Detection assembly, receiving module, detection device and terminal equipment

Abstract

The invention discloses a detection assembly, a receiving module, a detection device and terminal equipment, relates to the technical field of radars, and aims to reduce the blind area distance. Wherein the detection assembly comprises a first detection area and a second detection area, the first detection area is used for receiving a first echo signal of a first view field, the second detection area is used for receiving a second echo signal of a second view field, and the first view field and the second view field at least partially do not overlap. Two detection areas are arranged, so that two receiving view fields and an emission view field can form different overlapping areas, the overlapping position distance of one overlapping area is short, the overlapping position distance of the other overlapping area is long, and the detection area with the long overlapping position distance can be used for detecting a long-distance target. The detection area with the short overlapping position can be used for short-distance blind compensation, the two detection areas are complementary to each other, the short-distance blind compensation effect can be achieved while long-distance detection is achieved, and the blind area distance of the detection assembly is effectively reduced.

Description

Technical Field

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

[0002] With the development of science and technology, intelligent terminals such as intelligent transportation devices, smart home devices, industrial devices, robots, and vehicles are gradually entering people's daily lives. Since lidar can sense the surrounding environment, and then can identify and track moving targets based on the sensed environment, and can perform path planning in combination with a navigator and map data, etc., lidar is gradually applied to intelligent terminals and plays an increasingly important role.

[0003] Currently, lidar can be divided into coaxial transceiver lidar and non-coaxial transceiver lidar according to whether the light emitting and receiving paths are coaxial. Please refer to Figure 1a , the coaxial transceiver lidar uses the same set of optical systems for laser emission and echo reception. Its light emitting and receiving paths are located on the same optical axis L, and there is no detection blind area. However, in order to separate the transmitted signal and the echo signal, an additional isolation switch needs to be set, resulting in a large echo loss and a low utilization rate of the echo energy. Compared with the coaxial transceiver lidar, please refer to Figure 1b , the non-coaxial transceiver lidar can directly separate the transmitted signal and the echo signal through independent transmitting and receiving optical systems without setting an isolation switch, thereby improving the utilization rate of the echo energy. However, the transmitting and receiving fields of view of the non-coaxial transceiver lidar only start to overlap at a relatively long distance (i.e., the blind area distance h1). The field of view overlap area belongs to the distance range that the detector can detect, and the area outside the field of view overlap area belongs to the detection blind area of the detector. The farther the blind area distance is, the worse the detection performance of the non-coaxial transceiver lidar for short-distance targets, which poses a challenge to achieving high detection performance of the non-coaxial transceiver lidar.

[0004] In summary, how to reduce the blind area distance is a technical problem that the non-coaxial transceiver lidar urgently needs to solve at present. Summary of the Invention

[0005] The present application provides a detection component, a receiving module, a detection device, and a terminal device to reduce the blind area distance.

[0006] In a first aspect, the present application provides a detection component, including a first detection area and a second detection area. The first detection area is used to receive the first echo signal of the first field of view, and the second detection area is used to receive the second echo signal of the second field of view, where at least part of the first field of view and the second field of view do not overlap.

[0007] In the above solution, by setting two detection regions, the two receiving fields of view corresponding to the two detection regions can form different overlapping regions with the transmitting field of view. One overlapping region has a short overlapping position distance, and the other overlapping region has a long overlapping position distance. The detection region with a long overlapping position distance can be used to detect distant targets, while the detection region with a short overlapping position distance can be used for short-distance blind area compensation. The two detection regions complement each other, enabling the effect of short-distance blind area compensation while achieving long-distance detection, and effectively reducing the blind area distance of the detection component. In addition, both detection regions are configurations on the receiving side and will not affect the optical paths of light emission and reception. Therefore, this solution can also minimize the increase of stray light while reducing the blind area distance, so as to improve the detection performance of the detection component.

[0008] In a possible design, the detection distance ranges of the first field of view and the second field of view are different. In this way, the minimum detection distance of the first field of view can be made different from that of the second field of view, and the field of view corresponding to the relatively smaller minimum detection distance can be used to compensate for the blind area of the other field of view.

[0009] In a possible design, some or all of the detection units in the first detection region and some or all of the detection units in the second detection region are turned on simultaneously, or in different frames, or at different wavelength positions in the same frame. When turned on simultaneously, the effect of simultaneously achieving long-distance detection and short-distance blind area compensation can be obtained. When turned on in different frames or at different wavelength positions in the same frame, the effect of alternately achieving long-distance detection and short-distance blind area compensation can be obtained. By configuring multiple opening modes, the required opening mode can be flexibly selected according to the actual scenario, so that the detection component can be applicable to more scenarios.

[0010] In a possible design, the first detection region and the second detection region belong to different detectors. Exemplarily, the detector can be an array detector, such as a silicon photomultiplier (SiPM) or a single photon avalanche diode (SPAD), or a non-array detector, such as an avalanche photo diode (APD) or a pin photodetector.

[0011] In the above design, by setting two detectors, one detector can be used as the main detector, and the other detector can be used as the blind area compensation detector. In this way, only by turning on or off the main detector or the blind area compensation detector, the separate control of long-distance detection and blind area compensation can be achieved, without the need to improve the original structure of the detector, and the development difficulty is relatively low.

[0012] In another possible design, the first detection region and the second detection region are different detection regions of the same detector. Exemplarily, the detector can be an array detector, such as a SiPM or a SPAD. The first detection region includes a part of the array detector, and the second detection region includes another part of the array detector.

[0013] In the above design, by combining different regions on the array detector to receive echo signals together, one region can be used for long-distance detection, and the other region can be used for short-distance blind filling. In this way, the effect of simultaneous long-distance detection and blind filling can be achieved using different regions of the same detector, without the need to additionally introduce a new detector, which can save the volume and cost of the detection components.

[0014] In a possible design, the working mode of the detection component is row scanning, and the first detection region and the second detection region are located in different rows of the detector; or, the working mode of the detection component is column scanning, and the first detection region and the second detection region are located in different columns of the detector. In this way, the positional relationship between the two detection regions can be matched with the working mode of the detection component.

[0015] In a possible design, the detection units turned on in the first detection region or the second detection region occupy the length of one row or one column of the detector, or occupy the length of half a row or half a column of the detector, or occupy a part of one row or a part of one column of the detector. With this design, the first detection region or the second detection region supports multiple setting methods on the detector. In this way, one method can be flexibly selected for configuration according to the actual scenario requirements to meet the actual detection needs.

[0016] In a possible design, the detection units turned on in the first detection region and the detection units turned on in the second detection region each occupy one row or one column of the detector, or each occupy half of one row or half of one column of the detector. In this way, the first detection region and the second detection region have relatively regular positions and regions on the detector, which facilitates the switching between the on state and the off state or from the off state to the on state for the two detection regions.

[0017] In a possible design, the working mode of the detection component is row scanning. The first detection region occupies one row of the detector, and the second detection region occupies a part of each row in at least one row of the detector, and the occupied parts do not repeat in the column; or, the working mode of the detection component is column scanning. The first detection region occupies one column of the detector, and the second detection region occupies a part of each column in at least one column of the detector, and the occupied parts do not repeat in the row. In this way, when the second detection region is turned on, only one detection unit for blind filling will be sensitive in each column (or row), so as to ensure the accurate positioning of the blind filling signal for each column (or row) and adapt to the working mode of column scanning (or row scanning).

[0018] In a possible design, the working mode of the detection component is line scanning. The activated detection units in the first detection area and the activated detection units in the second detection area are located in different columns and together occupy the length of one row of the detector; or, the working mode of the detection component is column scanning. The activated detection units in the first detection area and the activated detection units in the second detection area are located in different rows and together occupy the length of one column of the detector. In this way, it can be ensured that only one of the detection units for long-distance measurement and the detection units for blind area compensation is activated in the column (or row) at the same time, which helps to maintain the accurate positioning of the read signal for each column (or row) and adapt to the processing capacity of the processing chip.

[0019] In a possible design, the second detection area includes multiple sub-areas, and the multiple sub-areas are not continuous. In this way, the detection units used for blind area compensation do not cover all columns (or rows), but leave some columns (or rows) idle. This can achieve a partial blind area compensation effect while saving the processing resources of some columns and adapting to the limited processing capacity of the processing chip.

[0020] In a possible design, the second detection area is located on one side or opposite sides of the first detection area. In this way, the detection units located on one side or both sides of the first detection area on the detector can be used to achieve the effect of blind area compensation in one direction or two directions.

[0021] In a possible design, the number and positions of the activated detection units in the second detection area are configured based on the region of interest. In this way, the detection units in the second detection area can detect the targets within the region of interest and achieve the accurate positioning of the target of interest.

[0022] In a second aspect, the present application provides a receiving module, including the detection component in the first aspect or any design in the first aspect above, so that the receiving module can have the beneficial effects of the first aspect above.

[0023] In a possible design, the receiving module may further include a receiving optical system, and the receiving optical system is used to transmit the echo signal to the detection component. Optionally, the receiving optical system can collimate the echo signal first and then transmit it to the detection component, so that the echo signal can be vertically irradiated onto the detection component, improving the receiving efficiency of the detection component for the echo signal.

[0024] In a third aspect, the present application provides a detection device, including the receiving module in the second aspect or any design in the second aspect above.

[0025] In a possible design, the detection device may further include a transmitting module, and the transmitting module is used to emit detection signals.

[0026] In a possible design, the detection device may further include a processing module, which is configured to process the echo signal to obtain the associated information of the target.

