Transmitting and receiving device and related product

Abstract

A transceiver and related products are applied to the technical field of laser radars. The transceiving device comprises a first transmitting module, a first receiving module, a second receiving module and a scanning module, wherein the first transmitting module and the first receiving module are located on one side of the scanning module, and the second receiving module is located on the other side of the scanning module; the first transmitting module is used for transmitting a first optical signal; the scanning module is used for transmitting the first optical signal to an object space; the scanning module is further used for transmitting a second optical signal from the object space to the first receiving module and / or transmitting a third optical signal from the object space to the second receiving module, and the second optical signal and the third optical signal comprise echoes of the first optical signal; a first field of view corresponding to the first receiving module is different from a second field of view corresponding to the second receiving module. The transceiver device can solve the problem that large FoV and high resolution performance are difficult to achieve at the same time.

Description

Technical Field

[0001] This application relates to the technical field of lidar, and particularly to a transceiver device and related products. Background Art

[0002] With the development of information technology and computer vision, detection technology has achieved rapid development. All kinds of detection devices have brought great convenience to people's lives and travel. Detection devices can be regarded as the "eyes" of devices to sense the environment, including visual sensors such as cameras and radar sensors such as millimeter-wave radars, lidars, and ultrasonic radars. Among them, lidar (light detection and ranging, Lidar, or optical detection and ranging device) has the advantages of high resolution, good detection performance, and strong concealment, and plays an important role in the process of devices sensing the environment. Especially in the field of intelligent driving, it has been widely applied to help the further development of intelligent driving technology.

[0003] In the line-scanning line-receiving, line-scanning plane-receiving, or all-solid-state lidar system architecture based on a single-photon avalanche diode (SPAD) array, due to the limitation of the SPAD array scale, when the field of view (FoV) designed for the lidar system is large, the corresponding angular resolution is low and the ranging ability is poor; when the FoV designed for the lidar system is small, the corresponding angular resolution is high and the ranging ability is high.

[0004] In other words, for the currently designed lidar system architecture, it is difficult to achieve both large FoV and high-resolution performance. Summary of the Invention

[0005] Embodiments of this application provide a transceiver device and related products, which can solve the problem that it is difficult to achieve both large FoV and high-resolution performance.

[0006] In a first aspect, embodiments of this application provide a transceiver device, which includes:

[0007] A first transmitting module, a first receiving module, a second receiving module, and a scanning module;

[0008] Wherein, the first transmitting module and the first receiving module are located on one side of the scanning module, and the second receiving module is located on the other side of the scanning module;

[0009] The first transmitting module is used to transmit a first optical signal;

[0010] The scanning module is used to propagate the first optical signal to the object space;

[0011] The scanning module is further configured to propagate a second optical signal from the object space to the first receiving module, and / or propagate a third optical signal from the object space to the second receiving module, where the second optical signal and the third optical signal include echoes of the first optical signal;

[0012] The first field of view corresponding to the first receiving module is different from the second field of view corresponding to the second receiving module.

[0013] In an embodiment of the present application, a transceiver device is provided. The transceiver device includes a transmitting module, two receiving modules, and a scanning module. By combining the two receiving modules, the performance of simultaneously meeting a large FoV and high resolution is achieved.

[0014] In an embodiment of the present application, the first transmitting module and one of the receiving modules are located on one side of the scanning module, and the other receiving module is located on the other side of the scanning module. Optionally, the first transmitting module and the first receiving module may be located on one side of the scanning module, and the second receiving module is located on the other side of the scanning module; or the first transmitting module and the second receiving module may be located on one side of the scanning module, and the first receiving module is located on the other side of the scanning module. The embodiment of the present application does not limit this. Moreover, the first field of view corresponding to the first receiving module is different from the second field of view corresponding to the second receiving module. Therefore, by setting the relative positions of the first receiving module and the second receiving module, the first field of view and the second field of view can be stitched in different ways to meet the requirements of different fields of view and different resolutions in the application scenario, so that the transceiver device can simultaneously have the performance of a large FoV and high resolution, and solve the problem that it is difficult to achieve both the performance of a large FoV and high resolution in the currently designed lidar system architecture.

