive detector, but a highly sensitive detector will make it difficult for the laser radar to identify target echo signals and stray light signals, which is not conducive to the detection accuracy of the laser radar. Therefore, some methods are needed to suppress stray light signals. At present, a commonly used suppression scheme in the industry is as follows: add a relay system to the optical axis of the receiving optical system, and set a field of view aperture on the intermediate image plane of the relay system, so that the signal within the field of view continues to be transmitted through the field of view aperture, while the signal outside the field of view is blocked by the field of view aperture. Although this scheme can suppress stray light signals beyond the field of view, it cannot suppress stray light signals transmitted within the field of view, and the existence of the relay system will also increase the optical axis length of the receiving optical system, which is not conducive to reducing the structural complexity of the receiving optical system.

[0005] In view of this, the present application provides a transceiver optical system for effectively suppressing stray light signals while minimizing the impact on the structural complexity of the transceiver optical system. Summary of the invention

[0006] The present application provides a transceiver optical system, a laser radar, a terminal device, a method and an apparatus for effectively suppressing stray light signals while minimizing the impact on the structural complexity of the transceiver optical system.

[0007] In a first aspect, the present application provides a transceiver optical system, including a first transmitting optical system and a first receiving optical system, wherein the optical axis of the first transmitting optical system and the optical axis of the first receiving optical system have a first angle, and the degree of the first angle is greater than 0. In implementation, the first transmitting optical system is used to transmit a first transmitting signal from a first light source, and the first receiving optical system is used to receive a first echo signal, wherein the first echo signal includes a target echo signal reflected by an object when the first transmitting signal is reflected.

[0008] In the above design, by making a certain angle between the optical axis of the first receiving optical system and the optical axis of the first transmitting optical system, it is helpful to make a certain angle between the direction of the first echo signal transmitted into the first receiving optical system and the optical axis of the first receiving optical system. In this way, even if the target echo signal in the first echo signal generates a stray light signal due to reflection after focusing, the stray light signal will deviate from the transmission path of the target echo signal in the receiving optical system due to the existence of the angle, which helps to transfer the stray light signal. Moreover, the design can achieve the effect of suppressing the stray light signal by setting the angle between the optical axis of the first receiving optical system and the optical axis of the first transmitting optical system. Compared with the solution of adding a relay system, it can also not affect the structural complexity of the first receiving optical system and the first transmitting optical system, and is easier to implement.

[0009] In a possible design, the transceiver optical system may further include a detector, which may include a first pixel region and a second pixel region, and the first pixel region and the second pixel region are controlled to present different light spots. In this design, by controlling the detector to present different light spots in different pixel regions, it is helpful to decouple the signals corresponding to different light spots, and facilitate the separate analysis of the signals corresponding to each light spot. The signals corresponding to the different light spots may be target echo signals and stray light signals, or any other two signals, without specific limitation.

[0010] In one possible design, the first pixel region and the second pixel region may not overlap at all, so that the light spots controlled to be presented by the first pixel region and the second pixel region may not overlap at all. In another possible design, the first pixel region and the second pixel region may overlap partially, so that the light spot presented by the overlapping region may actually include the first light spot controlled to be presented by the first pixel region in the overlapping region and the second light spot controlled to be presented by the second pixel region in the overlapping region. The light spot presented by the overlapping region may be subsequently filtered to obtain a pure second light spot except for the first light spot, or to obtain a pure first light spot except for the second light spot.

[0011] In a possible design, the first pixel area is controlled to present the light spot corresponding to the target echo signal, and the second pixel area is controlled to present the light spot corresponding to the stray light signal. In this way, by controlling the target echo signal and the stray light signal to be presented in different pixel areas, the stray light signal can be transferred to reduce the influence of the stray light signal on the light spot of the pixel area where the target echo signal is located, which helps to improve the accuracy of detection.

[0012] In a possible design, the axis of the detector may coincide with the optical axis of the first receiving optical system, wherein the axis of the detector refers to a straight line drawn from the center point of the detector in a direction perpendicular to the pixel surface of the detector. In this design, by setting the detector and the first receiving optical system to maintain the same posture, the probability of focusing the target echo signal transmitted by the first receiving optical system on the pixel surface of the detector can be increased, and the probability of focusing outside the pixel surface of the detector can be reduced.

[0013] In a possible design, the degree of the first angle may be no less than the angular resolution of the laser radar to which the transceiver optical system belongs, and may preferably be set to a value no less than 6 times the angular resolution of the laser radar to which the transceiver optical system belongs, so as to take into account the non-overlapping characteristics of the two light spots and the influence of the morphology of the first receiving optical system on the entire transceiver optical system. Among them, the angular resolution of the laser radar is related to the scanning direction of the object. For example, when scanning an object using a line spot, if the object is traversed in the vertical direction, the angular resolution here refers to the vertical angular resolution of the laser radar, that is, the interval angle of two adjacent line spots in the vertical direction. On the contrary, if the object is traversed in the horizontal direction, the angular resolution here is the horizontal angular resolution of the laser radar, that is, the interval angle of two adjacent line spots in the horizontal direction. Furthermore, if the object is traversed in an inclined direction that is neither horizontal nor vertical, the angular resolution here will include both the horizontal angular resolution and the vertical angular resolution of the laser radar, and the horizontal angular resolution refers to the component of two adjacent line spots in the horizontal direction, while the vertical angular resolution refers to the component of two adjacent line spots in the vertical direction. Among them, the line light spot can be a horizontal line light spot or a vertical line light spot, or an inclined line light spot that is neither horizontal nor vertical, or a bent line light spot, a spliced ​​line light spot, a curved line light spot or an irregular line light spot, etc., without specific limitation.

[0014] In one possible design, the first receiving optical system may include at least one filter, the normal direction of the at least one filter has a second angle with the optical axis of the first receiving optical system, and the degree of the second angle is greater than 0. At least one filter is used to filter the received first echo signal and output a target echo signal corresponding to the first transmission signal. With this design, even if the signal is reflected after being transmitted to at least one filter and generates a stray light signal, the stray light signal can be reflected in another direction different from the incident direction, which helps to reduce the stray light signal that is finally transmitted to the second pixel area of ​​the detector by transferring the stray light signal in advance.

[0015] In a possible design, the second angle may be no less than the angular resolution of the laser radar to which the transceiver optical system belongs, and may preferably be set to a value no less than 6 times the angular resolution of the laser radar to which the transceiver optical system belongs, so as to reduce the influence of the filter shape on the first receiving optical system while allowing at least one filter to transfer the stray light signal to a more deviated position. The angular resolution of the laser radar is related to the scanning direction of the object. For example, when scanning an object using a line spot: if the object is traversed and scanned in a vertical direction, the angular resolution here refers to the vertical angular resolution of the laser radar; if the object is traversed and scanned in a horizontal direction, the angular resolution here is the horizontal angular resolution of the laser radar; if the object is traversed and scanned in an inclined direction that is neither horizontal nor vertical, the angular resolution here will include both the horizontal angular resolution and the vertical angular resolution of the laser radar.

[0016] In one possible design, when the first receiving optical system includes at least one filter and a lens assembly, at least one filter can be located in front of the lens assembly, between two adjacent lenses of the lens assembly, or between the lens assembly and the detector, without specific limitation.

[0017] In a possible design, at least one filter may include one or more of a wedge filter, a rectangular filter, a square filter, a cylindrical filter, a trapezoidal filter or a polygonal filter, and may also include filters of other shapes, which are not specifically limited. Wherein, when the filter is a wedge filter, a trapezoidal filter, a polygonal filter or other filter with an edge surface tilt characteristic, the filter can maintain the same shape as other optical elements in the first receiving optical system, so as to utilize the edge surface tilt characteristic of the filter itself to achieve the second angle between the normal direction of the filter and the optical axis of the first receiving optical system, and facilitate the installation layout of the filter and other optical elements in the first receiving optical system. When the filter is a rectangular filter, a square filter, a cylindrical filter or other filter that does not have an edge surface tilt characteristic, the filter can maintain a different shape from other optical elements in the first receiving optical system so that a second angle between the normal of the filter and the optical axis of the first receiving optical system can be achieved by changing the shape of the filter.

[0018] In a possible design, the first receiving optical system may further include a lens assembly and at least one first aperture, and the lens assembly is used to focus the target echo signal corresponding to the first transmission signal to the first pixel area. Among them, the at least one first aperture may be located at one or more of the following positions: before the filter, between the filter and the lens assembly, between at least two adjacent lenses of the lens assembly, and between the lens assembly and the detector. Through this design, the stray light signal in the first receiving optical system can also be eliminated or suppressed by at least one first aperture, and the stray light signal that cannot be suppressed or eliminated is finally transmitted to the second pixel area of ​​the detector, which helps to further reduce the stray light signal transmitted to the second pixel area of ​​the detector, and further improves the accuracy of the first receiving optical system in transmitting the target echo signal.

[0019] In a possible design, at least one first aperture may include a stray light elimination aperture, which may be located between at least two adjacent lenses of the lens assembly, and is used to eliminate stray light signals transmitted between at least two adjacent lenses and transmitted to the side wall of the stray light elimination aperture, while the stray light signals transmitted to the aperture of the stray light elimination aperture may continue to be transmitted backward. The stray light signals include, but are not limited to: crosstalk signals transmitted between at least two adjacent lenses due to one or more reflections between the filter, each lens in the lens assembly, the lens barrel where the lens assembly is located, and the detector, ghost signals with power intensity exceeding normal levels reflected by irradiating an object with high reflectivity, transmission signals emitted by other laser radars or other transmission optical systems in the laser radar, or other stray light signals different from the target echo signals.

[0020] In one possible design, at least one first diaphragm may include an aperture diaphragm, which may be located at any position within the first receiving optical system, and the optical axis of the aperture diaphragm coincides with the optical axis of the first receiving optical system, so as to limit the beam size of the output target echo signal.

[0021] In one possible design, the inner surface of at least one first aperture may be a concave structure or a convex structure, so as to reduce the intensity of the stray light signal by increasing the number of reflections of the stray light signal transmitted to the at least one first aperture, thereby achieving the purpose of suppressing the stray light signal.

[0022] In one possible design, the inner surface of at least one first aperture may be realized by one or more of the following treatments: spraying a matting material to eliminate stray light signals transmitted to the inner surface of at least one first aperture, wherein the matting material may include but is not limited to pure polyester matting agent, organic matting agent or matting paint, etc.; preparing anodization, and the reflectivity of the anodization may be controlled to a smaller value, so as to reduce the reflection probability of the stray light signals transmitted to the inner surface of at least one first aperture; coating, such as anti-reflection film coating, so as to reduce or eliminate the stray light signals of the system by reducing the reflectivity of the light hitting the inner surface of the aperture; or, electrophoresis, that is, using electrophoretic materials with different electrical properties to form insoluble microgels in particles on the inner surface coating, so that the stray light signals are transmitted to the coating to form diffuse reflection and achieve the purpose of extinction, wherein the electrophoretic materials are but not limited to resin electrophoresis or aluminum alloy electrophoresis, etc.

[0023] In a possible design, the transceiver optical system may further include a second aperture, which is connected to the protective layer or photosensitive image plane of the detector. Specifically, the second aperture may be a field of view aperture, which is used to limit the field of view of the target echo signal that can be received by the photosensitive image plane of the detector, and suppress the stray light signal transmitted to the side wall of the field of view aperture, while the stray light signal transmitted to the light hole of the field of view aperture can continue to be transmitted backward, and then presented in the second pixel area of ​​the detector through the receiving optical system. The stray light signal transmitted to the side wall of the field of view aperture or in the light hole includes, but is not limited to: a crosstalk signal transmitted to at least two adjacent lenses by one or more reflections between the filter, each lens in the lens assembly, the lens barrel where the lens assembly is located, and the detector, a crosstalk signal reflected by the photosensitive image plane or protective layer of the detector and returned to the transceiver optical system, a ghost signal reflected back due to irradiation of an object with high reflectivity and exceeding the normal power intensity, a transmission signal emitted by other laser radars or other transmitting optical systems in the laser radar, or other stray light signals different from the target echo signal.

[0024] In a possible design, when the second aperture is connected to the photosensitive image plane of the detector, the field size limited by the second aperture is the field size of the target echo signal that can be received by the photosensitive image plane of the detector, but this method requires disassembling the protective layer of the detector to achieve the connection between the second aperture and the photosensitive image plane. When the second aperture is connected to the protective layer of the detector, the field size limited by the second aperture is the field size of the target echo signal that can be received by the protective layer of the detector, and the field size may be affected by the path between the protective layer and the photosensitive image plane before being transmitted to the photosensitive image plane of the detector, resulting in a change in the field size of the target echo signal actually received by the photosensitive image plane. Therefore, the second aperture connected to the protective layer is actually a quasi-field aperture, but this method can directly connect the protective layer of the second aperture without disassembling the detector.