[0027] In a fourth aspect, the present application provides a terminal device, including the detection device in the third aspect or any design in the third aspect above.

[0028] The technical effects that can be achieved in the second aspect to the fourth aspect above can refer to the description of the beneficial effects in the first aspect above, and will not be repeated here one by one. Description of the Drawings

[0029] Figure 1a Exemplarily shows a schematic structural diagram of a transceiver co-located radar;

[0030] Figure 1b Exemplarily shows a schematic structural diagram of a transceiver separated radar;

[0031] Figure 1c Exemplarily shows a schematic structural diagram of an array detector;

[0032] Figure 2 Exemplarily shows a schematic diagram of a possible application scenario provided by the present application;

[0033] Figure 3a Exemplarily shows a schematic structural diagram of a transceiver separated radar with two lasers provided by the industry;

[0034] Figure 3b Exemplarily shows a schematic structural diagram of a transceiver separated radar with an additional blind spot filling structure provided by the industry;

[0035] Figure 4 Exemplarily shows a schematic structural diagram of a detection component provided by the present application;

[0036] Figure 5 Exemplarily shows a diagram of the field of view overlap relationship corresponding to a detection area provided by the present application;

[0037] Figure 6 Exemplarily shows a schematic structural diagram of a detection component provided in Embodiment 1;

[0038] Figure 7a Exemplarily shows a schematic diagram of an opening timing provided by the present application;

[0039] Figure 7b Exemplarily shows another schematic diagram of an opening timing provided by the present application;

[0040] Figure 7c Exemplarily shows yet another schematic diagram of an opening timing provided by the present application;

[0041] Figure 8 Schematic diagram showing the structure of a detection component provided in Embodiment 2;

[0042] Figure 9a Schematic diagram showing the array structure of a detector corresponding to a line scan mode provided in the present application;

[0043] Figure 9b Schematic diagram showing the array structure of a detector corresponding to a column scan mode provided in the present application;

[0044] Figure 10a Schematic diagram showing a setting method of a detection area provided in the present application;

[0045] Figure 10b Schematic diagram showing another setting method of a detection area provided in the present application;

[0046] Figure 11a Schematic diagram showing yet another setting method of a detection area provided in the present application;

[0047] Figure 11b Schematic diagram showing still another setting method of a detection area provided in the present application;

[0048] Figure 11c Schematic diagram showing yet another setting method of a detection area provided in the present application;

[0049] Figure 12a Schematic diagram showing another setting method of a detection area provided in the present application;

[0050] Figure 12b Schematic diagram showing still another setting method of a detection area provided in the present application;

[0051] Figure 12c Schematic diagram showing yet another setting method of a detection area provided in the present application;

[0052] Figure 13a Schematic diagram showing another setting method of a detection area provided in the present application;

[0053] Figure 13b Schematic diagram showing yet another setting method of a detection area provided in the present application;

[0054] Figure 13c Schematic diagram showing still another setting method of a detection area provided in the present application;

[0055] Figure 14 Schematic diagram showing a flow chart of alternately turning on detection areas provided in the present application;

[0056] Figure 15a Exemplarily shown is a schematic flow diagram of simultaneously activating a detection area provided by the present application;

[0057] Figure 15b Exemplarily shown is another schematic flow diagram of simultaneously activating a detection area provided by the present application;

[0058] Figure 15c Exemplarily shown is yet another schematic flow diagram of simultaneously activating a detection area provided by the present application;

[0059] Figure 16a Exemplarily shown is still another schematic flow diagram of simultaneously activating a detection area provided by the present application;

[0060] Figure 16b Exemplarily shown is another schematic flow diagram of simultaneously activating a detection area provided by the present application;

[0061] Figure 17 Exemplarily shown is a schematic architecture diagram of a detection device provided by the present application. Detailed implementation manners

[0062] Next, the embodiments of the present application will be described in detail in conjunction with the accompanying drawings.

[0063] Hereinafter, some terms in the present application will be explained. It should be noted that these explanations are for the convenience of those skilled in the art to understand and do not constitute a limitation on the protection scope required by the present application.

[0064] I. Transmit field of view (T-FOV) and receive field of view (R-FOV)

[0065] The transmit field of view can be understood as the field of view range covered by the laser signal emitted by the laser in the detection area. Generally, the laser signal spreads in a conical shape centered on the laser. Therefore, the transmit field of view is conical in space and triangular on the side, as Figure 1b shown.

[0066] The receive field of view can be understood as the field of view range covered by the echo signal that the detector can receive in the detection area. Only the activated detection units on the detector can receive the echo signal. Therefore, it can also be considered as the coverage range of the echo signal that the activated detection units on the detector can receive. This coverage range is usually also conical in space and triangular on the side, as Figure 1b shown.

[0067] II. Wave position

[0068] Wave position is the abbreviation of beam position or beam center position. For a single frame of detection of the detection space by lidar, multiple wave positions are usually required. The number of wave positions is related to the angular range scanned by the scanning component at one time. For example, if the pitch range of the lidar is 0 to 20°, and the angular range scanned by the scanning component each time is 5°, then to cover the entire pitch range, the scanning component needs to rotate at least four times, that is, 4 wave positions are required. In each wave position, the laser emits multiple laser signals to detect the area corresponding to the current wave position. After the detection is completed, it switches to the next wave position (for example, the wave position switch is achieved by changing the scanning angle of the scanning component), and the laser emits multiple laser signals again to detect the area corresponding to the next wave position. This process is repeated until the entire detection area is detected.

[0069] III. Detection Unit.

[0070] The detection unit, also known as the detection pixel or photosensitive unit, is the smallest unit in the array detector used to receive the echo signal, as Figure 1c shown. The array detector is an array structure composed of multiple rows and columns of detection units. Usually, only some of the detection units in the array detector will be used as readout units, and the other detection units are not used for readout. For example, taking the column scanning mode as an example, although Figure 1cThe array detector shown contains 16 rows of detection units. However, only the 6th to 10th rows of detection units shown in the middle region A may be used as readout rows, while the other rows are not used for readout and belong to the extra rows set in the array detector. These extra rows set can usually be used as calibration rows to ensure that the array detector can be applied to different radar scenarios. For example, due to different detection scenarios, or the same detection scenario but with manufacturing errors and installation errors, etc., the echo signals corresponding to different radars may be focused on different rows of the array detector. For example, the echo signal corresponding to a certain radar Lidar 1 is focused on the 6th to 10th rows of the array detector, while the echo signal corresponding to another radar Lidar 2 is focused on the 4th to 8th rows of the array detector. Therefore, when the array detector is used in Lidar1, its 6th to 10th row detection units can be used as readout rows, and when used in Lidar 2, its 4th to 8th row detection units can be used as readout rows. In addition, the calibration rows can also be used to calibrate the readout rows in the same radar. For example, as the usage time of the radar increases, the radar may experience phenomena such as changes in the detection scenario or offsets of optical components, resulting in changes in the position where the echo signal is focused. Therefore, it is also possible to perform echo tests by combining the calibration rows and the current readout rows at regular intervals to determine the rows on which the current echo signal is focused on the array detector, and then update these rows as readout rows. For example, if the area where the echo signal is focused becomes the 8th to 12th rows after a period of time instead of the previous 6th to 10th rows, the readout rows can be modified to the 8th to 12th rows, and the remaining rows will be used as new calibration rows to perform the next calibration operation in combination with the new readout rows. It can be understood that these extra detection units may also have some other functions, which are not specifically limited in this application.

[0071] For the convenience of subsequent introduction, the detection units used for readout will be named the first part of detection units below, and the detection units not used for readout will be named the second part of detection units. During the use of the array detector, the second part of detection units is not turned on (or not working, or not lit), while any one of the detection units in the first part of detection units can be turned on (or working, or lit), or can also not be turned on. Whether to turn on specifically can be determined according to the working mode of the radar, as introduced below. Among them, the turned-on detection units can receive the echo signal and convert it into an electrical signal, while for the not-turned-on detection units, no matter whether there is an echo signal incident on them, the echo signal will not be converted into an electrical signal.

[0072] IV. Working modes of the radar.

[0073] For scanning radars, their operating modes can include row scanning and column scanning. When the radar operates in row scanning mode, the laser emits horizontal line beams, and the scanning component scans out the horizontal line beams row by row within a vertical angular range (the horizontal line beams can be emitted multiple times at each angle). Each time the horizontal line beam should be focused on a row of detection units of the detector. Therefore, the detector can activate a row of detection units to combine the information of the echo signals received on this row of detection units for target detection or point cloud construction, etc. Similarly, when the radar operates in column scanning mode, the laser emits vertical line beams, and the scanning component scans out the vertical line beams column by column within a horizontal angular range (the vertical line beams can be emitted multiple times at each angle). Therefore, the detector can activate a column of detection units to combine the information of the echo signals received on this column of detection units for target detection or point cloud construction, etc.

[0074] The foregoing introduced some terms related to this application. Next, the possible application scenarios of this application will be introduced.

[0075] In a possible implementation manner, the detection component provided in this application can be integrated into the receiving module, the receiving module can be integrated into the detection device, and the detection device can be installed on a vehicle. The detection device can, for example, include but not be limited to lidar. Please refer to Figure 2 , which exemplarily shows a schematic diagram of a possible application scenario of this application. In this application scenario, it is taken as an example that the detection device is installed at the front bumper of the vehicle. It can be understood that the detection device can also be installed at other positions of the vehicle, such as around the headlights, around the rearview mirrors, near the doors, at the rear bumper, behind the windshield or on the roof, etc., at any one position or any multiple positions, to achieve the capture of the environmental information around the vehicle. When the detection device is installed behind the windshield, the requirement for no risk of gravel collision is relatively low, and it will not affect the appearance of the vehicle. Moreover, the front windshield itself has functions such as window heating and defogging and wiper cleaning.