[0015] In a possible implementation manner, the first optical signal, the second optical signal, and the third optical signal are parallel to each other.

[0016] In an implementation manner of the present application, a possible specific implementation manner of the relationship between the first optical signal, the second optical signal, and the third optical signal is provided. Specifically, the first optical signal, the second optical signal, and the third optical signal are parallel to each other. It can be understood that the scanning module is configured to propagate the first optical signal emitted by the first transmitting module to the object space, and is further configured to propagate a part of the echo of the first optical signal (i.e., the second optical signal) to the first receiving module, and propagate a part of the echo of the first optical signal (i.e., the third optical signal) to the second receiving module. By adjusting the relative position relationship between the scanning module, the first transmitting module, the first receiving module, and the second receiving module, the first optical signal, the second optical signal, and the third optical signal can be made parallel to each other to ensure that the first receiving module and the second receiving module can simultaneously detect the same target.

[0017] In a possible implementation, the vertical field of view angles of the first field of view and the second field of view are different.

[0018] In the embodiments of the present application, a possible specific implementation of the first field of view and the second field of view is provided. Specifically, the vertical field of view angles of the first field of view and the second field of view are different. Through the embodiments of the present application, the relative positions of the first receiving module and the second receiving module can be set so that the first field of view and the second field of view are stitched together in different ways to improve the vertical resolution of the transceiver device, so that the transceiver device can simultaneously have the performance of a large FoV and high vertical resolution.

[0019] In a possible implementation, the first field of view is included in the second field of view, or the second field of view is included in the first field of view.

[0020] In the embodiments of the present application, a possible specific implementation of the first field of view and the second field of view is provided. Specifically, the first field of view is included in the second field of view, or the second field of view is included in the first field of view. It can be understood that when the first field of view is included in the second field of view, the area corresponding to the first field of view can be regarded as the region of interest (ROI). By setting the relative positions of the first receiving module and the second receiving module, the first field of view is included in the second field of view to improve the resolution of the ROI (i.e., the area corresponding to the first field of view), so that the transceiver device can simultaneously have the performance of a large FoV and high ROI resolution. It can be understood that when the second field of view is included in the first field of view, the area corresponding to the second field of view can be regarded as the region of interest (ROI). By setting the relative positions of the first receiving module and the second receiving module, the second field of view is included in the first field of view to improve the resolution of the ROI (i.e., the area corresponding to the second field of view), so that the transceiver device can simultaneously have the performance of a large FoV and high ROI resolution.

[0021] In a possible implementation, the first transmitting module is disposed above the first receiving module, or the first receiving module is disposed above the first transmitting module, or the first transmitting module and the first receiving module are horizontally disposed.

[0022] In the embodiments of the present application, a possible specific implementation of the positional relationship between the first transmitting module and the first receiving module is provided. Specifically, the first transmitting module and the first receiving module can be stacked vertically. For example, the first transmitting module is disposed above the first receiving module, or the first receiving module is disposed above the first transmitting module. The first transmitting module and the first receiving module can also be stacked horizontally, that is, the first transmitting module and the first receiving module are horizontally disposed. The embodiments of the present application do not limit this.

[0023] In a possible implementation, the scanning module is a multi-faceted scanning mirror;

[0024] The multi-faceted scanning mirror is a four-sided polygon scanning mirror.

[0025] In the implementation of the present application, a possible specific implementation of the scanning module is provided. Specifically, the scanning module can be a multi-faceted scanning mirror, and this multi-faceted scanning mirror is a four-sided polygon scanning mirror. It can be understood that the included angle between two adjacent faces of this four-sided polygon scanning mirror is 90°.