[0025] In one possible design, the side of the second aperture facing the detector and / or the side of the second aperture facing away from the detector can be achieved by one or more of the following processes: spraying matte material; preparing anodization; coating; or electrophoresis.

[0026] In a possible design, the number of transmitting optical systems and receiving optical systems in the transceiver optical system can be one-to-one, one-to-many, many-to-one or many-to-many. For example:

[0027] In one case, the transceiver optical system is a one-transmitting and one-receiving system, including the first transmitting optical system and the first receiving optical system introduced above.

[0028] In another case, the transceiver optical system is a one-transmit and two-receive system, including a first transmitting optical system, a first receiving optical system and a second receiving optical system. The first transmitting optical system is used to transmit a first transmitting signal from a first light source, the first receiving optical system is used to receive a first echo signal, and the second receiving optical system is used to receive a second echo signal. The second echo signal is the same as the first echo signal, and both contain a target echo signal when the first transmitting signal is reflected by an object.

[0029] In another case, the transceiver optical system is two-transmit and one-receive, including a first transmitting optical system, a second transmitting optical system and a first receiving optical system, the first transmitting optical system is used to transmit a first transmitting signal from a first light source, the second transmitting optical system is used to transmit a second transmitting signal from a second light source, the first receiving optical system is used to receive a first echo signal and a second echo signal, the first echo signal may include a target echo signal when the first transmitting signal is reflected by an object, and the first echo signal includes a target echo signal when the second transmitting signal is reflected by an object. The second light source may be the same as the first light source, in which case the first echo signal and the second echo signal are also the same, or the second light source may be different from the first light source, in which case the first echo signal and the second echo signal are also different.

[0030] In another case, the transceiver optical system is two-transmit and two-receive, including a first transmitting optical system, a second transmitting optical system, a first receiving optical system and a second receiving optical system, the first transmitting optical system is used to transmit a first transmitting signal from a first light source, and the first receiving optical system is used to receive a first echo signal, wherein the first echo signal includes a target echo signal when the first transmitting signal is reflected by an object. Correspondingly, the second transmitting optical system is used to transmit a second transmitting signal from a second light source, and the second receiving optical system is used to receive a second echo signal, wherein the second echo signal includes a target echo signal when the second transmitting signal is reflected by an object. The second light source may be the same as the first light source, in which case the first echo signal and the second echo signal are also the same, or the second light source may be different from the first light source, in which case the first echo signal and the second echo signal are also different.

[0031] In one possible design, when the transceiver optical system includes multiple receiving optical systems, the multiple receiving optical systems may correspond to the same detector, or may correspond to two or more detectors. For example, at least two of the multiple receiving optical systems correspond to the same detector, or the multiple receiving optical systems each correspond to a different detector, without specific limitation.

[0032] In a second aspect, the present application provides a transceiver optical system, including a first transmitting optical system and a first receiving optical system, wherein the first transmitting optical system is used to transmit a first transmitting signal from a first light source, and the first receiving optical system is used to receive a first echo signal, wherein the first echo signal includes a target echo signal reflected by an object when the first transmitting signal is reflected back. The first receiving optical system includes at least one filter, and the normal direction of at least one filter has a second angle with the optical axis of the first receiving optical system, and the degree of the second angle is greater than 0. The at least one filter is used to filter the received first echo signal and output a target echo signal corresponding to the first transmitting signal. Through this design, even if the signal is evenly transmitted back to the filter along both sides of the optical axis of the receiving optical system and then reflected to generate a stray light signal, the stray light signal will be reflected to another range deviating from the optical axis of the receiving optical system due to the existence of the second angle, and will not be evenly reflected back to the same pixel area as the target echo signal along both sides of the optical axis of the receiving optical system, so that the purpose of suppressing the stray light signal can be achieved by transferring part or all of the stray light signal.

[0033] In one possible design, the second angle may be no less than the angular resolution of the laser radar to which the transceiver optical system belongs, and preferably may be set to a value no less than 6 times the angular resolution of the laser radar to which the transceiver optical system belongs.

[0034] In one possible design, at least one filter may include one or more of a wedge-shaped filter, a rectangular filter, a square filter, a cylindrical filter, a trapezoidal filter or a polygonal filter, and may also include filters of other shapes, without specific limitation.

[0035] In a possible design, the first receiving optical system may further include a lens assembly and at least one first aperture, wherein the lens assembly is used to focus the target echo signal onto the detector. The at least one first aperture may be located at one or more of the following positions: before the filter, between the filter and the lens assembly, between at least two adjacent lenses of the lens assembly, and between the lens assembly and the detector.

[0036] In one possible design, when the first receiving optical system includes at least one filter and a lens assembly, at least one filter can be located in front of the lens assembly, between two adjacent lenses of the lens assembly, or between the lens assembly and the detector, without specific limitation.

[0037] In a possible design, the at least one first aperture may include a stray light elimination aperture, and the stray light elimination aperture may be located between at least two adjacent lenses of the lens assembly.

[0038] In a possible design, at least one first diaphragm may include an aperture diaphragm, and the aperture diaphragm may be located at any position in the first receiving optical system, and the optical axis of the aperture diaphragm coincides with the optical axis of the first receiving optical system.

[0039] In a possible design, at least one first aperture may be in a concave structure or a convex structure.

[0040] In a possible design, the inner surface of at least one first aperture may be realized by one or more of the following processes: spraying matte material; preparing anodization; coating; or electrophoresis.

[0041] In a possible design, the optical transceiver system may further include a detector and a second aperture, wherein the second aperture is connected to a protective layer or a photosensitive image surface of the detector.

[0042] In one possible design, the second aperture may be a field of view aperture, which is used to limit the field of view size of the target echo signal received by the photosensitive image plane of the detector, while suppressing stray light signals transmitted to the side walls of the field of view aperture.

[0043] In one possible design, the side of the second aperture facing the detector and / or the side of the second aperture facing away from the detector can be achieved by one or more of the following processes: spraying matte material; preparing anodization; coating; or electrophoresis.

[0044] In a possible design, the optical axis of the first transmitting optical system and the optical axis of the first receiving optical system have a first angle, and the degree of the first angle is greater than 0.

[0045] In one possible design, the degree of the first angle can be no less than the angular resolution of the laser radar to which the transceiver optical system belongs, and can preferably be set to a value no less than 6 times the angular resolution of the laser radar to which the transceiver optical system belongs.

[0046] In a possible design, when the transceiver optical system includes a detector, the detector may include a first pixel area and a second pixel area, and the first pixel area and the second pixel area are controlled to present different light spots.

[0047] In a possible design, the first pixel region and the second pixel region do not overlap at all or overlap partially.

[0048] In one possible design, the first pixel area is controlled to present a light spot corresponding to a target echo signal, and the second pixel area is controlled to present a light spot corresponding to a stray light signal, which refers to the part of the stray light signal of the laser radar that cannot be eliminated by the device set in the transceiver optical system.

[0049] In one possible design, when the transceiver optical system includes a detector, the optical axis of the detector can coincide with the optical axis of the first receiving optical system, wherein the optical axis of the detector refers to a straight line starting from the center point of the detector and drawn in a direction perpendicular to the pixel surface of the detector.

[0050] In a possible design, the transceiver optical system may further include a second transmitting optical system and / or a second receiving optical system, wherein the second transmitting optical system is used to transmit a second transmitting signal from a second light source, and the second receiving optical system is used to receive a second echo signal. The second light source is the same as or different from the first light source, and the second echo signal is the same as or different from the first echo signal.

[0051] In one possible design, when the transceiver optical system includes multiple receiving optical systems, the multiple receiving optical systems may correspond to the same detector, or may correspond to two or more detectors. For example, at least two of the multiple receiving optical systems correspond to the same detector, or the multiple receiving optical systems each correspond to a different detector, without specific limitation.

[0052] In a third aspect, the present application provides a transceiver optical system, including a first transmitting optical system and a first receiving optical system, wherein the first transmitting optical system is used to transmit a first transmitting signal from a first light source, and the first receiving optical system is used to receive a first echo signal, wherein the first echo signal includes a target echo signal reflected by an object when the first transmitting signal is reflected back. The first receiving optical system includes a lens assembly and at least one first aperture, wherein the lens assembly is used to focus the target echo signal onto a detector, and the at least one first aperture is used to suppress stray light signals. The at least one first aperture can be located at one or more of the following positions: before a filter, between a filter and a lens assembly, between at least two adjacent lenses of a lens assembly, and between a lens assembly and a detector.

[0053] In a possible design, the at least one first aperture may include a stray light elimination aperture, and the stray light elimination aperture may be located between at least two adjacent lenses of the lens assembly.

[0054] In a possible design, at least one first diaphragm may include an aperture diaphragm, and the aperture diaphragm may be located at any position in the first receiving optical system, and the optical axis of the aperture diaphragm coincides with the optical axis of the first receiving optical system.

[0055] In a possible design, at least one first aperture may be in a concave structure or a convex structure.

[0056] In a possible design, the inner surface of at least one first aperture may be realized by one or more of the following processes: spraying matte material; preparing anodization; coating; or electrophoresis.

[0057] In a possible design, the optical transceiver system may further include a detector and a second aperture, wherein the second aperture is connected to a protective layer or a photosensitive image surface of the detector.

[0058] In a possible design, the second aperture may be a field of view aperture, which is used to limit the field of view size of the target echo signal received by the photosensitive image plane of the detector, while suppressing stray light signals.

[0059] In one possible design, the side of the second aperture facing the detector and / or the side of the second aperture facing away from the detector can be achieved by one or more of the following processes: spraying matte material; preparing anodization; coating; or electrophoresis.

[0060] In a possible design, the first receiving optical system may further include at least one filter, the normal direction of the at least one filter has a second angle with the optical axis of the first receiving optical system, and the degree of the second angle is greater than 0. The at least one filter is used to filter the received first echo signal and output a target echo signal corresponding to the first transmission signal.

[0061] In one possible design, the second angle may be no less than the angular resolution of the laser radar to which the transceiver optical system belongs, and may preferably be set to a value no less than 6 times the angular resolution of the laser radar to which the transceiver optical system belongs.

[0062] In one possible design, at least one filter may include one or more of a wedge-shaped filter, a rectangular filter, a square filter, a cylindrical filter, a trapezoidal filter or a polygonal filter, and may also include filters of other shapes, without specific limitation.

[0063] In one possible design, when the first receiving optical system includes at least one filter and a lens assembly, at least one filter can be located in front of the lens assembly, between two adjacent lenses of the lens assembly, or between the lens assembly and the detector, without specific limitation.

[0064] In a possible design, the optical axis of the first transmitting optical system and the optical axis of the first receiving optical system have a first angle, and the degree of the first angle is greater than 0.

[0065] In one possible design, the degree of the first angle can be no less than the angular resolution of the laser radar to which the transceiver optical system belongs, and can preferably be set to a value no less than 6 times the angular resolution of the laser radar to which the transceiver optical system belongs.

[0066] In a possible design, when the transceiver optical system includes a detector, the detector may include a first pixel area and a second pixel area, and the first pixel area and the second pixel area are controlled to present different light spots.

[0067] In a possible design, the first pixel region and the second pixel region do not overlap at all or overlap partially.

[0068] In one possible design, the first pixel area is controlled to present a light spot corresponding to a target echo signal, and the second pixel area is controlled to present a light spot corresponding to a stray light signal, which refers to the part of the stray light signal of the laser radar that cannot be eliminated by the device set in the transceiver optical system.

[0069] In one possible design, when the transceiver optical system includes a detector, the optical axis of the detector can coincide with the optical axis of the first receiving optical system, wherein the optical axis of the detector refers to a straight line starting from the center point of the detector and drawn in a direction perpendicular to the pixel surface of the detector.

[0070] In a possible design, the transceiver optical system may further include a second transmitting optical system and / or a second receiving optical system, wherein the second transmitting optical system is used to transmit a second transmitting signal from a second light source, and the second receiving optical system is used to receive a second echo signal. The second light source is the same as or different from the first light source, and the second echo signal is the same as or different from the first echo signal.

[0071] In one possible design, when the transceiver optical system includes multiple receiving optical systems, the multiple receiving optical systems may correspond to the same detector, or may correspond to two or more detectors. For example, at least two of the multiple receiving optical systems correspond to the same detector, or the multiple receiving optical systems each correspond to a different detector, without specific limitation.

[0072] In a fourth aspect, the present application provides a transceiver optical system, including a detector and a second aperture, wherein the second aperture is connected to a protective layer or a photosensitive image surface of the detector.