[0076] Taking the detection device installed on a vehicle as an example, please refer to Figure 2, the working principle of the detection device is as follows: The detection device emits a light beam into the detection area. If there is a target in the detection area, the target can reflect the received light beam back to the detection device (which can also be called an echo signal), and the detection device then determines the associated information of the target based on the echo signal. Specifically, the detection device can obtain the longitude and latitude, speed, orientation of the vehicle, or the associated information of targets (such as other surrounding vehicles, pedestrians, or obstacles, etc.) within a certain range (such as the distance of the target, the speed of the target, and / or the attitude of the target, etc.) in real time or periodically. Further, optionally, the detection device can send the obtained information to a control device in the vehicle, etc., so that the control device can perform path planning, braking, or starting of the vehicle according to the obtained information. For example, the longitude and latitude can be used to determine the position of the vehicle, or the speed and orientation can be used to determine the driving direction and destination of the vehicle in the next period of time, or the distance of surrounding objects can be used to determine the number, density, etc. of obstacles around the vehicle. Further, optionally, the functions of an advanced driving assistant system (ADAS) can also be combined to achieve assisted driving or autonomous driving of the vehicle, etc.

[0077] It should be understood that the above application scenarios are only examples, and the detection device provided in this application (including the detection components provided in this application) can also be applied in other possible scenarios, and is not limited to the scenarios exemplified above. For example, the detection device can also be installed in a road side unit (RSU) as a roadside traffic detection device for realizing intelligent vehicle-road collaborative communication, etc. Another example is that the detection device can also be applied to other means of transportation as an information acquisition source for path planning to assist the driver in realizing or automatically realizing safe driving. Other means of transportation can include, but are not limited to, ships, airplanes, unmanned aerial vehicles, trains, subways, automated guided vehicles (AGVs), or unmanned transport vehicles, etc. Another example is that the detection device can also be applied to a terminal device or a component provided in the terminal device. The terminal device can be, for example, a smart phone, a smart home device, a smart manufacturing device, a medical device, an industrial device, and a robot, etc. This will not be listed one by one here. It should be noted that the application scenarios described in this application are for more clearly explaining the technical solutions of this application and do not constitute a limitation on the technical solutions provided in this application.

[0078] In addition, the above application scenarios can be applied to fields such as driverless, assisted driving, intelligent driving, autonomous driving, connected vehicles, optical communication, security monitoring, biomedicine, surveying and mapping (such as 3D mapping, remote sensing mapping), meteorological research, biomass and vegetation research, air quality monitoring, and aviation and aerospace applications, etc.

[0079] As described in the background art, for a transceiver-separated radar, since the transmitting and receiving fields of view overlap at a relatively far distance, the blind zone distance is relatively far, resulting in poor detection performance of the transceiver-separated radar for close-range targets, or even inability to detect close-range targets.

[0080] To solve the above problems, some solutions consider adding a blind zone compensation laser source or a blind zone compensation structure to the transmitting optical path of the transceiver-separated radar to change the transmitting field of view, and then change the overlapping area between the transmitting field of view and the receiving field of view, so as to achieve the purpose of reducing the blind zone distance. For example:

[0081] Solution 1. Please refer to Figure 3a , which shows the structural diagram of a transceiver-separated radar with two lasers provided by the industry. In this structure, two lasers are set, namely Laser 1 and Laser 2. Laser 1 can be regarded as the laser in the traditional transceiver-separated radar, such as Figure 1b the laser shown. Laser 2 can be regarded as the newly added blind zone compensation laser, which is set between Laser 1 and the detector. With this design, the transmitting field of view of the transceiver-separated radar becomes the combination of the transmitting field of view 1 of Laser 1 and the transmitting field of view 2 of Laser 2. The positions where these two transmitting fields of view 1-2 overlap with the receiving field of view are more forward, and the overlapping area is larger. The blind zone distance h2 is smaller than Figure 1b the blind zone distance h1 of the traditional transceiver-separated radar shown, and the effect of close-range blind zone compensation can be achieved. However, adding an extra laser will obviously increase the transmitting power consumption of the radar, resulting in a higher demand for heat dissipation of the radar system, and may also introduce more stray light due to the additional transmitting beam, affecting the detection performance;

[0082] Solution 2. Please refer to Figure 3b , which shows the structural diagram of a transceiver-separated radar with a blind zone compensation structure provided by the industry. In this structure, a blind zone compensation structure is newly added behind the transmitting optical system. The blind zone compensation structure is used to split the light emitted by the laser, so that a part of the light forms a blind zone compensation field of view, and the other part of the light continues to be used as the transmitting field of view to detect targets. Among them, the position where the blind zone compensation field of view overlaps with the receiving field of view is more forward than the transmitting field of view, so that the blind zone distance h3 in this structure can be less than Figure 1b the blind zone distance h1 shown. However, adding an extra blind zone compensation structure will also increase the transmitting power consumption of the radar, resulting in a higher demand for heat dissipation of the radar system, and the existence of the blind zone compensation structure will also cause the main detection optical path to be split, affecting the range of the main detection field of view, and at the same time introducing additional stray light into the main detection optical path, affecting the effective detection of the main detection optical path for targets.

[0083] In summary, although both of the two solutions provided by the industry can reduce the blind zone distance, they both require setting other optical elements on the emission optical path, which will not only increase the power consumption of the radar, but also introduce more stray light, affecting the long-distance detection of the radar. In other words, the solution of reducing the blind zone distance by changing the emission field of view still has many deficiencies, and other methods need to be explored for system blind zone compensation.

[0084] In view of this, the present application provides a detection component. By setting two detection areas, one of the detection areas can be used to compensate for the blind zone of the other detection area, so as to achieve the purpose of reducing the detection blind zone of the system on the basis of not affecting the emission optical path to avoid introducing stray light.

[0085] The following specifically describes the detection component and detection device proposed in the present application in conjunction with specific drawings.

[0086] In each embodiment of the present application, if there is no special description and logical conflict, the terms and / or descriptions between different embodiments are consistent and can be referenced to each other. The technical features in different embodiments can be combined to form new embodiments according to their internal logical relationships.

[0087] In addition, in the present application, the "duration" does not refer to the absolute duration, and a certain engineering error is allowed. The "distance" does not refer to the absolute distance, and a certain engineering error is allowed. The form of the timing diagram does not refer to the absolute form, as long as it has the same rising, stable or falling trend. For example, the rising edge (or falling edge) can be vertically rising (or falling), can be stepped rising (or falling), can have a certain slope, can have a certain arc, and so on. Another example is that the state of the high level or low level can be presented as a straight line, can be wavy, can be sawtooth-shaped, can be curve fluctuating, and so on.

[0088] Please refer to Figure 4 which is a schematic structural diagram of a detection component provided by the present application. As Figure 4As shown, the detection component 400 includes a first detection area 410 and a second detection area 420. The first detection area 410 is used to receive the first echo signal of the first field of view, and the second detection area 420 is used to receive the second echo signal of the second field of view. At least part of the first field of view and the second field of view do not overlap. For example, the first field of view and the second field of view do not overlap completely, or the first field of view and the second field of view partially do not overlap. The figure shows an example of partial non - overlap. Exemplarily, in order to distinguish from the transmitting field of view, in this application, the first field of view is referred to as the first receiving field of view, and the second field of view is referred to as the second receiving field of view. However, it should be understood that the first field of view and the second field of view can also have other names. For example, in some scenarios, the first field of view can also be called the first range, the first echo range, or the first receiving range, and the second field of view can also be called the second range, the second echo range, or the second receiving range. This application does not make specific limitations on this.

[0089] Optionally, the detection distance ranges of the first receiving field of view and the second receiving field of view are different. It can be understood that the minimum detection distance in the detection distance range of the first receiving field of view is greater than or less than the minimum detection distance in the detection distance range of the second receiving field of view. For example, Figure 4 taking the case where the minimum detection distance of the first receiving field of view is greater than the minimum detection distance of the second receiving field of view as an example, please refer to Figure 5 , showing Figure 4 the overlapping relationship diagram of the fields of view corresponding to the two detection areas in the shown detection component, where Figure 5 in (A) shows the overlapping relationship between the first receiving field of view and the transmitting field of view, Figure 5 and in (B) shows the overlapping relationship between the second receiving field of view and the transmitting field of view. Combining Figure 4 and Figure 5 , the first receiving field of view starts to overlap with the transmitting field of view at a relatively far distance h1. h1 is the minimum detection distance of the first detection area 410, that is, the first detection area 410 can detect some targets located at h1 and later. The second receiving field of view starts to overlap with the transmitting field of view at a distance h0. h0 is the minimum detection distance of the second detection area 420, that is, the second detection area 420 can detect some targets located at h0 and later. Since h0 is less than h1, the combination of the first detection area 410 and the second detection area 420 enables the detection component 400 to detect some targets at h0 and later, and the blind - zone distance of the detection component 400 is reduced from the original h1 to h0. In this way, the effect of blind - zone compensation at close range can be achieved.