[0026] In a possible implementation, the transceiver device further includes at least one of the following:

[0027] A first reflector, a second reflector;

[0028] The first reflector is used to propagate the first optical signal emitted by the first emission module to the scanning module, and the first reflector is also used to propagate the second optical signal from the scanning module to the first reception module;

[0029] The second reflector is used to propagate the third optical signal from the scanning module to the second reception module.

[0030] In the implementation of the present application, a possible specific implementation of the transceiver device is provided. Specifically, the transceiver device further includes a first reflector and / or a second reflector. This first reflector is used to propagate the first optical signal emitted by the first emission module to the scanning module, and this first reflector is also used to propagate the second optical signal from the scanning module to the first reception module. This second reflector is used to propagate the third optical signal from the scanning module to the second reception module. It can be understood that by setting the first reflector and / or the second reflector, the optical path of the transceiver can be changed, the overall width of the transceiver device can be reduced, and the utilization rate of the internal space resources of the whole machine can be improved.

[0031] In a possible implementation, the emission timing of the first optical signal is the same as the reception timing of the second optical signal and the reception timing of the third optical signal.

[0032] In an embodiment of the present application, a possible specific embodiment of the relationship between the emission timing of a first optical signal and the reception timings of a second optical signal and a third optical signal is provided. Specifically, the emission timing of the first optical signal is the same as the reception timings of the second optical signal and the third optical signal. It can be understood that while the first emission module emits the first optical signal, the first reception module and the second reception module respectively receive the second optical signal and the third optical signal simultaneously. Optionally, the first reception module and the second reception module may be in a signal reception state before the first emission module emits the optical signal, or may be in a signal reception state after a period of time after the first emission module starts emitting the optical signal. Optionally, the first reception module and the second reception module may end the signal reception state only after the first emission module ends emitting the optical signal, or may end the signal reception state before the first emission module ends emitting the optical signal. The embodiments of the present application do not limit this. Through the embodiments of the present application, the same emission timing and reception timing can effectively save the emission cost of the transceiver device, thereby effectively saving the overall power consumption of the machine, and is beneficial to the detection accuracy of the transceiver device.

[0033] In a possible embodiment, the first reception module includes a first detector and a first reception optical component, and the second reception module includes a second detector and a second reception optical component.

[0034] In an embodiment of the present application, a possible specific embodiment of the first reception module and the second reception module is provided. Specifically, the first reception module includes a first detector and a first reception optical component, and the second reception module includes a second detector and a second reception optical component. The first detector and the second detector may be the same or different, and the first reception optical component and the second reception optical component may be the same or different. The embodiments of the present application do not limit this.

[0035] In a possible embodiment, the first detector and the second detector are the same, the focal lengths of the first reception optical component and the second reception optical component are different, and the first field of view and the second field of view overlap in angular space.

[0036] In an embodiment of the present application, a possible specific embodiment of a first receiving module and a second receiving module is provided. Specifically, the first detector in the first receiving module is the same as the second detector in the second receiving module. The focal length of the first receiving optical component in the first receiving module is different from the focal length of the second receiving optical component in the second receiving module. And the first field of view corresponding to the first receiving module and the second field of view corresponding to the second receiving module overlap in the angular space to meet the requirements of different fields of view and different resolutions in the application scenario, so that the transceiver device can simultaneously have the performance of a large FoV and high resolution.

[0037] It can be understood that the focal length of the first receiving optical component may be greater than the focal length of the second receiving optical component. Then, the FoV (i.e., the first field of view) covered by the first receiving module is smaller and the resolution is higher, which is suitable for long-distance ranging. The FoV (i.e., the second field of view) covered by the second receiving module is larger and the resolution is lower, which is suitable for short-distance ranging. And the overlapping area of the first field of view and the second field of view can simultaneously meet the detection requirements of a large FoV and high resolution. Optionally, the first field of view and the second field of view overlap in the angular space. It may be that the first field of view is included in the second field of view, or the second field of view is included in the first field of view, or the first field of view and the second field of view have an intersection but there is no inclusion relationship. The embodiments of the present application do not limit this.