[0073] In a possible design, the second aperture may be a field of view aperture, which is used to limit the field of view size of the target echo signal received by the photosensitive image plane of the detector, while suppressing stray light signals.

[0074] In one possible design, the side of the second aperture facing the detector and / or the side of the second aperture facing away from the detector can be achieved by one or more of the following processes: spraying matte material; preparing anodization; coating; or electrophoresis.

[0075] In a possible design, the transceiver optical system may further include a first receiving optical system, the first receiving optical system includes a lens assembly and at least one first aperture, the lens assembly is used to focus the target echo signal to the detector. The at least one first aperture may be located at one or more of the following positions: before the filter, between the filter and the lens assembly, between at least two adjacent lenses of the lens assembly, and between the lens assembly and the detector.

[0076] In one possible design, when the first receiving optical system includes at least one filter and a lens assembly, at least one filter can be located in front of the lens assembly, between two adjacent lenses of the lens assembly, or between the lens assembly and the detector, without specific limitation.

[0077] In a possible design, the at least one first aperture may include a stray light elimination aperture, and the stray light elimination aperture may be located between at least two adjacent lenses of the lens assembly.

[0078] In a possible design, at least one first diaphragm may include an aperture diaphragm, and the aperture diaphragm may be located at any position in the first receiving optical system, and the optical axis of the aperture diaphragm coincides with the optical axis of the first receiving optical system.

[0079] In a possible design, at least one first aperture may be in a concave structure or a convex structure.

[0080] In a possible design, the inner surface of at least one first aperture may be realized by one or more of the following processes: spraying matte material; preparing anodization; coating; or electrophoresis.

[0081] In a possible design, the transceiver optical system may further include a first transmitting optical system, wherein the optical axis of the first transmitting optical system and the optical axis of the first receiving optical system have a first angle, and the degree of the first angle is greater than 0. The first transmitting optical system is used to transmit a first transmitting signal from a first light source, and the first receiving optical system is used to receive a first echo signal, wherein the first echo signal includes a target echo signal reflected by the object when the first transmitting signal is reflected.

[0082] In one possible design, the degree of the first angle can be no less than the angular resolution of the laser radar to which the transceiver optical system belongs, and can preferably be set to a value no less than 6 times the angular resolution of the laser radar to which the transceiver optical system belongs.

[0083] In a possible design, the detector may include a first pixel region and a second pixel region, and the first pixel region and the second pixel region are controlled to present different light spots.

[0084] In a possible design, the first pixel region and the second pixel region do not overlap at all or overlap partially.

[0085] In one possible design, the first pixel area is controlled to present a light spot corresponding to a target echo signal, and the second pixel area is controlled to present a light spot corresponding to a stray light signal, which refers to the part of the stray light signal of the laser radar that cannot be eliminated by the device set in the transceiver optical system.

[0086] In a possible design, the optical axis of the detector may coincide with the optical axis of the first receiving optical system, wherein the optical axis of the detector refers to a straight line drawn from the center point of the detector along a direction perpendicular to the pixel plane of the detector.

[0087] In a possible design, the transceiver optical system may further include a second transmitting optical system and / or a second receiving optical system, wherein the second transmitting optical system is used to transmit a second transmitting signal from a second light source, and the second receiving optical system is used to receive a second echo signal. The second light source is the same as or different from the first light source, and the second echo signal is the same as or different from the first echo signal.

[0088] In one possible design, when the transceiver optical system includes multiple receiving optical systems, the multiple receiving optical systems may correspond to the same detector, or may correspond to two or more detectors. For example, at least two of the multiple receiving optical systems correspond to the same detector, or the multiple receiving optical systems each correspond to a different detector, without specific limitation.

[0089] In a fifth aspect, the present application provides a laser radar, comprising a transceiver optical system as described in any one of the designs of the first to fourth aspects above.

[0090] In one possible design, the first light source may be a line light source, so that the laser radar can scan the object through the line light spot emitted by the line light source, which helps to achieve efficient and accurate scanning of the object.

[0091] In one possible design, the laser radar may also include a scanning mechanism, which includes one or more of a polygonal rotating mirror, a swinging mirror, a micro-electro-mechanical system (MEMS) scanning mirror, and a prism.

[0092] In a sixth aspect, the present application provides a terminal device, comprising a laser radar as described in any one of the designs in the fifth aspect above. Exemplarily, some examples of terminal devices include, but are not limited to: smart home devices (such as televisions, sweeping robots, smart desk lamps, audio systems, smart lighting systems, electrical control systems, home background music, home theater systems, intercom systems, video surveillance, etc.), smart transportation equipment (such as cars, ships, drones, trains, trucks, trucks, etc.), smart manufacturing equipment (such as robots, industrial equipment, smart logistics, smart factories, etc.), smart terminals (mobile phones, computers, tablet computers, PDAs, desktops, headphones, audio, wearable devices, vehicle-mounted devices, virtual reality devices, augmented reality devices, etc.).

[0093] In a seventh aspect, the present application provides a control method, which is applicable to a control and processing unit in a laser radar, and the method includes: the control and processing unit controls a first light source to transmit a first transmission signal, the first transmission signal is transmitted through a first transmission optical system, and controls a detector to receive a first echo signal, the first echo signal includes a target echo signal reflected by the first transmission signal by an object, and the target echo signal is transmitted through a first receiving optical system. Wherein, the optical axis of the first transmitting optical system and the optical axis of the first receiving optical system have a first angle, and the degree of the first angle is greater than 0.

[0094] In a possible design, the control and processing unit may also control the detector to select a first pixel area, where the first pixel area is used to present a light spot corresponding to the target echo signal.

[0095] In a possible design, the control and processing unit may also control the detector to select a second pixel area, where the second pixel area is used to present a light spot corresponding to the clutter signal.

[0096] In one possible design, the control and processing unit obtains target information through an electrical signal corresponding to the target echo signal.

[0097] In an eighth aspect, the present application provides a control device comprising at least one processor and an interface circuit, the interface circuit being used to provide data or code instructions to the at least one processor, and the at least one processor being used to implement the method performed by the control and processing unit in any design of the seventh aspect through a logic circuit or by executing code instructions.

[0098] In a ninth aspect, the present application provides a chip comprising a processor and an interface, wherein the processor is used to read instructions through the interface to execute the method performed by the control and processing unit in any design of the seventh aspect above.

[0099] In a tenth aspect, the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is run, it executes the method described in any one of the designs in the seventh aspect above.

[0100] In an eleventh aspect, the present application provides a computer program product, which, when executed on a processor, implements the method described in any one of the seventh aspects above.

[0101] For the beneficial effects of the second to eleventh aspects mentioned above, please refer to the technical effects that can be achieved by the corresponding design in the first aspect mentioned above, and no further details will be given here. BRIEF DESCRIPTION OF THE DRAWINGS

[0102] Figure 1 A schematic diagram of an application scenario of a laser radar provided in an embodiment of the present application is exemplarily shown;

[0103] Figure 2 A schematic diagram of the internal structure of a laser radar provided in an embodiment of the present application is shown;

[0104] Figure 3 A schematic diagram of internal light transmission of a transceiver optical system provided in an embodiment of the present application is exemplarily shown;

[0105] Figure 4 A schematic diagram showing an architecture of another optical transceiver system provided in an embodiment of the present application is exemplified;

[0106] Figure 5 A schematic diagram showing internal light transmission of another transceiver optical system provided in an embodiment of the present application is exemplified;

[0107] Figure 6 The following is a schematic diagram showing the structure of a filter provided in an embodiment of the present application;

[0108] Figure 7 A schematic diagram of the structure of a field stop provided in an embodiment of the present application is exemplarily shown;

[0109] Figure 8 A schematic diagram showing an architecture of another optical transceiver system provided in an embodiment of the present application is exemplified;

[0110] Fig. 9 A schematic diagram showing an architecture of another optical transceiver system provided in an embodiment of the present application is exemplified;

[0111] Fig.10 A schematic diagram showing an architecture of another optical transceiver system provided in an embodiment of the present application is exemplified;

[0112] Fig.11A schematic diagram showing an architecture of another optical transceiver system provided in an embodiment of the present application is exemplified;

[0113] Fig.12 A schematic diagram showing the structure of another optical transceiver system provided in an embodiment of the present application is exemplified;

[0114] Fig.13 A schematic diagram showing the structure of another optical transceiver system provided in an embodiment of the present application is exemplified;

[0115] Fig.14 A schematic diagram showing the structure of another optical transceiver system provided in an embodiment of the present application is exemplified;

[0116] Fig.15 A schematic structural diagram of another transceiver optical system provided in an embodiment of the present application is exemplified. DETAILED DESCRIPTION

[0117] The transceiver optical system disclosed in the present application can be applied to terminal devices with detection capabilities, and is particularly suitable for terminal devices with laser detection capabilities. Among them, the terminal device can be an intelligent device with detection capabilities, including but not limited to: smart home devices, such as televisions, sweeping robots, smart desk lamps, audio systems, smart lighting systems, electrical control systems, home background music, home theater systems, intercom systems, video surveillance, etc.; intelligent transportation equipment, such as cars, ships, drones, trains, vans, trucks, etc.; intelligent manufacturing equipment, such as robots, industrial equipment, intelligent logistics, smart factories, etc. Alternatively, the terminal device can also be a computer device with detection capabilities, such as a desktop computer, a personal computer, a server, etc. It should also be understood that the terminal device can also be a portable electronic device with detection capabilities, such as a mobile phone, a tablet computer, a PDA, headphones, speakers, wearable devices (such as smart watches), vehicle-mounted devices, virtual reality devices, augmented reality devices, etc. Examples of portable electronic devices include but are not limited to those equipped with Or a portable electronic device with other operating systems. The portable electronic device may also be a laptop computer (Laptop) with a touch-sensitive surface (eg, a touch panel).

[0118] The technical solutions in the embodiments of the present application will be described in detail below with reference to the specific drawings.

[0119] In a specific application scenario, the transceiver optical system can be applied to lidar. Figure 1The following is a schematic diagram of an application scenario of a laser radar provided by an embodiment of the present application. In this example, the laser radar 100 is installed on a vehicle, so it is also called a vehicle-mounted laser radar. In addition to vehicle-mounted laser radars, laser radars also include ship-mounted laser radars installed on ships, and airborne laser radars installed on machines. In a possible example, Figure 1 As shown, the laser radar 100 can be specifically installed at the front position of the vehicle. In this way, during the driving process of the vehicle, the laser radar 100 can emit a laser signal, and the laser signal will be reflected by the object after being irradiated to the object in the surrounding environment, and the reflected target echo signal can be received by the laser radar 100, and then the laser radar 100 detects the environmental information around the vehicle based on the target echo signal, so as to use the environmental information to realize the driving functions of the vehicle, such as including but not limited to automatic driving or assisted driving.

[0120] It should be noted that the laser radar 100 may be a mechanical laser radar, a liquid laser radar, a pure solid-state laser radar, or a hybrid solid-state laser radar (also called a semi-solid-state laser radar), or may be other types of laser radars, which are not specifically limited in the present embodiment. Figure 1 The rectangular parallelepiped shown may also be a cube, a cylinder, a ring or a special shape, etc., and this application does not make any specific limitation on this.

[0121] Further exemplary, Figure 2 A schematic diagram of the internal structure of a laser radar provided in an embodiment of the present application is shown as follows: Figure 2As shown, in this example, the laser radar 100 may include a control and processing unit 110, a transceiver optical system 120 and a scanning mechanism 130, and the transceiver optical system 120 includes a transmitting optical system 121, a receiving optical system 122 and a detector 123. Among them, the transmitting optical system 121 and the receiving optical system 122 refer to a system composed of optical elements, and the optical elements include but are not limited to: lenses, filters, polarizers, reflectors, beam splitters, prisms, windows and scattering sheets. The control and processing unit 110 may have signal control and processing capabilities, and may connect the transmitting optical system 121, the receiving optical system 122 and the detector 123 through, for example, a controller area network (CAN) bus or other wired or wireless connection methods. The scanning mechanism 130 may include one or more of a multi-faceted rotating mirror, a swinging mirror, a micro-electro-mechanical system (MEMS) scanning mirror, and a prism. Among them, the control and processing unit 110 can control the transmitting optical system 121 to transmit the transmitting signal from the first light source, and can also control the scanning mechanism 130 to use the transmitting signal to scan through the detection area. The transmitting signal will be reflected by the object after scanning the object in the detection area. The reflected target echo signal and some other echo signals are received by the receiving optical system 122 under the control of the control and processing unit 110 and transmitted to the detector 123. Then, the detector 123 presents the light spot corresponding to the echo signal under the control of the control and processing unit 110, and generates an electrical signal corresponding to the light spot and sends it to the control and processing unit 110. The control and processing unit 110 analyzes the electrical signal to obtain target information, such as the distance, direction, height, speed, posture and even shape of the object. The target information can also be used in combination with other sensor information of the vehicle to plan the vehicle's automatic driving or assisted driving.