[0090] Furthermore, optionally, the difference in the detection distance range can be achieved by configuring different distances between the detection area and the light source component 200. For example, still taking Figure 4Taking the shown solution as an example, the distance between the second detection area 420 and the light source assembly 200 can be configured to be less than the distance between the first detection area 410 and the light source assembly 200. In this way, the position where the first receiving field of view corresponding to the first detection area 410 overlaps with the transmitting field of view will be more backward. The first detection area 410 can detect targets at a farther distance and can be used as a long-distance detection area. And the position where the second receiving field of view corresponding to the second detection area 420 overlaps with the transmitting field of view will be more forward. The second detection area 420 can detect targets at a closer distance and can be used as a blind area compensation area. Among them, both the long-distance detection area and the blind area compensation area belong to the configuration on the receiving side and will not affect the light emitting and receiving optical paths of the detection device. In this way, without increasing stray light, by changing the range of the receiving field of view, the overlapping range of the receiving field of view and the transmitting field of view can be changed to achieve the purpose of reducing the detection blind area of the system.

[0091] Further, optionally, the first detection area 410 and the second detection area 420 can belong to different detectors or different detection areas of the same detector. The following will separately elaborate on these two solutions in detail.

[0092] Embodiment 1

[0093] Please refer to Figure 6 , which shows a schematic structural diagram of a detection component provided in Embodiment 1. Combining Figure 4 and Figure 6 , the detection component 400 can include a detector 1 and a detector 2. The first detection area 410 belongs to the detector 1, and the second detection area 420 belongs to the detector 2. The detector 1 and the detector 2 are different detectors. Exemplarily, any one of the detector 1 and the detector 2 can be an array detector, such as a silicon photomultiplier (SiPM) or a single photon avalanche diode (SPAD), etc., or a non-array detector, such as an avalanche photo diode (APD) or a pin photodetector, etc., and no specific limitation is made.

[0094] Optionally, as Figure 6As shown, the light source assembly 200 emits a first light beam (such as a laser beam, which can also be called a detection signal). The first light beam is shaped by the emission optical system 300 and then irradiates targets at different distances. After that, it is reflected by the targets at different distances to form an echo signal. The echo signal is optically processed by the reception optical system 500 and then returned to the detectors 1 and 2. Since the positions of the detectors 1 and 2 are different, different reception field ranges will be formed after being processed by the reception optical system 500, and different overlapping regions will be formed with the emission field, so that targets at different distances can be detected, and the detectors 1 and 2 can complement each other. For example, Figure 6 Taking the detector 2 being closer to the light source assembly 200 than the detector 1 as an example, the detector 1 is the main detector and can be used to detect distant targets, such as targets at a distance of h1 and beyond. The detector 2 is a blind area compensation detector and can be used to detect near targets, such as targets at a distance of h0 and beyond. The combination of the detector 1 and the detector 2 can achieve the effect of blind area compensation at close range while detecting at a long distance.

[0095] Furthermore, optionally, the detectors 1 and 2 can use the same photosensitive chip but corresponding different processing chips. For example, the detectors 1 and 2 can be arranged on the same photosensitive chip. At the same time, the detection device includes a first processing chip and a second processing chip. The detector 1 is connected to the first processing chip through traces and some electrical components arranged on the photosensitive chip, and the detector 2 is connected to the second processing chip through traces and some electrical components arranged on the photosensitive chip. After the detector 1 is turned on, it can sense the echo signal in the first reception field and generate an electrical signal. This electrical signal is processed by the first processing chip and outputs the point cloud information of the distant target, realizing the detection of the distant target. After the detector 2 is turned on, it can sense the echo signal in the second reception field and generate an electrical signal. This electrical signal is processed by the second processing chip and outputs the point cloud information of the near target, realizing the blind area compensation at close range.

[0096] Furthermore, optionally, the detectors 1 and 2 can have multiple opening modes. For example, please refer to Figure 7a 、 Figure 7b and Figure 7c , which show three possible opening timing schematic diagrams corresponding to these two detectors. The diagrams take high level triggering to turn on and low level triggering to turn off as an example, but it should be understood that in some other solutions, it can also be low level triggering to turn on and high level triggering to turn off. The present application does not make specific limitations on this.

[0097] Next, first, some concepts involved in Figures 7a to 7c will be introduced.

[0098] As Figures 7a to 7cAs shown, F_SYNC refers to the start timing in terms of frames. During the detection duration of one frame, F_SYNC can remain on for a long time first, and then turn off and continue until the end of the frame. For example, assuming the detection duration of one frame is 66 ms, F_SYNC can be turned on in the first 44 ms and turned off in the last 22 ms. The first 44 ms can be used to receive and sense echo signals, and the last 22 ms is mainly reserved for the processing chip to process the echo signals. In addition, after receiving the echo signals in the first 44 ms, partial synchronization processing of the echo signals may also be involved. In contrast to F_SYNC, S_SYNC refers to the start timing in terms of slots. During the period when F_SYNC is on in each frame, S_SYNC is turned on periodically, and the duration of one cycle can correspond to the detection of one slot. For example, assuming one frame corresponds to n slots (Slot_1 to Slot_n), where n is a positive integer greater than or equal to 2, each time the scanning component rotates to a slot, S_SYNC is turned on for a period of time to receive and sense the echo signals at that slot, and then S_SYNC is turned off until the scanning component rotates to another slot and S_SYNC is turned on again, continuously cycling until the detection of n slots in the current frame is completed.

[0099] Next, a detailed description will be given of Figures 7a to 7c the three start modes shown below.

[0100] In one example, please refer to Figure 7a , Detector 1 and Detector 2 can be turned on simultaneously. For example, in any frame, after the scanning component rotates to each slot, both Detector 1 and Detector 2 can be triggered to turn on by a high level. Detector 1 is used to detect the target information at a long distance at that slot, and Detector 2 is used to detect the target information at a short distance at that slot to achieve synchronous detection of the two detectors. By adopting this start mode, the effect of blind spot filling at a short distance can be achieved while detecting a long-distance target.

[0101] In another example, please refer to Figure 7b , Detector 1 and Detector 2 can be turned on in different frames, for example, they can be alternately turned on in different frames. Exemplarily, taking single-frame alternation as an example, Detector 1 can be turned on at each slot in Frame 1, Frame 3,... and not turned on in Frame 2, Frame 4,... Detector 2 can be turned on at each slot in Frame 2, Frame 4,... and not turned on in Frame 1, Frame 3,... In this way, Frame 1, Frame 3,... can use Detector 1 for long-distance detection, while Frame 2, Frame 4,... use Detector 2 for short-distance blind spot filling, so that the effect of alternating long-distance detection and blind spot filling in different frames can be achieved.

[0102] It should be noted that Figure 7bOnly the case of single-frame alternating activation is taken as an example, but it should be understood that the number of frames for alternating activation can be one frame or multiple frames, and the number of frames for alternating activation can be the same or different. For example, it can be single-frame alternating activation, such as detector 1 activating one frame, detector 2 activating one frame, detector 1 activating one frame, detector 2 activating one frame, ……, or it can be multi-frame alternating activation, such as detector 1 activating two frames, detector 2 activating two frames, detector 1 activating two frames, detector 2 activating two frames, ……, or it can also be a combination of single-frame and multi-frame alternating activation, such as detector 1 activating one frame, detector 2 activating one frame, detector 1 activating two frames, detector 2 activating two frames, ……, or it can be an irregular alternating activation, such as detector 1 activating two frames, detector 2 activating one frame, detector 1 activating one frame, detector 2 activating three frames, ……. And so on. There are many possible alternating methods, which will not be listed one by one here.

[0103] In another example, please refer to Figure 7c , detectors 1 and 2 can be activated at different wave positions in the same frame. For example, they can be alternately activated at different wave positions, where the number of wave positions for alternating activation can be one or multiple, and the number of wave positions for alternating activation can be the same or different. Exemplarily, taking single-wave-position alternating activation as an example, in any frame, detector 1 can be activated at wave positions such as Slot_1, Slot_3, ……Slot_n-1 and not activated at wave positions such as Slot_2, Slot_4, ……Slot_n, and detector 2 can be activated at wave positions such as Slot_2, Slot_4, ……Slot_n and not activated at wave positions such as Slot_1, Slot_3, ……Slot_n-1. In this way, wave positions such as Slot_1, Slot_3, ……Slot_n-1 can use detector 1 for long-distance detection, while wave positions such as Slot_2, Slot_4, ……Slot_n use detector 2 for short-distance blind compensation, so that the effect of alternating long-distance detection and blind compensation can be achieved at different wave positions in the same frame.

[0104] It can be understood that in addition to Figures 7a to 7c the activation modes shown, detectors 1 and 2 can also have other activation modes. For example, in another activation mode, one wave position may also correspond to multiple sub-periods, and detectors 1 and 2 can also be activated at different sub-periods of one wave position, such as being alternately activated at different sub-periods, so as to achieve the effect of alternating long-distance detection and blind compensation at different sub-periods of the same wave position. And, the above Figures 7a to 7cThe opening modes in [the above] can also be combined with each other to obtain other opening modes. For example, in another opening mode, detector 1 and detector 2 are both turned on in frame 1, are alternately turned on in frames 2 and 3, and are alternately turned on at different wavelength positions in frame 4. For another example, in yet another opening mode, detector 1 and detector 2 are alternately turned on in units of two frames from frame 1 to frame 4, are both turned on in frame 5, and are alternately turned on at different wavelength positions in frame 6. And so on, there are many possible opening modes, and the present application will not list them all here.