[0038] It can be understood that the focal length of the first receiving optical component may be less than the focal length of the second receiving optical component. Then, the FoV (i.e., the first field of view) covered by the first receiving module is larger and the resolution is lower, which is suitable for short-distance ranging. The FoV (i.e., the second field of view) covered by the second receiving module is smaller and the resolution is higher, which is suitable for long-distance ranging. And the overlapping area of the first field of view and the second field of view can simultaneously meet the detection requirements of a large FoV and high resolution. Optionally, the first field of view and the second field of view overlap in the angular space. It may be that the first field of view is included in the second field of view, or the second field of view is included in the first field of view, or the first field of view and the second field of view have an intersection but there is no inclusion relationship. The embodiments of the present application do not limit this.

[0039] In a possible embodiment, the focal length of the first receiving optical component is the same as the focal length of the second receiving optical component. The first detector is offset relative to the optical center of the first receiving optical component, and the second detector is offset relative to the optical center of the second receiving optical component. The first field of view and the second field of view are continuous and non-overlapping in the angular space.

[0040] Alternatively, the focal lengths of the first receiving optical component and the second receiving optical component are the same, the optical axes of the first receiving module and the second receiving module are not parallel, and the first field of view and the second field of view are continuous and non-overlapping in angular space.

[0041] In an embodiment of the present application, a possible specific embodiment of the first receiving module and the second receiving module is provided. Specifically, the focal lengths of the first receiving optical component in the first receiving module and the second receiving optical component in the second receiving module are the same. The first detector in the first receiving module is offset relative to the optical center of the first receiving optical component, and the second detector in the second receiving module is offset relative to the optical center of the second receiving optical component. Moreover, the first field of view and the second field of view are continuous and non-overlapping in angular space, so as to meet the requirements of the application scenario for different fields of view and different resolutions, thereby enabling the transceiver device to simultaneously have the performance of a large FoV and high resolution.

[0042] Alternatively, the focal lengths of the first receiving optical component in the first receiving module and the second receiving optical component in the second receiving module are the same. The optical axes of the first receiving module and the second receiving module are inclined in different directions respectively, so that the two optical axes are not parallel. Moreover, the first field of view and the second field of view are continuous and non-overlapping in angular space, so as to meet the requirements of the application scenario for different fields of view and different resolutions, thereby enabling the transceiver device to simultaneously have the performance of a large FoV and high resolution.

[0043] It can be understood that the focal lengths of the first receiving optical component and the second receiving optical component are the same, and the FoV (i.e., the first field of view) covered by the first receiving module and the FoV (i.e., the second field of view) covered by the second receiving module are both relatively small and the resolutions are both relatively high. By eccentrically setting the detector relative to the receiving optical component, or by tilting the two receiving modules in different directions, the first field of view and the second field of view can be made continuous and non-overlapping in angular space, that is, the first field of view and the second field of view are seamlessly stitched together in angular space to form a larger FoV, thereby enabling the transceiver device to simultaneously have the performance of a large FoV and high resolution.

[0044] In a possible embodiment, the first receiving module and the second receiving module are the same, there is a first offset between the first detector and the second detector, the first offset is N + 0.5 pixels, and the first field of view and the second field of view overlap in angular space, where N is the number of channels in the non-overlapping interval.

[0045] In an embodiment of the present application, a possible specific embodiment of a first receiving module and a second receiving module is provided. Specifically, the first receiving module and the second receiving module are the same. It can be understood that they are two receiving modules developed based on the same SPAD model. When the two receiving modules are assembled, the first detector in the first receiving module has an offset of N + 0.5 pixels relative to the second detector in the second receiving module, so that the first field of view corresponding to the first receiving module and the second field of view corresponding to the second receiving module overlap in angular space, to meet the requirements of the application scenario for different fields of view and different resolutions, so that the transceiver device can simultaneously have the performance of a large FoV and high resolution.