[0122] It should be noted that the control capability and processing capability of the control and processing unit 110 can be integrated into one device or dispersed in multiple devices. For example, the control and processing unit 110 can be an integrated circuit chip, such as a general-purpose processor, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on chip (SoC), a network processor (NP), a digital signal processor (DSP), a microcontroller unit (MCU), a programmable logic device (PLD), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components and other integrated chips. Among them, the control and processing unit 110 may include a central processing unit (CPU), a neural-network processing unit (NPU) and a graphics processing unit (GPU), and may also include an application processor (AP), a modem processor, an image signal processor (ISP), a video codec, a digital signal processor (DSP), and / or a baseband processor, etc., without specific limitation.

[0123] In an optional implementation, the first light source may be a line light source, and the transceiver optical system 120 scans the object using a line scanning and line receiving scanning method. Figure 2 As shown, the emission signal emitted by the first light source is transmitted through the emission optical system 121 and displayed as a line spot on the YOX plane. After being adjusted by the scanning mechanism 130, the line spot will scan a linear area corresponding to a vertical field of view FOV1 on the object each time (i.e. Figure 2The oblique line filled area on the object shown in the figure). After each linear area is scanned, the scanning mechanism 130 will control the linear light spot subsequently emitted by the emitting optical system 121 to move to the next linear area along the positive direction of the X-axis shown in the figure, until the area corresponding to the entire horizontal field of view angle FOV2 is scanned, and it is determined that the detection area is traversed. Correspondingly, the linear light spot emitted by the emitting optical system 121 is still a linear light spot after being reflected by the object. The linear light spot is transmitted back to the receiving optical system 122 via the scanning mechanism 130, and is transmitted and focused to a pixel area of ​​the detector 123 in the receiving optical system 122. Moreover, without considering the interference of stray light signals, the light spot presented on the pixel area is theoretically also a linear light spot. It should be understood that Figure 2 The line spot after adjustment by the scanning mechanism 130 is shown to be parallel to the Y axis, which is just one possible design. In other designs, the line spot after adjustment by the scanning mechanism 130 may also be parallel to the X axis, and is used to scan a linear area corresponding to a horizontal field of view FOV2 on the object each time, and moves along the positive or negative direction of the Y axis in the figure until the area corresponding to the entire vertical field of view FOV1 is scanned. Alternatively, in some other designs, the line spot after adjustment by the scanning mechanism 130 may also be an inclined line spot with a certain angle to both the X axis and the Y axis, and may move along the positive or negative direction of the X axis in the figure, the positive or negative direction of the Y axis, or other directions on the XOY plane until the area corresponding to the entire vertical field of view FOV1 and the entire horizontal field of view FOV2 is scanned.

[0124] based on Figure 2 The schematic laser radar 100, Figure 3 The following is a schematic diagram showing the internal light transmission of a transceiver optical system provided by an embodiment of the present application, wherein: Figure 3 (A) shows the light transmission diagram of the transceiver optical system 120 on the XOZ plane. Figure 3 (B) shows the light transmission diagram of the transceiver optical system 120 on the YOZ plane. Figure 3 Middle (A) and Figure 3 As shown in (B), in this example, the optical axis of the emitting optical system 121 is L 11 , the optical axis of the receiving optical system 122 is L 12 , the normal of the pixel surface of the detector 123 and the optical axis L 12 coincident, and L 11 and L 12 According to this configuration, the light spot corresponding to the echo signal received by the receiving optical system 122 will eventually appear in the central pixel area of ​​the detector 123. Specifically, refer to Figure 2 and Figure 3As shown in (A), from the XOZ plane, each line light spot T emitted by the transmitting optical system 121 will be diffusely reflected on the object (i.e., reflected in all directions) after scanning the object, causing the receiving optical system 122 to receive multiple echo signals reflected from various directions, such as echo signal R1, echo signal R2, echo signal R3, echo signal R4, echo signal R5, echo signal R6 and echo signal R7. After the echo signals R1 to R7 are transmitted through the optical elements in the receiving optical system 122, the target echo signals therein will be uniformly focused on the central pixel area of ​​the detector 123. From another angle, refer to Figure 2 and Figure 3 As shown in (B), from the YOZ plane, after each echo signal among the echo signals R1 to R7 is transmitted via the receiving optical system 122 , the target echo signal therein will be focused on a linear pixel area at the center of the detector 123 .

[0125] However, referring to the above Figure 3 As shown in (A), after the target echo signal among the echo signals R7 to R1 is focused on the central pixel area of ​​the detector 123, it will usually generate a stray light signal due to being emitted by the detector 123, and the stray light signal will return to the receiving optical system 122 in the opposite direction of the transmission direction of the echo signals R7 to R1, and then after multiple reflections between the optical elements of the receiving optical system 122, it will finally focus on the central pixel area of ​​the detector 123. In this case, since both the target echo signal and the stray light signal are focused on the central pixel area, the light spot presentation of the target echo signal will be interfered by the stray light signal, which is not conducive to improving the detection accuracy of the target echo signal. Although there are some solutions for suppressing stray light signals, these solutions require the addition of a relay system including a field of view aperture in the receiving optical system 122, which not only requires the improvement of the structure of the receiving optical system 122, increasing the structural complexity of the receiving optical system 122, but also can only suppress stray light signals within the field of view, but cannot suppress stray light signals at other positions. Therefore, how to effectively suppress stray light signals within the optical transceiver system 120 without affecting the structural complexity of the optical transceiver system 120 is a technical problem that needs to be urgently solved in the current laser radar field.

[0126] In view of this, the present application provides a transceiver optical system, which is used to set a certain angle between the optical axis of the receiving optical system and the optical axis of the transmitting optical system, so that the receiving optical system focuses the target echo signal and the stray light signal to different pixel areas, so as to reduce the influence of the stray light signal on the target echo signal by transferring the stray light signal without increasing the structural complexity of the transceiver optical system, effectively suppress the stray light signal in the transceiver optical system, and thereby improve the detection accuracy of the target echo signal.

[0127] It should be noted that the transceiver optical system in the present application can be applied to the above-mentioned laser radar, and can also be applied to other devices, devices or chips other than the above-mentioned laser radar, for example, it can be applied to other intelligent terminals with detection functions other than the above-mentioned laser radar, or it can be set in the components of other intelligent terminals, which include but are not limited to controllers, chips or cameras and other sensors, and other components. Alternatively, the transceiver optical system in the present application can be applied to the above-mentioned driving scenes, and can also be applied to other imaging systems other than the above-mentioned driving scenes, such as building three-dimensional modeling systems, terrain mapping systems or rendezvous and docking systems. Moreover, with the evolution of system architecture and the emergence of new scenarios, the transceiver optical system provided in this application is also applicable to similar technical problems, and this application does not make specific limitations on this.

[0128] The specific implementation of the transceiver optical system in the present application will be introduced below in conjunction with specific embodiments. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments.

[0129] It should be noted that the terms "system" and "network" in the embodiments of the present application can be used interchangeably. "Multiple" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may 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. "The following one (or more)" or its similar expressions refers to any combination of these items, including any combination of single or plural items (individuals). For example, one (or more) of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0130] Furthermore, unless otherwise specified, the ordinal numbers such as "first" and "second" mentioned in the embodiments of the present application are used to distinguish multiple objects, and are not used to limit the priority or importance of multiple objects. For example, the first emission optical system and the second emission optical system are only used to distinguish different optical emission systems, and do not indicate the difference in priority or importance of the two optical emission systems.

[0131] based on Figure 2 The schematic laser radar 100, Figure 4 The schematic diagram of the architecture of another optical transceiver system provided by the embodiment of the present application is exemplarily shown as follows: Figure 4 As shown, in this example, the transceiver optical system 120 includes a transmitting optical system 121 (i.e., a first transmitting optical system) and a receiving optical system 122 (i.e., a first receiving optical system), and the optical axis of the transmitting optical system 121 is L 11 , the optical axis of the receiving optical system 122 is L 13 , and the optical axis L 11 and optical axis L 13 There is a first angle between them, and the degree of the first angle α is greater than 0. In implementation, the transmitting optical system 121 is used to transmit a first transmitting signal from a first light source, and the receiving optical system 122 is used to receive a first echo signal, which includes a target echo signal reflected by the first transmitting signal from an object, and may also include one or more of the following stray light signals: a crosstalk signal generated by one or more reflections, refractions or scatterings of an optical element in the transmitting optical system 121, an optical element in the receiving optical system 122 and / or other devices (such as detectors) in the transceiver optical system 120, a ghost signal exceeding the normal power intensity reflected by irradiating an object with high reflectivity, a transmitting signal emitted by other laser radars or other transmitting optical systems in the laser radar 100, or other stray light signals different from the target echo signal, etc., without specific limitation.

[0132] For example, continue to refer to Figure 4 As shown, the optical transceiver system 120 may further include a detector 123, and the detector 123 may include a plurality of pixel areas, which may be pre-set or configured, and controlled by the control and processing unit 110 to present a light spot corresponding to the received signal. The detector 123 and the receiving optical system 122 may be located on the same optical path, that is, the axis of the detector 123 (that is, a straight line drawn from the center point of the detector 123 along a direction perpendicular to the pixel surface of the detector 123) and the optical axis L of the receiving optical system 122 are aligned. 12 In this way, after receiving the first echo signal, the receiving optical system 122 can also focus the target echo signal in the first echo signal to a certain pixel area of ​​the detector 123, and the detector 123 can be controlled to present the light spot of the received target echo signal on the pixel area. In this example, by keeping the detector 123 and the receiving optical system 122 in the same posture, the probability of focusing the echo signal transmitted by the receiving optical system 122 on the pixel surface of the detector 123 can be increased, and the probability of focusing outside the pixel surface of the detector 123 can be reduced.

[0133] Still taking the first light source as a linear light source as an example, Figure 5 Exemplary illustration Figure 4 The schematic diagram of the internal light transmission of the transceiver optical system 120 is shown, wherein: Figure 5 (A) shows Figure 4 The light transmission diagram of the transceiver optical system 120 in the XOZ plane is shown. Figure 5 (B) shows Figure 4 The light transmission diagram of the transceiver optical system 120 in the YOZ plane is shown. Figure 4 and Figure 5 As shown in (A), from the XOZ plane, after each line spot T emitted by the transmitting optical system 121 scans the object, the receiving optical system 122 receives echo signals R1 to R7 reflected from various directions due to diffuse reflection of the object. 13 and the optical axis L of the transmitting optical system 121 11 There is a first angle between the two, so the direction in which the echo signals R1 to R7 are transmitted into the receiving optical system 122 and the optical axis L of the receiving optical system 122 22 There is also a first angle between them. Thus, after the target echo signals in the echo signals R1 to R7 are transmitted through the optical elements in the receiving optical system 122, they will no longer be focused on the central pixel area of ​​the detector 123, but on another pixel area deviating from the central pixel area. This pixel area is called the first pixel area. Figure 4 and Figure 5 As shown in (B), from the YOZ plane, after each echo signal among the echo signals R1 to R7 is transmitted through the receiving optical system 122, the target echo signal therein will also appear as a line light spot on the first pixel area, and the energy of the line light spot will theoretically be stronger.

[0134] Refer to the above Figure 5As shown in (A), since the target echo signal among the echo signals R1 to R7 is focused on the first pixel area, and the first pixel area deviates from the central pixel area, the target echo signal is not evenly distributed on both sides of the axis of the detector 123 after being transmitted to the detector 123. In this way, even if the target echo signal generates a stray light signal due to reflection (such as mutual reflection between the detector 123, the lens assembly 1222 and the filter 1221), the stray light signal is not evenly reflected back to the transmission range of the echo signal in the receiving optical system 122, but will be offset by a certain distance. Moreover, the larger the degree α of the first angle is, the farther the stray light signal deviates after reflection. In this way, there will always be a part of stray light signals in the stray light signals after deviation generated by the reflection of the target echo signal that are not within the transmission range of the echo signals R1 to R7 in the receiving optical system 122. Even if these stray light signals are focused on the detector 123 again after multiple reflections, the pixel area (called the second pixel area) where they are focused is different from the first pixel area where the target echo signal is focused. These stray light signals will not affect the light spot corresponding to the target echo signal. It can be seen that by providing a first angle between the receiving optical system 122 and the transmitting optical system 121, the purpose of suppressing stray light signals in the receiving optical system 122 can be achieved, and the effect of suppressing stray light signals is also positively correlated with the degree α of the first angle. The larger the degree α of the first angle, the better the effect of suppressing stray light signals, and the more it helps to improve the accuracy of the detector 123 in detecting the target echo signal. In addition, by comparing Figure 4 and Figure 2 It can be seen that Figure 4 The receiving optical system 122 in the Figure 2 The receiving optical system 122 is shown based on the Figure 2 An axis ( Figure 4 The figure shows the direction of the line spot corresponding to the transmitted signal. This scheme can achieve the effect of suppressing stray light signals by setting the angle between the optical axis of the receiving optical system 122 and the optical axis of the transmitting optical system 121. Compared with the scheme of adding a relay system, it does not affect the structural complexity of the receiving optical system 122 and the transmitting optical system 121, and is easier to implement.