[0105] Optionally, when the detector is a non-array detector, the aforementioned "turning on the detector" means powering on the detector so that the detector can receive an optical signal and convert it into an electrical signal. When the detector is an array detector, the aforementioned "turning on the detector" can be understood as turning on the area where the detection units for reading are located on the detector. For example, for detectors 1 and 2 of the same 100×100, if detector 1 uses rows 30 to 60 as the readout rows, and detector 2 uses rows 50 to 80 as the readout rows, then when turning on detector 1, it can be understood as turning on rows 30 to 60 in detector 1, and when turning on detector 2, it can be understood as turning on rows 50 to 80 in detector 2. However, this is just one possible way of turning on. With the progress of processing capabilities or the change of the readout mode, in the future, all detection units or the detection units of the calibration rows in the array detector may also be used as the readout units, so that the detection units turned on in detectors 1 and 2 may also include the detection units of non-readout rows. The present application does not make specific limitations on this.

[0106] Further, optionally, taking the area where the detection units for reading are located on detector 2 as an example, when the working mode of the detection device is row scanning, the light source assembly 400 emits a horizontal line beam, and this horizontal line beam should be focused on one row of detection units of detector 2 each time. Assuming that the readout rows of detector 2 are rows 30 to 60, then rows 30 to 60 of the detection units can be turned on within each wavelength position to obtain the target information at this wavelength position by combining the information of the echo signals on the detection units of these rows. Conversely, when the working mode of the detection device is column scanning, the light source assembly 400 emits a vertical line beam, and this vertical line beam should be focused on one column of detection units of detector 2 each time. Assuming that the readout columns of detector 2 are columns 40 to 70, then columns 40 to 70 of the detection units can be turned on within each wavelength position to obtain the target information at this wavelength position by combining the information of the echo signals on the detection units of these columns.

[0107] In the above Embodiment 1, detector 1 can be considered as the detector in the existing transceiver-separated radar, such as Figure 1b 、 Figure 3a or Figure 3bThe detector shown, detector 2 can be considered as a newly added detector in the existing transceiver-separated radar. Detector 2 is closer to the light source assembly 200 than detector 1. Therefore, the position where the second receiving field of view corresponding to detector 2 overlaps with the transmitting field of view is more forward. Detector 2 can be used as a blind spot compensation detector. When using detector 1 for long-distance target detection, it can provide a certain close-range blind spot compensation effect. In addition, by separately configuring two detectors, only by turning on or off these two detectors, the separate control of long-distance detection and blind spot compensation can be achieved, without the need to improve the original structure of the detector, and the development difficulty is relatively low.

[0108] Embodiment 2

[0109] Please refer to Figure 8 , which shows a schematic structural diagram of a detection component provided in Embodiment 2. Combining Figure 4 and Figure 8 , the detection component 400 may include a detector 3. The first detection area 410 and the second detection area 420 belong to different detection areas in the detector 3. Exemplarily, the detector 3 may be an array detector, such as including but not limited to SiPM or SPAD, etc. Figure 8 Taking the detector 3 as a 4×4 array detector as an example, the first detection area 410 and the second detection area 420 each occupy one detection unit. However, it should be understood that the detector 3 can also be an array detector with any number of rows and columns. The first detection area 410 may include one or more detection units in the detector 3, and the second detection area 420 may also include one or more detection units in the detector 3, and the detection units included in these two detection areas are different.

[0110] Optionally, the first detection area 410 may include one or more detection units for readout on the detector 3, and the second detection area 420 may include one or more detection units on the detector 3 other than the detection units for readout, such as including one or more detection units for calibration. In the existing array detectors, only the detection units for readout are used to receive the echo signals. In Embodiment 2, the detection units originally used for calibration in the array detector are also utilized. By making these detection units used for calibration also participate in the reception of the echo signals, a receiving field of view range different from that of the detection units for readout can be generated, realizing target detection at different distances, and further achieving the effect of blind spot compensation for the detection units for readout.

[0111] Optionally, when the working mode of the detection device is row scanning, the first detection area 410 and the second detection area 420 may be located in different rows of the detector 3. When the working mode of the detection device is column scanning, the first detection area 410 and the second detection area 420 may be located in different columns of the detector 3. For example, please refer to Figure 9a and Figure 9b, respectively show the array structure diagrams of the detector 3 corresponding to the line scan mode and the column scan mode. The illustration takes the detector 3 as a 10×16 array detector as an example. Please refer to Figure 9a , when the detector 3 operates in the line scan mode, if the detector 3 uses the 4th to 7th rows as the readout rows, the first detection area 410 may include one or more detection units in the 4th to 7th rows, and the second detection area 420 may include one or more detection units in the 1st to 3rd, 8th to 10th rows. Similarly, please refer to Figure 9b , when the detector 3 operates in the column scan mode, if the detector 3 uses the 5th to 9th columns as the readout columns, the first detection area 410 may include one or more detection units in the 5th to 9th columns, while the second detection area 420 may include one or more detection units in the 1st to 4th, 10th to 16th columns.

[0112] Furthermore, optionally, the second detection area 420 may be located on one side or opposite sides of the first detection area 410. For example, taking the Figure 9a detector 3 in the line scan mode shown as an example: In one example, the second detection area 420 may only include one or more detection units in the 1st to 3rd rows of the detector 3. In this case, the second detection area 420 is only located on the lower side of the first detection area 410; or, in another example, the second detection area 420 may only include one or more detection units in the 8th to 10th rows of the detector 3. In this case, the second detection area 420 is only located on the upper side of the first detection area 410; or, in yet another example, the second detection area 420 includes both one or more detection units in the 1st to 3rd rows of the detector 3 and one or more detection units in the 8th to 10th rows of the detector 3. In this case, the second detection area 420 is located on both opposite sides of the first detection area 410, that is, the upper side and the lower side.

[0113] To facilitate the description of the solution, the following takes the detector 3 operating in the line scan mode as an example to first introduce the setting manners of the first detection area 410 and the second detection area 420 on the detector 3. However, it should be understood that the present application is not limited to this. The detector 3 may also operate in the column scan mode. In this case, only the content of the row introduction on the detector 3 in the following text needs to be replaced with columns, and the present application will not repeat it one by one.

[0114] In a possible implementation manner, when the detector 3 operates in the line scan mode, either the first detection area 410 or the second detection area 420 may occupy one row, or multiple rows, or a part of one row, or a part of each row in multiple rows of the detector 3. The following gives several examples for illustration.

[0115] Example A1, both the first detection area 410 and the second detection area 420 occupy one row of the detector 3. For example, the first detection area 410 includes a row of detection units in the readout row, and the second detection area 420 includes a row of detection units in the non-readout row. For example, please refer to Figure 10a and Figure 10b , when the readout rows of the detector 3 are rows 4 to 7, the first detection area 410 may include a row of detection units in rows 4 to 7. For example, Figure 10a the detection units in row 5 shown, or Figure 10b the detection units in row 7 shown. The second detection area 420 may include a row of detection units in rows 1 to 3, 8 to 10. For example, Figure 10a or Figure 10b the detection units in row 8 shown.

[0116] Optionally, the first detection area 410 and the second detection area 420 may be adjacent or not adjacent. For example, using the setting method shown in Figure 10a , there are several rows of detection units spaced between the first detection area 410 and the second detection area 420, and these two detection areas are not adjacent, so the corresponding receiving field of view ranges are far apart, and the near-distance blind spot filling effect is better. And using the setting method shown in Figure 10b , the first detection area 410 and the second detection area 420 are adjacent. Although the difference in their receiving field of view ranges is not large, it can also play a certain role in blind spot filling.

[0117] Example A2, both the first detection area 410 and the second detection area 420 occupy at least two rows of the detector 3. For example, the first detection area 410 includes at least two rows of detection units in the readout row, and the second detection area 420 includes at least two rows of detection units in the non-readout row. For example, please refer to Figure 11a , Figure 11b and Figure 11c . Taking the first detection area 410 including all the detection units in the readout row as an example, when the readout rows of the detector 3 are rows 7 to 10, the first detection area 410 may include all the detection units in rows 7 to 10, and the second detection area 420 may include at least two rows of detection units in rows 1 to 6, 11 to 16. For example, it may only include multiple rows of detection units that are located above the first detection area 410 and not adjacent to it as shown in Figure 11a , or only include multiple rows of detection units that are located below the first detection area 410 and adjacent to it as shown in Figure 11b , or include both multiple rows of detection units that are located above the first detection area 410 and not adjacent to it and multiple rows of detection units that are located below the first detection area 410 and not adjacent to it as shown in Figure 11c . And so on, there are many possible setting methods, which will not be listed one by one here.

[0118] In Example A3, the first detection area 410 occupies at least one row of the detector 3, and the second detection area 420 occupies a part of each row (referred to as a partial row) of at least one row of the detector 3. For example, the first detection area 410 includes at least one row of detection units in the readout row, and the second detection area 420 includes partial detection units in at least one row of non-readout rows. For example, please refer to Figure 12a , Figure 12b and Figure 12c . Taking the example that the first detection area 410 includes all the detection units in the readout row, the second detection area 420 may, as shown in Figure 12a , only include a plurality of sub-regions S1 to S5 located above the first detection area 410, or may, as shown in Figure 12b , only include a plurality of sub-regions S6 to S9 located below the first detection area 410, or may, as shown in Figure 12c , include both a plurality of sub-regions S1 to S5 located above the first detection area 410 and a plurality of sub-regions S6 to S9 located below the first detection area 410.