[0046] It can be understood that the first receiving module and the second receiving module are the same. The FoV (i.e., the first field of view) covered by the first receiving module and the FoV (i.e., the second field of view) covered by the second receiving module are both relatively large and the resolutions are both relatively low. By setting an offset of N + 0.5 pixels of the first detector relative to the second detector, the first field of view and the second field of view can overlap in angular space, and the resolution of the overlapping area can be increased by at least one time, so that the transceiver device can simultaneously have the performance of a large FoV and high resolution.

[0047] In a possible embodiment, the first field of view and the second field of view overlap in angular space. The first receiving module includes a first detector and a first receiving optical component, and the second receiving module includes a second image sensor chip and a second receiving optical component; or, the first receiving module includes a first image sensor chip and a first receiving optical component, and the second receiving module includes a second detector and a second receiving optical component.

[0048] In an embodiment of the present application, a possible specific embodiment of a first receiving module and a second receiving module is provided. Specifically, the first field of view corresponding to the first receiving module and the second field of view corresponding to the second receiving module overlap in angular space, and the first receiving module includes a first detector and a first receiving optical component, and the second receiving module includes a second image sensor chip and a second receiving optical component, to meet the requirements of the application scenario for different fields of view and different resolutions, so that the transceiver device can simultaneously have the performance of a large FoV and high resolution.

[0049] Or, the first field of view corresponding to the first receiving module and the second field of view corresponding to the second receiving module overlap in angular space, and the first receiving module includes a first image sensor chip and a first receiving optical component, and the second receiving module includes a second detector and a second receiving optical component, to meet the requirements of the application scenario for different fields of view and different resolutions, so that the transceiver device can simultaneously have the performance of a large FoV and high resolution.

[0050] It can be understood that the fields of view corresponding to the two receiving modules overlap in angular space, and one of the receiving modules is a receiving module based on direct time of flight (DToF), and the other receiving module is a receiving module based on image perception. The overlapping FoV (i.e., the first field of view and the second field of view) covered by the two receiving modules is relatively large. The resolution corresponding to the DToF-based receiving module is relatively low, and through the image perception-based receiving module, the resolution corresponding to the overlapping field of view can be improved, that is, the resolution corresponding to the DToF-based receiving module can be improved, so that the transceiver device can simultaneously have the performance of a large FoV and high resolution.

[0051] In a possible implementation manner, the transceiver device is applied to a vehicle;

[0052] When the vehicle speed of the vehicle is greater than a first value, the first receiving module turns on to receive the optical signal, and the second receiving module turns off to receive the optical signal. The first field of view is smaller than the second field of view;

[0053] When the vehicle speed of the vehicle is less than a second value, the first receiving module turns off to receive the optical signal, and the second receiving module turns on to receive the optical signal. The second value is less than or equal to the first value.

[0054] In the embodiment of the present application, a possible specific implementation manner of the working modes of the first receiving module and the second receiving module is provided. Specifically, when the transceiver device is applied to a vehicle, in the application scenarios of high-speed driving or low-speed driving of the vehicle, the working modes of the first receiving module and the second receiving module are different, and it supports switching the working modes according to different requirements of the application scenarios. One possible working mode is that in the high-speed driving mode of the vehicle, the first receiving module corresponding to the relatively small covered FoV (i.e., the first field of view) turns on to receive the optical signal, and the resolution is relatively high, which is suitable for long-distance ranging. The second receiving module corresponding to the relatively large covered FoV (i.e., the second field of view) turns off to receive the optical signal. In the low-speed driving mode of the vehicle, the second receiving module corresponding to the relatively large covered FoV (i.e., the second field of view) turns on to receive the optical signal, and the resolution is relatively low, which is suitable for short-distance ranging. The first receiving module corresponding to the relatively small covered FoV (i.e., the first field of view) turns off to receive the optical signal. It can be understood that in the application scenarios of high-speed driving or low-speed driving of the vehicle, the first value and the second value can be used as the boundary for high speed and low speed. When the vehicle speed is greater than the first value, it is considered high-speed driving, and when the vehicle speed is less than the second value, it is considered low-speed driving, and the second value is less than or equal to the first value. The embodiments of the present application do not limit this. Through the embodiments of the present application, the requirements for different fields of view and different resolutions in the application scenarios can be met, and the system computing power overhead can be effectively reduced.