[0135] In one possible implementation, when the degree α of the first angle is greater than 0 and less than the angular resolution of the laser radar 100, although a small part of the stray light signal will be outside the transmission range of the echo signals R1 to R7 in the receiving optical system 122, since it has not exceeded the angular resolution of the laser radar 100, the stray light signal is unlikely to be recognized by the detector 123, which in turn causes the light spot corresponding to the stray light signal and the light spot corresponding to the echo signal to overlap, which is not conducive to suppressing the stray light signal. Therefore, the degree α of the first angle can be set to a value not less than the angular resolution of the laser radar 100, for example, it can be set to a value between 2 times and 10 times the angular resolution of the laser radar 100. Experiments have shown that when the degree α of the first angle is not less than the angular resolution of the laser radar 100 and less than 6 times the angular resolution of the laser radar 100, there may be a part of the stray light signal in the deviated stray light signal generated by the reflection of the target echo signal, which is located outside the transmission range of the echo signal R1 to the echo signal R7 in the receiving optical system 122, and there is a part of the stray light signal located within the transmission range of the echo signal R1 to the echo signal R7 in the receiving optical system 122, that is, the light spot corresponding to the stray light signal and the light spot corresponding to the echo signal partially overlap. In this case, the second pixel area that is pre-set or configured and controlled to present the light spot corresponding to the stray light signal and the first pixel area for presenting the light spot corresponding to the echo signal may also partially overlap. On the contrary, when the degree α of the first angle is not less than 6 times the angular resolution of the laser radar 100, the stray light signal after deviation generated by the reflection of the target echo signal can be completely located outside the transmission range of the echo signal R1 to the echo signal R7 in the receiving optical system 122, that is, the light spot corresponding to the stray light signal and the light spot corresponding to the echo signal do not overlap at all. In this case, the second pixel area for presenting the light spot corresponding to the stray light signal and the first pixel area for presenting the light spot corresponding to the echo signal, which are pre-set or configured, may also not overlap at all. Based on this, the degree α of the first angle can preferably be set to be more than 6 times the angular resolution of the laser radar 100. For example, when it is set to 8 times, if the angular resolution is 0.25°, the degree α of the first angle can be 2°, so as to take into account the non-overlapping characteristics of the two light spots and the influence of the shape of the receiving optical system 122 on the entire transceiver optical system 120. It should be noted that the degree information here is not accurate. Due to errors that may be caused by design and manufacturing processes, there may be some deviations in the degree information. In the solution description, these deviations are negligible.

[0136] Furthermore, the angular resolution of the laser radar 100 is related to the scanning direction of the object. For example, when the first light source is a linear light source, the first transmitting optical system 121 uses a linear spot to scan the object. Figure 4The angular resolution here refers to the vertical angular resolution of the laser radar 100, that is, the interval angle between two adjacent line spots in the vertical direction in two consecutive scans. On the contrary, if the horizontal direction (i.e. Figure 4 If the object is scanned along the positive or negative direction of the X-axis (as shown), the angular resolution here is the horizontal angular resolution of the laser radar 100, that is, the interval angle between two adjacent line spots in the horizontal direction in two consecutive scans. Furthermore, if the object is scanned along an inclined direction that is neither horizontal nor vertical, the angular resolution here will include both the horizontal angular resolution and the vertical angular resolution of the laser radar 100. The horizontal angular resolution refers to the horizontal component of two adjacent line spots in two consecutive scans, while the vertical angular resolution refers to the vertical component of two adjacent line spots in two consecutive scans. The line spot can be a horizontal line spot (i.e., a line spot parallel to the horizontal axis). Figure 4 The X-axis line spot shown) or the vertical line spot (i.e. parallel to Figure 4 The light spot may be a line spot on the Y-axis as shown in the figure), or may be an inclined line spot which is neither horizontal nor vertical, or may be a bent line spot, a spliced ​​line spot, a curved line spot or an irregular line spot, etc., without specific limitation.

[0137] In a possible implementation, the detector 123 may include a plurality of detection units, and the plurality of detection units may be arranged in an array, in a column or in a row, or irregularly, without specific limitation. Among them, the plurality of detection units may include but are not limited to avalanche diodes (APD), single photon avalanche diodes (SPAD), photodiodes (positive intrinsic-negative, PIN) and silicon photomultipliers (SiPM), etc. Among the many detection units mentioned above, SPAD is also called APD in Geiger mode, which can convert optical signals into electrical signals by photoelectric effect, and provide internal current gain effect by avalanche multiplication, and has extremely high signal gain and sensitivity, so SPAD may preferably be selected as the detection unit of the detector 123.

[0138] Further exemplary, the multiple detection units in the detector 123 can be pre-set or configured as multiple pixel areas, each pixel area can include one or more detection units, and the multiple pixel areas include the above-mentioned first pixel area and the above-mentioned second pixel area. The specific positions of the first pixel area and the second pixel area on the detector 123 can be determined according to the first angle. For example, in a possible a priori method, after the emission optical system 121 and the receiving optical system 122 are arranged according to the first angle, the emission optical system 121 can be controlled by the control and processing unit 110 to emit a line light spot for testing, and the light spot presentation of each detection unit on the detector 123 during the scanning process of the line light spot for testing is collected, and the area corresponding to the detection unit where the light spot with larger energy and more regularity is located or a slightly larger area is used as the first pixel area, and the area corresponding to the light spot with weaker energy and more irregularity or a slightly larger area is used as the second pixel area.

[0139] Further illustratively, the first pixel region and the second pixel region may operate in any of the following ways:

[0140] In one possible manner, the detection unit in the first pixel area and the detection unit in the second pixel area are switched to the working state as long as they are powered on. In this way, when an echo signal is transmitted to the detector 123, the first pixel area presents a light spot corresponding to the target echo signal, generates an electrical signal corresponding to the light spot and sends it to the control and processing unit 110, and the second pixel area presents a light spot corresponding to the stray light signal (or, when there is no stray light signal, does not present a light spot), generates an electrical signal corresponding to the light spot and sends it to the control and processing unit 110, and then the control and processing unit 110 uses the electrical signal sent by the first pixel area to determine the object characteristics, and the electrical signal sent by the second pixel area can be discarded, or used to perform other operations, such as evaluating the stray light suppression effect.

[0141] In another possible manner, the detection unit in the first pixel area and the detection unit in the second pixel area are connected to the control and processing unit 110, and the control and processing unit 110 selects the detection unit in the first pixel area and / or the detection unit in the second pixel area according to the demand. When the detection unit in the first pixel area is selected, the first pixel area is controlled to present the light spot corresponding to the target echo signal, and the electrical signal corresponding to the light spot is generated and sent to the control and processing unit 110. When the detection unit in the second pixel area is selected, the second pixel area is controlled to present the light spot corresponding to the stray light signal, and the electrical signal corresponding to the light spot is generated and sent to the control and processing unit 110. The pixel area that is not selected will not present the light spot, nor will it generate the electrical signal corresponding to the light spot.

[0142] Further exemplary, if the first pixel area and the second pixel area do not overlap at all, the light spot presented by the first pixel area is the light spot corresponding to the target echo signal, and the light spot presented by the second pixel area is the light spot corresponding to the stray light signal, and the control and processing unit 110 can directly use the electrical signal corresponding to the light spot presented by the required pixel area to complete the corresponding operation without preprocessing the electrical signal. On the contrary, if the first pixel area and the second pixel area partially overlap, the light spot presented by the overlapping area of ​​the first pixel area and the second pixel area will include both the light spot corresponding to the target echo signal and the light spot corresponding to the stray light signal. The light spot presented by the overlapping area can be subsequently obtained by the control and processing unit 110 through filtering to remove another pure light spot other than a certain light spot, and then the pure light spot can be used to perform subsequent operations, such as determining the characteristics of the object.

[0143] It should be noted that the above content is only introduced by taking the first pixel area presenting the light spot corresponding to the target echo signal and the second pixel area presenting the light spot corresponding to the stray light signal as an example. In other schemes, the first pixel area and the second pixel area can also be used to present the light spots corresponding to other signals. For example, in another possible implementation, the receiving optical system 122 can also separate the first type of target echo signal and the second type of target echo signal from the received first echo signal as required, transmit the first type of target echo signal to the first pixel area of ​​the detector 123, and transmit the second type of target echo signal to the second pixel area of ​​the detector 123, so as to achieve the purpose of presenting different signal spots through different pixel areas. Alternatively, in another possible implementation, the receiving optical system 122 and the detector 123 can also be set to be rotatable, and the receiving optical system 122 and the detector 123 rotate to a first posture at a first moment, and rotate to a second posture at a second moment, wherein the receiving optical system 122 transmits the target echo signal in the echo signal received at the first moment to the first pixel area of ​​the detector 123 in the first posture, and transmits the target echo signal in the echo signal received at the second moment to the second pixel area of ​​the detector 123 in the second posture, so as to flexibly distinguish the target echo signals corresponding to different moments by rotation.

[0144] In a possible implementation, continue to refer to Figure 5 As shown in (A), the receiving optical system 122 may include at least one filter 1221, and the normal direction of at least one filter 1221 is aligned with the optical axis L of the receiving optical system 122. 13The second angle β is greater than 0. The at least one filter 1221 can filter the received echo signals R1 to R7 and output a target echo signal corresponding to the transmission signal T, for example, a target echo signal with the same frequency as the transmission signal T. Furthermore, by setting the normal direction of the at least one filter 1221 to be aligned with the optical axis L of the receiving optical system 122, the receiving optical system 122 can be configured to receive the target echo signal T. 13 With a certain angle, even if the signal is reflected after being transmitted back to the filter 1221 within the transmission range of the receiving optical system 122 and generates a stray light signal, the stray light signal will be reflected to another transmission range that deviates from the transmission range of the signal in the receiving optical system 122 due to the existence of β, which helps to further transfer part or all of the stray light signal. Among them, considering that as the number of filters 1221 increases, the accumulated energy of the stray light signal reflected in the system is also stronger, which may not be conducive to the transfer of stray light signals. In one design, the number of filters 1221 can be set to 1, so as to ensure the necessary filtering operation while avoiding the energy accumulation of the stray light signal reflected in the system as much as possible, and then reduce the detection impact on the target echo signal by transferring the stray light signal.

[0145] Further exemplary, the degree β of the second angle may be not less than the angular resolution of the laser radar 100. In one design, a value not less than 6 times the angular resolution of the laser radar 100 may be set so as to reduce the influence of the shape of at least one filter 1221 on the receiving optical system 122 while allowing at least one filter 1221 to transfer the stray light signal to a position that does not overlap with the transmission range of the signal in the receiving optical system 122. The angular resolution of the laser radar 100 is related to the scanning direction of the object. For example, when the first light source is a line light source: if the laser radar is in the vertical direction (i.e. Figure 4 The angular resolution here refers to the vertical angular resolution of the laser radar 100; if the laser radar is scanned in the horizontal direction (i.e., the positive or negative direction of the Y axis) Figure 4 If the object is scanned in the positive or negative direction of the X-axis (as shown), the angular resolution here is the horizontal angular resolution of the laser radar 100; if the object is scanned in an inclined direction that is neither horizontal nor vertical, the angular resolution here will include both the horizontal angular resolution and the vertical angular resolution of the laser radar 100. The horizontal angular resolution refers to the horizontal component of two adjacent line spots in two consecutive scans, while the vertical angular resolution refers to the vertical component of two adjacent line spots in two consecutive scans. The line spot can be a horizontal line spot (i.e., parallel to Figure 4 The X-axis line spot shown) or the vertical line spot (i.e. parallel to Figure 4The light spot may be a line spot on the Y-axis as shown in the figure), or may be an inclined line spot which is neither horizontal nor vertical, or may be a bent line spot, a spliced ​​line spot, a curved line spot or an irregular line spot, etc., without specific limitation.