[0119] Optionally, each sub-region may include one or more detection units, and the detection units included in each sub-region do not repeat in columns, or there is partial repetition. For example, according to the setting method in Figure 12a , any two of the five sub-regions S1 to S5 located above do not repeat in columns. According to the setting method in Figure 12b , any two of the four sub-regions S6 to S9 located below do not repeat in columns either. In this way, when the second detection area 420 is turned on, only the detection units of one sub-region in each column will be sensitive to light, so as to ensure the accurate positioning of the readout signal for each column and adapt to the working mode of column scanning. Another example is that, according to the setting method in Figure 12c , although the five sub-regions S1 to S5 located above and the four sub-regions S6 to S9 located below do not repeat in columns respectively, there may be partial repetition between them in columns. For example, the columns occupied by the upper sub-region S2 and the lower sub-region S6 are partially repeated, the columns occupied by the upper sub-region S3 and the lower sub-region S7 are partially repeated, and the columns occupied by the upper sub-region S5 and the lower sub-region S9 are partially repeated. By adopting this setting method, while ensuring the accurate positioning of some columns, the combined repeated columns can comprehensively detect stronger echo signals to improve the echo reception efficiency.

[0120] Furthermore, optionally, the multiple sub-regions in the second detection unit 420 are not continuous in columns. In other words, the second detection area 420 only occupies a partial length of one row of the detector 3. For example, Figure 12a the five sub-regions S1 to S5 in Figure 12bThe four sub-regions S6 to S9 in it are also spaced apart in columns, and Figure 12c Although there is partial overlap in columns between the five sub-regions S1 to S5 on the upper side and the four sub-regions S6 to S9 on the lower side in, there will still be some gaps in columns after merging. In this way, the detection units used for blind area filling do not cover all columns, but will leave some columns idle, which can save the processing resources of some columns while achieving partial blind area filling effect, and adapt to the limited processing capacity of the processing chip.

[0121] Example A4, both the first detection area 410 and the second detection area 420 occupy a part of each row in at least one row of the detector 3. The detection units in the first detection area 410 and the detection units in the second detection area 420 are located in different columns of the detector 3, and together occupy the length of one row of the detector 3. For example, the first detection area 410 may include some detection units in at least one readout row of the detector 3, the second detection area 420 may include some detection units in at least one non-readout row of the detector 3, and the detection units in the first detection area 410 do not overlap with the detection units in the second detection area 420 in columns. For example, please refer to Figure 13a 、 Figure 13b and Figure 13c , taking the first detection area 410 including multiple sub-regions in one readout row as an example, the second detection area 420 can be as Figure 13a shown, only including multiple sub-regions located above the first detection area 410, or can be as Figure 13b shown, only including multiple sub-regions located below the first detection area 410, or can be as Figure 13c shown, including both multiple sub-regions located above the first detection area 410 and multiple sub-regions located below the first detection area 410. The sub-regions in the second detection area 420 can be in the same row or in different rows. But no matter which setting method is used, the sub-regions in the second detection area 420 are set at the column positions missing from the sub-regions in the first detection area 410, so that the two together occupy the length of one row of the detector 3, to ensure that only one of the detection units for long-distance measurement and for blind area filling is turned on in columns at the same time, and maintain the accurate positioning of the readout signal for each column.

[0122] Optionally, in the above Examples A3 and A4, the second detection region 420 includes several relatively discrete detection units away from the first detection region 410. Information such as the positions, binning methods, numbers, distances from the first detection region 410, and spacings between different detection units of these detection units can be configured according to the region of interest of the detection device exemplarily. For example, the region of interest of the detection device can be determined in advance according to the posture of the detection device in the actual application scenario, and the detection units corresponding to the region of interest can be selected from the non-read rows of the detector 3 to form the second detection region 420 by combination. In addition, the detection units included in the second detection region 420 can also be dynamically updated. For example, they can be updated according to the user's instructions, or they can be automatically updated according to changes in the actual application scenario, etc., so that the second detection region 420 can change flexibly following the changes in the scenario, improving the adaptability of the blind area filling effect to the actual application scenario.

[0123] It should be noted that the above Examples A1 to A4 are only exemplary introductions of several possible setting methods for the first detection region 410 and the second detection region 420. In the actual detection component 400, the first detection region 410 and the second detection region 420 can also have other setting methods. For example, in another example, the first detection region 410 occupies a part of each row in at least one row of the detector 3, and the second detection region 420 occupies at least one row of the detector 3. For another example, in another example, the first detection region 410 occupies one row of the detector 3, and the second detection region 420 occupies at least two rows of the detector 3. For another example, in another example, both the first detection region 410 and the second detection region 420 occupy a part of each row in at least one row of the detector 3, and there is partial repetition or an interval in the columns between the detection units in the first detection region 410 and the detection units in the second detection region 420. Etc., there are many possible setting methods, which will not be listed one by one here.

[0124] In addition, this application only limits the columns occupied by each detection region in the line scan mode, and the rows occupied by each detection region can be set arbitrarily. For example, in the line scan mode, the rows occupied by the first detection region 410 and the second detection region 420 can be completely repeated, partially repeated, or not repeated at all. Similarly, in the column scan mode, the columns occupied by the first detection region 410 and the second detection region 420 can be completely repeated, partially repeated, or not repeated at all. This application does not make specific limitations on this.

[0125] Next, the activation modes of the first detection region 410 and the second detection region 420 will be described.

[0126] In a possible implementation, similar to the first implementation solution above, all or part of the detection units in the first detection area 410 and all or part of the detection units in the second detection area 420 can be turned on simultaneously, or in different frames, or in different wave positions of the same frame, or in at least two of these three modes combined, etc. For the specific turn-on timing, please refer to the description in the first implementation solution above. Here, only taking Figures 10a to 13c the setting shown as an example, several examples will be given to introduce the specific turn-on process.

[0127] In one example, taking Figure 10a the setting shown as an example, assuming that the first detection area 410 and the second detection area 420 are alternately turned on in different frames or different wave positions of the same frame, please refer to Figure 14 , which shows a turn-on flowchart of the alternate turn-on of the two detection areas. The illustrated T is the alternate period, which can be, for example, the duration of one frame or the duration of one wave position. Exemplarily, taking the single-frame alternate turn-on as an example, in combination with Figure 14 and Figure 7b , assuming that the detection duration of one frame is 66 ms, then within the period when F_SYNC of a certain frame is turned on (such as the first 44 ms), the detection units in the 5th row corresponding to the first detection area 410 are turned on with the start of each wave position Slot, and the other detection units except those in the 5th row are not turned on. The detection units in the 5th row can sense the echo signals reflected by the distant targets at each wave position to achieve the detection of distant targets. After the 66 ms of this frame ends and moves to the next frame, the detection units in the 5th row corresponding to the first detection area 410 are switched to off, and the detection units in the 8th row corresponding to the second detection area 420 are then turned on with the start of each wave position to sense the echo signals reflected by the near targets at each wave position to achieve the detection of near targets. The near targets detected in this frame can be used to perform near-range blind filling for the detection results of the previous frame. Then, after the 66 ms of the current frame ends, the detection units in the 8th row corresponding to the second detection area 420 are switched to off again, and the detection units in the 5th row corresponding to the first detection area 410 are turned on with the start of each wave position Slot again, and so on, alternating continuously until the detection ends.

[0128] Adopting Figure 14In the opening scheme, all the detection units in the first detection area 410 and all the detection units in the second detection area 420 are alternately turned on. When the first detection area 410 is turned on, the detection units turned on in the first detection area 410 occupy the length of one row of the detector 3. When the second detection area 420 is turned on, the detection units turned on in the second detection area 420 also occupy the length of one row of the detector 3. In this way, by alternately turning on the first detection area 410 and the second detection area 420, the first receiving field of view and the second receiving field of view can work alternately, and thus the effect of alternately measuring long distances and compensating for blind spots can be achieved.

[0129] In another example, taking Figure 10b the shown setting method as an example, assuming that the first detection area 410 and the second detection area 420 are turned on simultaneously, please refer to Figure 15a , which shows an opening flowchart when the two detection areas are turned on simultaneously. In this scheme, the first detection area 410 and the second detection area 420 are respectively divided into a left half and a right half. The left half of the first detection area 410 and the right half of the second detection area 420 are jointly turned on, and the right half of the first detection area 410 and the left half of the second detection area 420 are jointly turned on. T is the period of alternately turning on these two major parts, which can be, for example, the duration of one frame or the duration of one wave position. Exemplarily, taking one alternation per wave position as an example, combining Figure 15a and Figure 7c , within the opening period of one wave position, the left half of the first detection area 410 and the right half of the second detection area 420 are turned on together. The left half of the first detection area 410 is used to sense the echo signal reflected by a long-distance target under this wave position, and the right half of the second detection area 420 is used to sense the echo signal reflected by a short-distance target under this wave position, so as to achieve short-distance blind spot compensation while performing long-distance detection under this wave position. After the opening period of this wave position ends and the next wave position arrives, the left half of the first detection area 410 and the right half of the second detection area 420 are switched to the off state, and then the right half of the first detection area 410 and the left half of the second detection area 420 are turned on together. The right half of the first detection area 410 is used to sense the echo signal reflected by a long-distance target under this wave position, and the left half of the second detection area 420 is used to sense the echo signal reflected by a short-distance target under this wave position, so as to achieve short-distance blind spot compensation while performing long-distance detection under this wave position. Then, after the next wave position arrives, the right half of the first detection area 410 and the left half of the second detection area 420 are switched to the off state again, and the left half of the first detection area 410 and the right half of the second detection area 420 are turned on together again, and so on, alternating continuously until the detection ends.