[0146] Further exemplary, Figure 6 Several possible structures of the filter 1221 provided in the embodiments of the present application are exemplified, such as Figure 6 As shown, at least one filter 1221 may include Figure 6 The wedge filter shown in (A) Figure 6 The rectangular filter shown in (B) Figure 6 The square filter shown in (C) Figure 6 The cylindrical filter shown in (D) Figure 6 The ladder filter shown in (E) or Figure 6 One or more of the hexagonal filters shown in (F) may also include filters of other shapes, such as circular filters or other polygonal filters, etc., without limitation. Figure 6 The wedge filter shown in (A) Figure 6 The ladder filter shown in (E) Figure 6 When using a hexagonal filter or other filter with an edge tilt characteristic as shown in (F) in FIG. 1 , the edge of the filter 1221 is tilted. Therefore, if the normal line of the edge of the filter 1221 is aligned with the optical axis L of the receiving optical system 122, 13 If the angle between them is not less than β, the filter 1221 and other optical elements in the receiving optical system 122 can be directly kept in the same shape, so as to realize the normal line of the filter 1221 and the optical axis L of the receiving optical system 122 by utilizing the edge surface tilt characteristic of the filter 1221 itself. 13 At the same time, the second included angle between the filter 1221 and the optical axis L of the receiving optical system 122 is convenient for the installation layout of the filter 1221 and other optical elements in the receiving optical system 122. 13 If the angle between them is less than β, the filter 1221 and other optical elements in the receiving optical system 122 need to have different shapes during installation, so that the normal of the filter 1221 and the optical axis L of the receiving optical system 122 can be adjusted by adjusting the shape of the filter 1221. 13 Alternatively, when the filter 1221 is as follows Figure 6 The rectangular filter shown in (B) Figure 6 The square filter shown in (C) Figure 6In the case of a cylindrical filter as shown in (D) or other filter without edge surface tilt characteristics, since the normal line of the edge surface of the filter 1221 and the optical axis of the filter 1221 are parallel, the optical axis of the filter 1221 and the optical axis L of the receiving optical system 122 can be directly set during installation. 13 It is sufficient that there is an angle β between them, so that the second angle between the normal line of the filter 1221 and the optical axis of the first receiving optical system can be achieved by changing the shape of the filter 1221.

[0147] It should be noted that when the filter 1221 is a filter with an edge surface tilt characteristic, if the normal line of a certain edge surface of the filter 1221 and the optical axis L of the receiving optical system 122 are 13 The angle between them is greater than β, and the normal of the other edge surface and the optical axis L of the receiving optical system 122 are 13 The angle between them is less than β, or the normals of the two edge surfaces of the filter 1221 and the optical axis L of the receiving optical system 122 13 If the angle between them is smaller than β, the posture of the filter 1221 can be changed so that the normals of the two edge surfaces of the filter 1221 and the optical axis L of the receiving optical system 122 are aligned. 13 The included angle is no less than β, so that both edge surfaces of the filter 1221 can transfer stray light signals.

[0148] In a possible implementation, continue to refer to Figure 5 As shown in (A), the receiving optical system 122 may further include a lens assembly 1222 and at least one first aperture, and the at least one first aperture may be located at one or more of the following positions: Figure 5 Before the filter 1221 shown in (A), between the filter 1221 and the lens assembly 1222, between at least two adjacent lenses of the lens assembly 1222, and between the lens assembly 1222 and the detector 123. Among them, the lens assembly 1222 can focus the first echo signal or the target echo signal corresponding to the first transmission signal to the first pixel area of ​​the detector 123, and at least one first aperture can be used to eliminate or suppress stray light signals in the receiving optical system 122, so as to further improve the accuracy of the receiving optical system 122 transmitting the target echo signal.

[0149] For further example, continue to refer to Figure 5As shown in (A), at least one first aperture may include a stray light elimination aperture 1224, wherein the stray light elimination aperture 1224 may be located between at least two adjacent lenses of the lens assembly 1222, and is used to eliminate the portion of stray light signals transmitted between the at least two adjacent lenses that is transmitted to the side wall of the stray light elimination aperture 1224, while the stray light signals transmitted to the light hole of the stray light elimination aperture 1224 may continue to be transmitted backwards, and subsequently presented to the second pixel area of ​​the detector 123 via the receiving optical system 122. The stray light signals transmitted between the at least two adjacent lenses include, but are not limited to: crosstalk signals transmitted between the at least two adjacent lenses by one or more reflections between the filter 1221, each lens in the lens assembly 1222, the lens barrel where the lens assembly 1222 is located, and the detector 123, ghost signals reflected back with a power intensity exceeding the normal level due to irradiation of an object with high reflectivity, transmission signals emitted by other laser radars or other transmission optical systems in the laser radar 100, or other stray light signals different from the target echo signals, etc.

[0150] For further example, continue to refer to Figure 5 As shown in (A), at least one first aperture may further include an aperture aperture 1223, and the aperture aperture 1223 may be located at any position of the receiving optical system 122, including but not limited to: before the filter 1221, between the filter 1221 and the lens assembly 1222, between at least two adjacent lenses of the lens assembly 1222, and between the lens assembly 1222 and the detector 123. Moreover, the optical axis of the aperture aperture 1223 may be aligned with the optical axis L of the receiving optical system 122. 13 The overlap is used to limit the beam size of the first echo signal or the target echo signal output by the aperture stop 1223.

[0151] Further exemplary, the inner surface of at least one first aperture may be a concave structure or a convex structure. The first aperture is a structure with a light hole, and the inner surface of the first aperture is the side of the first aperture opposite to the light hole. The convex structure of the inner surface means that the inner surface is convex toward the light hole, and the concave structure of the inner surface means that the inner surface is concave in the opposite direction of the light hole. Taking the stray light elimination aperture 1224 as an example, the inner surface is located at Figure 5 The inner surface of the stray light elimination aperture 1224 arranged between the second lens and the third lens arranged from left to right in (A) is a concave structure. Thus, even if a stray light signal is transmitted to the inner surface of the stray light elimination aperture 1224, the stray light signal is probably first reflected by the inner surface of one side of the stray light elimination aperture 1224 to the inner surface of the other side, and then reflected by the inner surface of the other side, and so on. The more times of reflection, the more the power intensity of the stray light signal can be weakened, which helps to reduce the probability of the stray light signal being transmitted to the detector 123. Correspondingly, the stray light signal located at Figure 5The inner surface of the stray light elimination aperture 1224 arranged between the first lens and the second lens arranged from left to right in (A) is a convex structure, so that the stray light signal transmitted to the inner surface of the stray light elimination aperture 1224 will be reflected back to the side of the transmission direction by the convex structure, which helps to reduce the probability of the stray light signal being directly transmitted to another lens, and can also achieve the purpose of suppressing the stray light signal by increasing the number of reflections. Correspondingly, the inner surface of the aperture aperture 1223 can also be set to a convex structure or a concave structure, so that the stray light signal transmitted to the inner surface of the aperture aperture 1223 is reflected once or multiple times, so as to achieve the purpose of suppressing the stray light signal.

[0152] Further exemplarily, the inner surface of at least one first aperture may be realized by one or more of the following treatments: spraying a matting material to eliminate stray light signals transmitted to the inner surface of at least one first aperture, wherein the matting material may include but is not limited to pure polyester matting agents, organic matting agents or matting paints, etc.; preparing anodized, and the reflectivity of the anodized can be controlled to a smaller value, so as to reduce the reflection probability of the stray light signals transmitted to the inner surface of at least one first aperture; coating, such as anti-reflection coating, so as to reduce or eliminate the stray light signals of the system by reducing the reflectivity of the light hitting the inner surface of the aperture; or, electrophoresis, electrophoresis is the use of electrophoretic materials with different electrical properties to form insoluble microgels in particles on the inner surface coating, so that the stray light signals are transmitted to the coating to form diffuse reflection and achieve the purpose of extinction, and the electrophoretic materials include but are not limited to resin electrophoresis or aluminum alloy electrophoresis, etc. In this way, when at least one first aperture is set as an outer convex structure or an inner concave structure, and the inner surface is treated by special processes such as spraying matte material, preparing anodizing, coating or electrophoresis, after the stray light signal is transmitted to the inner surface of at least one first aperture, it will first be extincted by the inner surface treated by the special process. Afterwards, if there is still residual stray light signal, the residual stray light signal will be further reflected by the outer convex structure or the inner concave structure to achieve secondary extinction, so as to better suppress the stray light signal through double extinction.

[0153] In a possible implementation, continue to refer to Figure 5As shown in (A), the transceiver optical system 120 may further include a second aperture, such as a field of view aperture 1225, which may be connected to a protective layer (such as a protective glass) or a photosensitive image plane of the detector 123, and is used to limit the field of view size of the target echo signal received by the photosensitive image plane of the detector 123, while suppressing the portion of stray light signals transmitted to the side wall of the field of view aperture 1225, while the stray light signals transmitted to the light hole of the field of view aperture 1225 may continue to be transmitted backwards, and subsequently presented in the second pixel area of ​​the detector 123 via the receiving optical system 122. Among them, the stray light signals transmitted to the side wall of the field aperture 1225 or in the light hole include but are not limited to: crosstalk signals transmitted to at least two adjacent lenses by one or more reflections between the filter 1221, each lens in the lens assembly 1222, the lens barrel where the lens assembly 1222 is located, and the detector 123, crosstalk signals reflected back from the photosensitive image surface or protective layer of the detector 123 to the emitting optical system 120, ghost signals exceeding normal power intensity reflected due to irradiation of objects with high reflectivity, emission signals emitted by other laser radars or other transmitting optical systems in the laser radar 100, or other stray light signals different from the target echo signals, etc.

[0154] In the above implementation, when the field diaphragm 1225 is connected to the photosensitive image plane of the detector 123, the field size limited by the field diaphragm 1225 is the field size of the target echo signal that can be received by the photosensitive image plane of the detector 123. This method also requires the removal of the protective layer of the detector 123 to achieve the connection between the field diaphragm 1225 and the photosensitive image plane. When the field diaphragm 1225 is connected to the protective layer of the detector 123, the field size limited by the field diaphragm 1225 is actually the field size of the target echo signal that can be received by the protective layer of the detector 123. Before being transmitted to the photosensitive image plane of the detector 123, the field size may be affected by the path between the protective layer and the photosensitive image plane, resulting in a change in the field size of the target echo signal actually received by the photosensitive image plane. Therefore, the second diaphragm connected to the protective layer is called a quasi-field diaphragm. This method can directly connect the field diaphragm 1225 and the protective layer without disassembling the detector 123, which helps to reduce the difficulty of implementation.

[0155] In a possible implementation, the side of the field stop 1225 opposite to the detector 123 and / or the side of the field stop 1225 opposite to the detector 123 may be implemented by one or more of the following processes: spraying matte material; preparing anodization; coating; or electrophoresis, so as to further eliminate stray light signals transmitted to the side of the field stop 1225 opposite to and / or opposite to the detector 123. When the above-mentioned process is performed on the side of the field stop 1225 opposite to the detector 123, the field stop 1225 can eliminate crosstalk signals generated by reflection from the detector 123; when the above-mentioned process is performed on the side of the field stop 1225 opposite to the detector 123, the field stop 1225 can eliminate crosstalk signals generated by reflection from the lens assembly 1222 or the lens barrel where the lens assembly 1222 is located. The signal reflected by the detector 123, the signal reflected by the lens assembly 1222, or the signal reflected by the lens barrel where the lens assembly 1222 is located may be a target echo signal or a crosstalk signal generated by reflections from other components, without limitation.

[0156] In a possible design, the field aperture 1225 can be connected to the protective layer or the photosensitive image surface of the detector 123 by dispensing glue, and continue to refer to Figure 5 As shown in (A), considering that the size of the field stop 1225 can be larger than the size of the protective layer or photosensitive image plane of the detector 123, glue can be dispensed at the position where the field stop 1225 exceeds the protective layer or photosensitive image plane of the detector 123, so as to fix the field stop 1225 on the protective layer or photosensitive image plane of the detector 123. Accordingly, since the glue dispensing position and the position exceeding the protective layer or photosensitive image plane of the detector 123 have no effect on the actual field of view limiting effect, one or more operations of spraying matte material, preparing anodizing, coating or electrophoresis can be performed only in the area where the field stop 1225 and the protective layer or photosensitive image plane of the detector 123 overlap, and the glue dispensing position and the area exceeding the protective layer or photosensitive image plane of the detector 123 are not subjected to the above treatment, so as to reduce the complexity of the process.

[0157] It should be noted that the field of view aperture 1225 can be an aperture with an opening, and the position and size of the opening need to be pre-set or configured according to the first pixel area and the second pixel area. For example, when the light spot corresponding to the first pixel area needs to be used, the opening of the field of view aperture 1225 needs to cover the entire first pixel area, so that the target echo signal located in the field of view corresponding to the first pixel area can be accurately presented on the first pixel area through the opening of the field of view aperture 1225. For another example, when the light spot corresponding to the second pixel area needs to be used, the opening of the field of view aperture 1225 needs to cover the entire second pixel area, so that the target echo signal located in the field of view corresponding to the second pixel area can be accurately presented on the second pixel area through the opening of the field of view aperture 1225. In addition, assuming that the opening of the field of view aperture 1225 needs to cover the entire first pixel area, the opening shape of the field of view aperture 1225 can also be pre-set or configured according to the light spot corresponding to the target echo signal. For example, Figure 7 The schematic diagram of the structure of a field of view aperture provided by an embodiment of the present application is exemplarily shown. In this example, it is assumed that the light spot presented by the target echo signal corresponds to the left area of ​​the detector 123. Then, when the light spot corresponding to the target echo signal is presented as a line light spot, the field of view aperture 1225 can have the following structure: Figure 7 When the light spot corresponding to the target echo signal appears as a point light spot, the field aperture 1225 may have a shape as shown in FIG. Figure 7 The square opening shown in (B) or the Figure 7 When the light spot corresponding to the target echo signal appears as a planar light spot, the field aperture 1225 may have a circular opening as shown in (C); Figure 7 A square opening as shown in (D) or a Figure 7 It should be understood that here are simply several possible opening shapes of the field stop 1225. In actual operation, as long as the opening can cover the entire first pixel area, it is not necessary to limit it to have Figure 7 The several opening shapes are illustrated, and this application does not make any specific limitations thereto.

[0158] in addition, Figure 4The illustrated transceiver optical system 120 is described by taking the example that the transmitting optical system 121 and the receiving optical system 122 are located on the same side of the scanning mechanism 130. In other scenarios, the transmitting optical system 121 and the receiving optical system 122 may also be located on different sides of the scanning mechanism 130, for example, the transmitting optical system 121 is located on the left side of the scanning mechanism 130, and the receiving optical system 122 is located on the right side of the scanning mechanism 130, or the transmitting optical system 121 is located on the right side of the scanning mechanism 130, and the receiving optical system 122 is located on the left side of the scanning mechanism 130. Moreover, the transmitting optical system 121 and the receiving optical system 122 may be as follows: Figure 4 The illustrated embodiments may be implemented separately on different devices, or may be integrated on one device and implemented uniformly, without specific limitation.

[0159] In the embodiment of the present application, the number of transmitting optical systems and receiving optical systems in the transceiver optical system 120 can be one-to-one, one-to-many, many-to-one or many-to-many. The following takes the example that the transmitting optical system and the receiving optical system are located on different sides of the scanning mechanism 130 to exemplify further implementations of several transceiver optical systems 120:

[0160] In an optional implementation, Figure 8 The schematic diagram of the architecture of another optical transceiver system provided by the embodiment of the present application is exemplarily shown as follows: Figure 8 As shown, in this example, the transceiver optical system 120 is a transmitter and receiver, including a first transmitting optical system 121 located on one side of the scanning mechanism 130 and a first receiving optical system 122 located on the other side of the scanning mechanism 130, the first transmitting optical system 121 is used to transmit a first transmitting signal from a first light source, the first receiving optical system 122 is used to receive a first echo signal, and transmit a first target echo signal included in the first echo signal that is reflected back by an object to the detector 123, so that the detector 123 generates an electrical signal for determining target information (such as object characteristics) according to the first target echo signal and sends it to the control and processing unit 110.

[0161] In another optional implementation, Fig. 9 A schematic diagram of the architecture of another optical transceiver system provided in an embodiment of the present application is shown as an example. Fig. 9As shown, in this example, the transceiver optical system 120 is a one-transmitter and two-receiver system, including a first transmitting optical system 121 located on one side of the scanning mechanism 130, and a first receiving optical system 122 and a second receiving optical system 124 located on the other side of the scanning mechanism 130. The first transmitting optical system 121 is used to transmit a first transmitting signal from a first light source, the first receiving optical system 122 is used to receive a first echo signal, and the second receiving optical system 124 is used to receive a second echo signal. The second echo signal is the same as the first echo signal, and both contain a target echo signal reflected by the object when the first transmitting signal is reflected. Among them, the first receiving optical system 122 and the second receiving optical system 124 can be as follows Fig. 9 The illustrated one corresponds to the same detector 123, but may also correspond to different detectors. When corresponding to the same detector 123, the posture of the detector 123 is consistent with the posture of the first receiving optical system 122, but different from the posture of the second receiving optical system 124. The first receiving optical system 122 may also transmit the target echo signal contained in the first echo signal to the detector 123, and the second receiving optical system 124 may also transmit the target echo signal contained in the second echo signal to the detector 123, and the detector 123 generates an electrical signal for determining the target information according to the two parts of the target echo signal and sends it to the control and processing unit 110. When corresponding to different detectors, the first receiving optical system 122 transmits the target echo signal contained in the first echo signal to the corresponding detector, and the second receiving optical system 124 transmits the target echo signal contained in the second echo signal to the corresponding detector, and the two detectors respectively generate electrical signals for determining the characteristics of the object according to the target echo signals received by each detector and send them to the control and processing unit 110.

[0162] In another optional implementation, Fig.10 A schematic diagram of the architecture of another optical transceiver system provided in an embodiment of the present application is shown as an example. Fig.10As shown, in this example, the transceiver optical system 120 is two-transmitter and one-receiver, including a first transmitting optical system and a second transmitting optical system 125 located on one side of the scanning mechanism 130, and a first receiving optical system 122 located on the other side of the scanning mechanism 130, the first transmitting optical system 121 is used to transmit the first transmitting signal from the first light source, the second transmitting optical system 125 is used to transmit the second transmitting signal from the second light source, the first receiving optical system 122 is used to receive the first echo signal and the second echo signal, the first echo signal includes the target echo signal reflected by the first transmitting signal from the object, the second echo signal includes the target echo signal reflected by the second transmitting signal from the object, the first receiving optical system 122 also transmits the target echo signal in the first echo signal and the second echo signal to the detector 123, and the detector 123 generates an electrical signal for determining the target information. Among them, the second light source can be the same as or different from the first light source. When the second light source is the same as the first light source, the second echo signal is also the same as the first echo signal. When the second light source is different from the first light source, the second echo signal is usually the same as the first echo signal.

[0163] In another optional implementation, Fig.11 A schematic diagram of the architecture of another optical transceiver system provided in an embodiment of the present application is shown as an example. Fig.11 As shown, in this example, the transceiver optical system 120 is two-transmit and two-receive, including a first transmitting optical system 121 and a second transmitting optical system 125 located on one side of the scanning mechanism 130, and a first receiving optical system 122 and a second receiving optical system 124 located on the other side of the scanning mechanism 130. Among them, the first transmitting optical system 121 is used to transmit the first transmitting signal from the first light source, and the first receiving optical system 122 is used to receive the first echo signal, and the first echo signal includes the target echo signal reflected by the object when the first transmitting signal is reflected back. Correspondingly, the second transmitting optical system 125 is used to transmit the second transmitting signal from the second light source, and the second receiving optical system 124 is used to receive the second echo signal, and the second echo signal includes the target echo signal reflected by the object when the second transmitting signal is reflected back. Among them, the second light source and the first light source can be the same or different. When the second light source and the first light source are the same, the second echo signal and the first echo signal are also the same. When the second light source and the first light source are different, the second echo signal and the first echo signal are usually the same. The first receiving optical system 122 and the second receiving optical system 124 may correspond to the same detector, or may correspond to the same detector. Fig.11The diagrams correspond to different detectors. When corresponding to the same detector, the first receiving optical system 121 transmits the target echo signal contained in the first echo signal to the detector, and the second receiving optical system 124 also transmits the target echo signal contained in the second echo signal to the detector, and the detector generates an electrical signal for determining the target information according to the two parts of the target echo signal. When corresponding to different detectors, the first receiving optical system 122 transmits the target echo signal contained in the first echo signal to the corresponding detector 123, and the detector 123 generates a first electrical signal for determining the target information according to the target echo signal contained in the first echo signal, and the second receiving optical system 124 transmits the target echo signal contained in the second echo signal to the corresponding detector 126, and the detector 126 generates a second electrical signal for determining the target information according to the target echo signal contained in the second echo signal.

[0164] It should be noted that the above examples are only introduced by taking the transmitting optical system and the receiving optical system as examples located on different sides of the scanning mechanism. In other examples, there may be at least one transmitting optical system and at least one receiving optical system located on the same side of the scanning mechanism, and the transmitting optical system and / or the receiving optical system located on the same side may be implemented separately in different devices or integrated in the same device. For example, taking a transmitting and receiving optical system with one transmitter and two receivers as an example, Fig.12 A schematic diagram of another optical transceiver system is shown as an example. Fig.12 As shown, in this example, the transceiver optical system 120 includes a first transmitting optical system 121 and a first receiving optical system 122 (which can be integrated in one device or deployed separately) located on one side of the scanning mechanism 130, and a second receiving optical system 124 located on the other side of the scanning mechanism 130. The first transmitting optical system 121 is used to transmit a first transmitting signal from a first light source, the first receiving optical system 122 is used to receive a first echo signal, and the second receiving optical system 124 is used to receive a second echo signal. The second echo signal is the same as the first echo signal, and both contain a target echo signal reflected by the object when the first transmitting signal is reflected. Fig.12 As shown, the first receiving optical system 122 and the second receiving optical system 124 may correspond to different detectors, the first receiving optical system 122 is used to transmit the target echo signal contained in the first echo signal to the corresponding detector 123, and the second receiving optical system 124 is used to transmit the target echo signal contained in the second echo signal to the corresponding detector 126, and the detector 123 and the detector 126 respectively generate electrical signals for determining the characteristics of the object according to the target echo signals received by each detector, and then send them to the control and processing unit 110. Of course, the first receiving optical system 122 and the second receiving optical system 124 may also correspond to the same detector, which is not limited here.

[0165] It should be understood that the two-transmitting and one-receiving transceiver optical system may also be a transmitting optical system and a receiving optical system located on one side of the scanning mechanism, and the other transmitting optical system located on the other side of the scanning mechanism, or both transmitting optical systems and receiving optical systems are located on the same side of the scanning mechanism; the two-transmitting and two-receiving transceiver optical system may also be a transmitting optical system and a receiving optical system located on one side of the scanning mechanism, and the other transmitting optical system and the other receiving optical system are located on the other side of the scanning mechanism, or two transmitting optical systems and one receiving optical system are located on one side of the scanning mechanism, and the other receiving optical system is located on the other side of the scanning mechanism, or one transmitting optical system and two receiving optical systems are located on one side of the scanning mechanism, and the other transmitting optical system is located on the other side of the scanning mechanism, or both transmitting optical systems and two receiving optical systems are located on the same side of the scanning mechanism, and the present application does not make any specific limitations on this.

[0166] In addition, when the transceiver optical system 120 includes multiple receiving optical systems, the multiple receiving optical systems may all correspond to the same detector, or may correspond to two or more detectors, for example, at least two receiving optical systems correspond to the same detector and other receiving optical systems correspond to different detectors, or multiple receiving optical systems correspond to different detectors. Furthermore, when multiple receiving optical systems correspond to the same detector, the axis of the detector coincides with the optical axis of the first receiving optical system among the multiple receiving optical systems, and has a certain angle with the axes of other receiving optical systems among the multiple receiving optical systems.

[0167] It should be noted that the above embodiments may be modified to obtain other embodiments. For example:

[0168] Deformation 1, Fig.13 The structural diagram of another optical transceiver system provided by an embodiment of the present application is exemplarily shown as follows: Fig.13 As shown, in this example, there is no angle between the receiving optical system 122 and the transmitting optical system 121, and there is a second angle between the normal of at least one filter 1221 and the optical axis of the receiving optical system 122, and the degree β of the second angle is greater than 0. In this way, even if the signal is evenly transmitted back to the filter 1221 along both sides of the optical axis of the receiving optical system 122 and then reflected to generate a stray light signal, the stray light signal will be reflected to another range deviating from the optical axis of the receiving optical system 122 due to the existence of β, and will not be evenly reflected back to the same pixel area as the target echo signal along both sides of the optical axis of the receiving optical system 122, so that the purpose of suppressing the stray light signal can be achieved by transferring part or all of the stray light signal.