[0130] Adopt Figure 15aIn the opening scheme, half of the detection units in the first detection area 410 and half of the detection units in the second detection area 420 are jointly opened. In each opening, the detection units opened in the first detection area 410 occupy the length of half a row of the detector 3, and the detection units opened in the second detection area 420 also occupy the length of half a row of the detector 3. The detection units opened in the first detection area 410 and the detection units opened in the second detection area 420 together occupy the length of one row of the detector 3. In this way, by opening a part of the first detection area 410 and a part of the second detection area 420 each time, long-distance measurement and blind spot compensation can be achieved simultaneously.

[0131] It can be understood that Figure 15a dividing each detection area into two parts of the same length is just an example. Any detection area can also be divided into two or more arbitrary numbers of parts, and the lengths of different parts can be the same or different. For example, in another example, please refer to Figure 15b , the first detection unit 410 and the second detection unit 420 can also be divided into two parts respectively, but the length occupied by one part exceeds half of the length of one row of the detector 3, and the length occupied by the other part is less than half of the length of one row of the detector 3. In this way, by jointly opening the long part of one detection unit and the short part of the other detection unit, it can also be ensured that the detection units opened each time together occupy the length of one row of the detector 3. Another example, in yet another example, please refer to Figure 15c , the first detection unit 410 and the second detection unit 420 can also be divided into three parts respectively. By jointly opening two of the parts of one detection unit and a non-aligned part of the other detection unit, it can also be ensured that the detection units opened each time together occupy the length of one row of the detector 3. And so on, and no more examples will be listed here.

[0132] It should be noted that the length occupied by the detection units opened at one time in the detector 3 can be determined by the processing ability of the photosensitive chip. For example, the existing photosensitive chip can only perform photosensitive processing on the detection units of one row of the detector each time. Therefore, to adapt to the processing ability of this photosensitive chip, the above method configures that the detection units in the first detection area 410 and the detection units in the second detection area 420 opened each time together occupy the length of one row of the detector 3, so as to maximize the use of the processing ability of the photosensitive chip while achieving the effect of simultaneous long-distance measurement and blind spot compensation, and at the same time not exceeding the processing ability of the photosensitive chip, which can ensure the accuracy of photosensitive processing. However, it should be understood that with the development of chip technology or some improvement schemes for photosensitive chips, future photosensitive chips or some existing photosensitive chips may also have or already have the processing ability of more than one row of detection units. In this case, the detector can also open detection units with a length exceeding one row each time when it is opened. The present application does not make specific limitations on this.

[0133] In another example, taking Figure 12c or Figure 13c the setting method shown as an example, assuming that the first detection area 410 and the second detection area 420 are both turned on at the same time, please refer to Figure 16a and Figure 16b , which show the turn-on flowcharts of the two detection areas being turned on simultaneously in these two setting methods. Combining Figure 16a , Figure 12c and Figure 7a , or Figure 16b , Figure 13c and Figure 7a , within the turn-on period of each wave position, all the detection units of the first detection area 410 and all the detection units of the second detection area 420 are turned on together. The first detection area 410 is used to sense the echo signal reflected by a long-distance target at this wave position, and the second detection area 420 is used to sense the echo signal reflected by a short-distance target at this wave position, so as to achieve the effect of simultaneous detection and blind area compensation at each wave position.

[0134] Adopting the turn-on scheme in Figure 16a , in each turn-on, the detection units turned on in the first detection area 410 occupy the length of one row of the detector 3, and the detection units turned on in the second detection area 420 occupy a partial length of one row of the detector 3. While adopting the turn-on scheme in Figure 16b , in each turn-on, the detection units turned on in the first detection area 410 occupy a partial length of one row of the detector 3, and the detection units turned on in the second detection area 420 also occupy a partial length of one row of the detector 3. The detection units turned on in the first detection area 410 and the detection units turned on in the second detection area 420 together occupy the length of one row of the detector 3. In this way, the detection units in each turn-on can be matched with the processing capacity of the existing photosensitive chip, and thus the accuracy of photosensitive processing of the echo signal can be ensured.

[0135] It should be noted that the above Figures 14 to 16b only exemplarily shows several possible turn-on schemes. The first detection area 410 and the second detection area 420 may also have other turn-on schemes. For example, when adopting Figure 10b , Figure 12c or Figure 13c the shown setting method, it is also possible to let the first detection area 410 and the second detection area 420 be alternately turned on in units of frames or wave positions. Or, when adopting Figure 10aIn the above-described setting mode, the first detection area 410 and the second detection area 420 can also be divided into at least two parts respectively. By combining some parts of the first detection area 410 and some parts of the second detection area 420, the effects of long-distance detection and short-distance blind spot filling can be achieved simultaneously. And so on, there are many possible opening schemes, which will not be listed one by one here.

[0136] In the second embodiment above, by combining the non-read detection units and the read detection units on the array detector to receive the echo signal together, the read detection units can be used for long-distance detection, while the non-read detection units can be used for short-distance blind spot filling. In this way, the effects of distance measurement and blind spot filling can be achieved by different areas of the same detector, without the need to introduce new detectors additionally, thus saving the volume and cost of the detection components.

[0137] It should be noted that in each component and structure given in this application, if there is no special description and logical conflict, other possible implementation schemes can be formed according to their internal logical relationships. The two implementation schemes given above are only examples. For example, in another implementation scheme, the first implementation scheme and the second implementation scheme can also be combined to set two detectors, each of which includes two detection areas. The two detectors can be turned on simultaneously, turned on in different frames, or turned on at different wave positions in the same frame. When each detector is turned on, the two detection areas in the detector can start simultaneously or alternately in units of frames or wave positions, and so on. Or, in another implementation scheme, two detectors can also be set, but only one detection area is set in one detector and two detection areas are set in the other detector. And so on, there are many possible implementation schemes, which will not be listed one by one here.

[0138] Based on the structure of the detection component described above, the present application can also provide a receiving module. Please refer to Figure 17 This receiving module can include any of the detection components introduced above, such as Figures 4 - 6 the detection component 400 in any of the embodiments shown in FIGS. 8-16b. The detection component can be used to receive the echo signal in the on state. The echo signal is an optical signal obtained by reflecting the light beam emitted by the transmitting module by the target in the detection area. The detection component can also convert the optical signal into an electrical signal.

[0139] Further, optionally, please refer to Figure 17 The above receiving module can also include a receiving optical system, such as Figures 4 - 6 the receiving optical system 500 in any of the embodiments shown in FIGS. 8. The receiving optical system is usually also called a receiving lens and can be used to transmit the echo signal reflected by the target to the detection component.

[0140] Further, optionally, the receiving optical system can also optically shape the echo signal, such as beam collimation. This can make the beam turn into collimated light and then vertically irradiate on the detection component, improving the energy of the beam received by the detection component.

[0141] It can be understood that the receiving optical system can include a lens assembly, such as a collimating lens group. Exemplarily, it can also include other optical elements, such as multiple lenses. The lens can be a spherical lens (such as a concave lens or a convex lens), or it can also be an aspherical lens. The combination of multiple spherical lenses and / or aspherical lenses helps to improve the reception quality of the returned light, thereby improving the imaging quality and reducing the aberration of the optical imaging system. It should be understood that there are various types of convex lenses and concave lenses. For example, convex lenses include double convex lenses, plano-convex lenses, and meniscus convex lenses, and concave lenses include double concave lenses, plano-concave lenses, and meniscus concave lenses. The types of convex lenses and concave lenses are not limited in this application.

[0142] Further, optionally, the receiving module can also include an optical transmission medium (not shown in the figure). The optical transmission medium is located between the detection component and the receiving optical system and is used to transmit the echo signal emitted by the receiving optical system to the detection component. Among them, the optical transmission medium can be any medium capable of transmitting light, such as optical fiber or waveguide, etc.

[0143] Based on the structure and functional principle of the receiving module described above, the present application can also provide a detection device. Please refer to Figure 17 . The detection device can include the receiving module in any of the above embodiments, which will not be repeated here.

[0144] Further, optionally, the above detection device can also include a transmitting module. Please refer to Figure 17 . The transmitting module is used to emit a beam to the detection area. Optionally, the beam emitted by the transmitting module can be a line beam. For example, in the line scan working mode, the transmitting module can emit a horizontal line beam, and in the column scan working mode, the transmitting module can emit a vertical line beam.

[0145] Further, optionally, the above transmitting module can include a light source component and a transmitting optical system. Please refer to Figure 17 . The light source component is used to emit a beam, and the transmitting optical system is used to shape the beam.

[0146] Exemplarily, the light source assembly can be a point light source or an array light source. The array light source can be a one-dimensional array light source (or called a line array type), or a two-dimensional array (or called a surface array type). The light sources in the point light source or the array light source can include, for example, but are not limited to, edge emitting lasers (EELs), laser diodes (LDs), diode pumped solid state lasers (DPSSs), or fiber lasers, etc.

[0147] Exemplarily, the emission optical system, which is usually also called an emission lens, can include one or more lenses. For example, it can include a collimating mirror and a light homogenizing mirror. The collimating mirror can be used to collimate the light beam, and the light homogenizing mirror can be used to homogenize the energy of the light beam, or can also be used to change the divergence angle of the light beam. Optionally, the collimating mirror can be a lens capable of realizing a focusing function, such as a convex lens. The convex lens can include, for example, but is not limited to, a spherical mirror, a cylindrical mirror, or an aspherical mirror. The cylindrical mirror can include, for example, but is not limited to, a plano-convex cylindrical mirror (or called a plano-convex cylindrical lens), a plano-concave cylindrical mirror (or called a plano-concave cylindrical lens), a biconvex cylindrical mirror (biconvex cylindrical lens), and a biconcave cylindrical mirror (biconcave cylindrical lens), etc. Optionally, the light homogenizing mirror can be a microlens array (MLA) or a diffractive optical element (DOE), etc. The MLA is an array composed of lenses with a micron-level through-aperture and relief depth. It not only has the basic functions of a traditional lens such as focusing and imaging, but also has the characteristics of small unit size, high integration, high precision, and convenient manufacturing. Using the microlens array as the light homogenizing mirror group can improve the optical performance of the emission module.