[0169] Deformation 2, Fig.14 A schematic diagram showing the structure of another optical transceiver system provided in an embodiment of the present application is shown as follows: Fig.14 As shown, in this example, there is no angle between the receiving optical system 122 and the transmitting optical system 121, and there may be no angle between the normal of at least one filter 1221 and the optical axis of the receiving optical system 122, and a stray light diaphragm 1224 is arranged between at least two adjacent lenses of the lens assembly 1222 in the receiving optical system 122, and an aperture diaphragm 1223 is arranged at any position of the receiving optical system 122, and the stray light diaphragm 1224 and the aperture diaphragm 1223 can be convex or concave, and the inner surface can also be obtained by one or more operations of spraying matte material, preparing anodizing, coating or electrophoresis. In this way, when the stray light signal is transmitted to the interior of the receiving optical system 122, on the one hand, the aperture diaphragm 1223 can block the stray light signal outside the aperture size range, and on the other hand, it can also be extinguished by the inner surface of the aperture diaphragm 1223 and the stray light elimination diaphragm 1223, and the power intensity of the stray light signal can be reduced by increasing the number of reflections through the convex or concave structure, thereby achieving the purpose of suppressing the stray light signal.

[0170] Deformation three, Fig.15 A schematic diagram showing the structure of another optical transceiver system provided in an embodiment of the present application is shown as follows: Fig.15 As shown, in this example, there is no angle between the receiving optical system 122 and the transmitting optical system 121, and there may be no angle between the normal of at least one filter and the optical axis of the receiving optical system 122, and the protective layer or photosensitive image plane of the detector 123 is connected to the field stop 1225, and the field stop 1225 can also be obtained by spraying extinction material, preparing anodization, coating or electrophoresis on the surface relative to the detector 123 and / or the surface opposite to the detector 123. In this way, before the stray light signal is transmitted to the photosensitive image plane of the detector 123, it can also be suppressed by the field stop 1225, and one or both sides of the field stop 1225 can be subjected to extinction processing, thereby reducing the probability of stray light signal reflection and effectively suppressing the stray light signal.

[0171] It should be noted that the other solutions in the above-mentioned embodiment 1 are also common to the above-mentioned various variations. When implementing, they can be directly used with reference to the above-mentioned embodiment 1, and the embodiments of the present application will not repeat them.

[0172] It should be understood that the division of the units of the above transceiver optical system 120 is only a division of logical functions. In actual implementation, they can be fully or partially integrated into one physical entity, or they can be physically separated. This application does not make specific restrictions on this. Moreover, the devices listed above are functional devices. Other devices or device combinations that can achieve the same functions are also within the scope of protection of this application, and this application does not make specific restrictions on this. In addition, the above content is only introduced by taking the filter 1221 being located before the lens assembly 1222 as an example. In other scenarios, the filter 1221 can also be located between two adjacent lenses of the lens assembly 1222, or between the lens assembly 1222 and the detector 123, without specific restrictions.

[0173] In addition, the optical transceiver system provided by the present application can also be extended to any information system that needs to transfer stray light signals. It should be understood that all technical solutions that use the detection solution provided by the present application to transfer stray light signals are within the protection scope of the present application, and the present application will not list them one by one.

[0174] According to the detection scheme provided in the embodiment of the present application, the present application also provides a laser radar, including the transceiver optical system introduced in the above content.

[0175] In a possible implementation, the first light source may be a line light source, so that the laser radar can scan the object through the line light spot emitted by the line light source, which helps to achieve efficient and accurate scanning of the object.

[0176] In a possible implementation, the laser radar may further include a scanning mechanism, which includes one or more of a polygonal rotating mirror, a swinging mirror, a micro-electromechanical scanning mirror, and a prism.

[0177] According to the detection scheme provided in the embodiment of the present application, the present application also provides a terminal device, including the laser radar introduced in the above content. Among them, examples of some terminal devices include but are not limited to: smart home devices (such as TVs, sweeping robots, smart desk lamps, audio systems, smart lighting systems, electrical control systems, home background music, home theater systems, intercom systems, video surveillance, etc.), smart transportation equipment (such as cars, ships, drones, trains, trucks, trucks, etc.), smart manufacturing equipment (such as robots, industrial equipment, smart logistics, smart factories, etc.), smart terminals (mobile phones, computers, tablets, PDAs, desktops, headphones, audio, wearable devices, vehicle-mounted devices, virtual reality devices, augmented reality devices, etc.).

[0178] According to the detection scheme provided in the embodiment of the present application, the present application also provides a control method, which is applicable to a control and processing unit (also referred to as a processor) in a laser radar, and the method includes: the control and processing unit controls a first light source to transmit a first transmission signal, the first transmission signal is transmitted through a first transmission optical system, and controls a detector to receive a first echo signal, the first echo signal includes a target echo signal reflected by the first transmission signal by an object, and the target echo signal is transmitted through a first receiving optical system. Wherein, the optical axis of the first transmitting optical system and the optical axis of the first receiving optical system have a first angle, and the degree of the first angle is greater than 0.

[0179] In a possible implementation, the control and processing unit may also control the detector to select a first pixel area, where the first pixel area is used to present a light spot corresponding to the target echo signal.

[0180] In a possible implementation, the control and processing unit may also control the detector to select a second pixel region, where the second pixel region is used to present a light spot corresponding to the clutter signal.

[0181] In a possible implementation, the control and processing unit obtains target information through an electrical signal corresponding to the target echo signal.

[0182] In a possible implementation, the control and processing unit may be a specific integrated circuit chip, such as a general-purpose processor, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on chip (SoC), a network processor (NP), a digital signal processor (DSP), a microcontroller unit (MCU), a programmable logic device (PLD), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components and other integrated chips. The control and processing unit may include a central processing unit (CPU), a neural-network processing unit (NPU) and a graphics processing unit (GPU), and may also include an application processor (AP), a modem processor, an image signal processor (ISP), a video codec, a digital signal processor (DSP), and / or a baseband processor, etc., without specific limitation.

[0183] According to the detection scheme provided in the embodiments of the present application, the present application also provides a control device, including at least one processor and an interface circuit, the interface circuit is used to provide data or code instructions to at least one processor, and the at least one processor is used to implement the method performed by the control and processing unit in the above content through a logic circuit or executing code instructions.

[0184] According to the detection scheme provided in the embodiment of the present application, the present application also provides a chip, including a processor and an interface, the processor is used to read instructions through the interface to execute the method executed by the control and processing unit in the above content.

[0185] According to the detection scheme provided in the embodiment of the present application, the present application also provides a computer-readable storage medium, which stores a computer program. When the computer program is run, the method performed by the control and processing unit in the above content is executed.

[0186] According to the detection scheme provided in the embodiment of the present application, the present application also provides a computer program product, which, when executed on a processor, implements the method executed by the control and processing unit in the above content.

[0187] The terms "component", "module", "system", etc. used in this specification are used to represent computer-related entities, hardware, firmware, a combination of hardware and software, software, or software in execution. For example, a component can be, but is not limited to, a process running on a processor, a processor, an object, an executable file, an execution thread, a program and / or a computer. By way of illustration, both applications running on a computing device and a computing device can be components. One or more components may reside in a process and / or an execution thread, and a component may be located on a computer and / or distributed between two or more computers. In addition, these components may be executed from various computer-readable media having various data structures stored thereon. Components may, for example, communicate through local and / or remote processes based on signals having one or more data packets (e.g., data from two components interacting with another component between a local system, a distributed system and / or a network, such as the Internet interacting with other systems through signals).

[0188] Those of ordinary skill in the art will appreciate that the various illustrative logical blocks and steps described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or in a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel may use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0189] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0190] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0191] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0192] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0193] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage media include: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks or optical disks.

[0194] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A transceiver optical system, characterized in that: It comprises a first transmitting optical system and a first receiving optical system, wherein an optical axis of the first transmitting optical system and an optical axis of the first receiving optical system have a first angle, and the degree of the first angle is greater than 0; The first emission optical system is used to transmit a first emission signal from a first light source; The first receiving optical system is used to receive a first echo signal, wherein the first echo signal includes a target echo signal obtained by reflecting the first transmitting signal from an object; The first receiving optical system comprises at least one filter, a normal direction of the at least one filter and an optical axis of the first receiving optical system form a second angle, and the second angle is greater than 0; The at least one filter is used to filter the received first echo signal and output the target echo signal corresponding to the first transmit signal.

2. The transceiver optical system according to claim 1, wherein: The transceiver optical system further includes a detector including a first pixel region and a second pixel region, wherein the first pixel region and the second pixel region are controlled to present different light spots.

3. The transceiver optical system according to claim 2, wherein: The first pixel region and the second pixel region do not overlap at all, or overlap partially.

4. The transceiver optical system according to claim 2 or 3, wherein: The first pixel area is controlled to present a light spot corresponding to the target echo signal, and the second pixel area is controlled to present a light spot corresponding to a stray light signal.

5. The transceiver optical system according to claim 1, wherein: The second angle is not less than the angular resolution of the laser radar to which the transceiver optical system belongs.

6. The transceiver optical system according to claim 1, wherein: The at least one filter includes one or more of a wedge filter, a rectangular filter, a square filter, a circular filter, or a polygonal filter.

7. The transceiver optical system according to claim 1, wherein: The first receiving optical system further comprises a lens assembly and at least one first aperture, wherein the at least one first aperture is located at one or more of the following positions: before the optical filter, between the optical filter and the lens assembly, between at least two adjacent lenses of the lens assembly, and between the lens assembly and the detector; The lens assembly is used to focus the target echo signal corresponding to the first transmission signal to a first pixel area.

8. The transceiver optical system according to claim 7, wherein: The inner surface of the at least one first aperture is an inner concave structure or an outer convex structure.

9. The transmitting and receiving optical system according to claim 7 or 8, characterized in that: The transceiver optical system further includes a second aperture, which is connected to the protective layer or the photosensitive image surface of the detector.

10. The transceiver optical system according to claim 9, wherein: One or more of the inner surface of the at least one first aperture, the surface of the second aperture opposite to the detector, or the surface of the second aperture opposite to the detector is realized by one or more of the following processes: Spray matte material; Preparation of anodized Coating; or Electrophoresis.

11. The transceiver optical system according to any one of claims 1 to 3 and 5 to 8, characterized in that: The transceiver optical system further comprises a second transmitting optical system and / or a second receiving optical system; Among them, the second transmitting optical system is used to transmit a second transmitting signal from a second light source; the second receiving optical system is used to receive a second echo signal; the second light source is the same as or different from the first light source, and the second echo signal is the same as or different from the first echo signal.

12. A laser radar, characterized in that: The invention comprises the transceiver optical system as claimed in any one of claims 1 to 11.

13. The laser radar according to claim 12, characterized in that: The first light source is a line light source.

14. The laser radar according to claim 12 or 13, characterized in that: The laser radar also includes a scanning mechanism, which includes one or more of a multi-faceted rotating mirror, a swinging mirror, a micro-electro-mechanical system (MEMS) scanning mirror, and a prism.

15. A terminal device, characterized in that: Comprising a laser radar as described in any one of claims 12 to 14.

16. A control method, characterized in that: The method comprises: Controlling the first light source to emit a first emission signal, wherein the first emission signal is transmitted through a first emission optical system; Control the detector to receive a first echo signal, wherein the first echo signal includes a target echo signal reflected by an object from the first transmitting signal, wherein the target echo signal is transmitted through a first receiving optical system, wherein an optical axis of the first transmitting optical system and an optical axis of the first receiving optical system have a first angle, and the degree of the first angle is greater than 0; wherein the first receiving optical system includes at least one optical filter, wherein a normal direction of the at least one optical filter has a second angle with the optical axis of the first receiving optical system, and the degree of the second angle is greater than 0, wherein the at least one optical filter is used for filtering the received first echo signal, and outputting the target echo signal corresponding to the first transmitting signal.

17. The method according to claim 16, characterized in that The method further comprises: The detector is controlled to select a first pixel area, where the first pixel area is used to present a light spot corresponding to the target echo signal.

18. The method according to claim 16 or 17, characterized in that The detector is controlled to select a second pixel area, where the second pixel area is used to present a light spot corresponding to a clutter signal.

19. The method according to claim 16 or 17, characterized in that Target information is acquired through the electrical signal corresponding to the target echo signal.

20. A control device, characterized in that: The method comprises at least one processor and an interface circuit, wherein the interface circuit is used to provide data or code instructions to the at least one processor, and the at least one processor is used to implement the method as claimed in any one of claims 16 to 19 through a logic circuit or by executing code instructions.

21. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed, the method according to any one of claims 16 to 19 is executed.

22. A computer program product, characterized in that When the computer program product is run on a processor, the method according to any one of claims 16 to 19 is implemented.

Images