[0148] Further, optionally, the detection device can further include a scanning component. Please refer to Figure 17 , and the scanning component can be used to project the light beam shaped by the emission optical system onto the detection area. Specifically, the scanning component can be used to change the scanning angle of the scanning component to change the propagation direction of the light beam from the emission optical system towards the detection area, so as to realize the scanning of the detection area. The scanning component can also be used to project the light beam reflected by the target onto the receiving optical system. Specifically, the scanning component can be used to change the scanning angle of the scanning component to change the propagation direction of the light beam reflected by the target, so as to irradiate the light beam onto the receiving optical system. Exemplarily, the scanning component can be, for example, a polyhedron (such as an octahedron, a hexahedron, or a tetrahedron, etc.) rotating mirror, a micro electro-mechanical system (MEMS) galvanometer mirror, or a pendulum mirror. The scanning module can rotate in a continuous operation mode, or can also rotate in a step operation mode. This application does not make any limitations in this regard.

[0149] In a possible implementation, the scanning component may be a one-dimensional scanning component. The light beam emitted by the emitting optical system is distributed in a first direction, and the scanning component can scan along a second direction to achieve two-dimensional scanning in the detection area. Exemplarily, the first direction is perpendicular to the second direction. Scanning by the one-dimensional scanning component helps to simplify the structure of the emitting module, reduce the complexity of the detection device, and improve the scanning efficiency.

[0150] Further, optionally, the detection device may further include a window. Please refer to Figure 17 , and the window can be used to isolate the influence of the external environment on the internal components of the detection device.

[0151] Further, optionally, the detection device may further include a processing module. Please refer to Figure 17 , and the processing module can be used to control the working modes of the emitting module and the receiving module to achieve detection of the detection area. Optionally, the processing module can be used to process the electrical signals from the receiving component to obtain the associated information of the target. Further, the driving path can also be planned according to the determined associated information of the target, such as avoiding obstacles on the path to be traveled and realizing autonomous driving of the vehicle, etc.

[0152] Exemplarily, the processing module may include, for example, one or more processing units. A processing unit may be a circuit with the ability to process signals (or data). In one implementation, the processing unit may be a circuit with the ability to read and execute instructions, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a type of microprocessor), or a digital signal processor (DSP), etc.; in another implementation, the processing unit may achieve certain functions through the logical relationship of a hardware circuit, and the logical relationship of this hardware circuit is fixed or can be reconfigured. For example, the processing unit is a hardware circuit implemented by an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field-programmable gate array (FPGA). In a reconfigurable hardware circuit, the process of the processing unit loading a configuration document to achieve the configuration of the hardware circuit can be understood as the process of the processing unit loading instructions to achieve the functions of some or all of the above units. In addition, the processing unit may also be a hardware circuit designed for artificial intelligence, which can be understood as a type of ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), etc. For example, it may also be an application processor (AP), an image signal processor (ISP), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. Among them, different processing units may be independent devices or integrated in one or more processors. Exemplarily, the above detection device may be a lidar, for example.

[0153] It should be noted that Figure 17 The detection device architecture given is just an example. In other examples, the detection device may include more, fewer, or different structures, and each structure may include more, fewer, or different components. The components shown or not shown can be combined or divided in any way, and the present application does not make specific limitations in this regard.

[0154] Based on the structure and functional principle of the detection device described above, the present application can also provide a terminal device. The terminal device may include the detection device in any of the above embodiments. Exemplarily, the terminal device may be, for example, a vehicle (such as a car, a truck, a motorcycle, a bus, a ship, an airplane, a helicopter, a recreational vehicle, a playground vehicle, a construction vehicle, a tram, a golf cart, a train, a driverless vehicle, a smart vehicle, and a digital car, etc.), a robot, a surveying and mapping device, a smart home device (such as a TV, a floor cleaning robot, a smart table lamp, a sound system, a smart lighting system, an electrical control system, a home background music, a home theater system, an intercom system, or a video surveillance, etc.), a smart manufacturing device (such as an industrial device, a lawn mower, etc.), a smart transportation device (such as an AGV, a driverless transport vehicle, or a truck, etc.), or a smart terminal (a mobile phone, a computer, a tablet computer, a handheld computer, a desktop computer, headphones, a speaker, a wearable device, a vehicle-mounted device, a virtual reality device, an augmented reality device, etc.).

[0155] In the present application, "at least one" means one or more, and "a plurality" means two or more. "And / or" describes the association relationship of associated objects and indicates that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone, where A and B can be singular or plural. "At least one (row / item / column) of the following" or a similar expression means any combination of these items, including any combination of a single item (item) or plural items (items). For example, at least one (row / item / column) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple. In the written description of the present application, the character " / " generally represents an "or" relationship between the front and rear associated objects. Additionally, in the present application, the words "exemplarily" and "optionally" are used to give examples, illustrations, or explanations. Any embodiment or design solution described as "example" or "optional" in the present application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Or it can be understood that using the words "example" or "optional" is intended to present concepts in a specific manner and does not constitute a limitation to the present application.

[0156] It should be understood that the various numerical numbers involved in this application are only for the convenience of description and are not used to limit the scope of the embodiments of this application. The magnitudes of the serial numbers of the above processes do not imply the sequence of execution, and the execution sequence of each process should be determined by its function and internal logic. Terms such as "first" and "second" and similar expressions are used to distinguish similar objects and do not necessarily describe a specific order or sequence. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a series of steps or units are included. A method, system, product or device is not necessarily limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

Claims

1. A detection component, characterized in that, It includes a first detection area and a second detection area; The first detection area is used to receive the first echo signal of the first field of view; The second detection area is used to receive the second echo signal of the second field of view; Wherein, at least a part of the first field of view and the second field of view do not overlap.

2. The detection component according to claim 1, characterized in that, The detection distance range of the first field of view is different from that of the second field of view.

3. The detection component according to claim 1 or 2, characterized in that Some or all of the detection units in the first detection area and some or all of the detection units in the second detection area are turned on simultaneously, or in different frames, or at different wave positions in the same frame.

4. The detection component according to any one of claims 1 to 3, characterized in that, The first detection area and the second detection area belong to different detectors, or different detection areas of the same detector.

5. The detection component according to claim 4, wherein The detector is any one of the following types: avalanche photodiode APD, pin photodetector, silicon photodiode SiPM or single photon avalanche diode SPAD.

6. The detection component according to claim 4, characterized in that The working mode of the detection component is row scanning, and the first detection area and the second detection area are located in different rows of the detector; or, the working mode of the detection component is column scanning, and the first detection area and the second detection area are located in different columns of the detector.

7. The detection component according to any one of claims 4 to 6, characterized in that The detection units turned on in the first detection area or the second detection area occupy the length of one row or one column of the detector, or occupy the length of half a row or half a column of the detector, or occupy the length of a part of one row or a part of one column of the detector.

8. The detection component according to any one of claims 4 to 7, characterized in that The detection units turned on in the first detection area and the detection units turned on in the second detection area each occupy one row or one column of the detector, or each occupy half of one row or half of one column of the detector.

9. The detection component according to any one of claims 4 to 7, characterized in that The working mode of the detection component is row scanning, the first detection area occupies one row of the detector, and the second detection area occupies parts of each row of at least one row of the detector, and the occupied parts do not repeat in the column direction; or, the working mode of the detection component is column scanning, the first detection area occupies one column of the detector, and the second detection area occupies parts of each column of at least one column of the detector, and the occupied parts do not repeat in the row direction.

10. The detection component according to any one of claims 4 to 7, characterized in that, The working mode of the detection component is row scanning, the detection units turned on in the first detection area and the detection units turned on in the second detection area are located in different columns and together occupy the length of one row of the detector; or, the working mode of the detection component is column scanning, the detection units turned on in the first detection area and the detection units turned on in the second detection area are located in different rows and together occupy the length of one column of the detector.

11. The detection component according to any one of claims 4 to 10, characterized in that, The second detection area includes a plurality of sub-areas, and the plurality of sub-areas are not continuous.

12. The detection component according to any one of claims 1 to 11, characterized in that, The second detection area is located on one side or opposite sides of the first detection area.

13. The detection component according to any one of claims 1 to 12, characterized in that, The number and positions of the detection units turned on in the second detection area are configured based on the region of interest.

14. A receiving module, characterized in that, It includes the detection component according to any one of claims 1 to 13.

15. The receiving module according to claim 14, wherein It further includes a receiving optical system; The receiving optical system is used to transmit the echo signal to the detection component.

16. A detection device, characterized in that, It includes the receiving module according to claim 14 or 15.

17. The detection device according to claim 16, wherein It further includes a transmitting module; The emission module is used to emit detection signals.

18. The detection device according to claim 16 or 17, characterized in that, It further includes a processing module; The processing module is used to process the echo signal to obtain the correlation information of the target.

19. A terminal device, characterized in that, It includes the detection device according to any one of claims 16 to 18.

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