[0055] In a second aspect, an embodiment of the present application provides a chip, which includes the transceiver device described in the first aspect above or any possible implementation manner of the first aspect above.

[0056] In a third aspect, an embodiment of the present application provides a radar or a radar system, which includes the transceiver device described in the first aspect above or any possible implementation manner of the first aspect above, or includes the chip described in the second aspect above.

[0057] In a possible implementation manner, the radar includes, but is not limited to, a lidar, etc.

[0058] In a possible implementation manner, there may be an intelligent sensor integrating multiple sensors. When the intelligent sensor includes, but is not limited to, a laser detection function, etc., the intelligent sensor may also be referred to as a radar or a radar system.

[0059] In a fourth aspect, an embodiment of the present application provides a terminal device, which includes the transceiver device described in the first aspect above or any possible implementation manner of the first aspect above, or includes the chip described in the second aspect above, or includes the radar or radar system described in the third aspect above.

[0060] In a fifth aspect, an embodiment of the present application provides a vehicle end, which includes the transceiver device described in the first aspect above or any possible implementation manner of the first aspect above, or includes the chip described in the second aspect above, or includes the radar or radar system described in the third aspect above, or includes the terminal device described in the fourth aspect above.

[0061] In the embodiment of the present application, by setting the relative positions of the first receiving module and the second receiving module, the first field of view and the second field of view can be stitched in different ways, which can meet the requirements of the application scenario for different fields of view and different resolutions. Thus, the transceiver device can simultaneously have the performance of a large FoV and high resolution, solving the problem that it is difficult to achieve both the performance of a large FoV and high resolution in the currently designed lidar system architecture. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required to be used in the embodiments of the present application will be briefly introduced below. Obviously, the following described drawings are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0063] Figure 1A It is a schematic diagram of an application scenario of a radar provided by an embodiment of the present application;

[0064] Figure 1BSchematic diagram of an application scenario of a radar provided by an embodiment of the present application;

[0065] Figure 2A Schematic diagram of an architecture of a radar provided by an embodiment of the present application;

[0066] Figure 2B Schematic diagram of an architecture of a radar provided by an embodiment of the present application;

[0067] Figure 3 Schematic diagram of a structure of a transceiver device provided by an embodiment of the present application;

[0068] Figure 4 Schematic diagram of a structure of a transceiver device provided by an embodiment of the present application;

[0069] Figure 5 Schematic diagram of a structure of a transceiver device provided by an embodiment of the present application;

[0070] Figure 6 Schematic diagram of a structure of a transceiver device provided by an embodiment of the present application;

[0071] Figure 7 Schematic diagram of a three-dimensional structure of a transceiver device provided by an embodiment of the present application;

[0072] Figure 8 Schematic diagram of a three-dimensional structure of a transceiver device provided by an embodiment of the present application;

[0073] Figure 9 Schematic diagram of a three-dimensional structure of a transceiver device provided by an embodiment of the present application;

[0074] Figure 10 Schematic diagram of a signal transceiver timing sequence provided by an embodiment of the present application;

[0075] Figure 11 Schematic diagram of a field of view stitching provided by an embodiment of the present application;

[0076] Figure 12 Schematic diagram of a field of view stitching provided by an embodiment of the present application;

[0077] Figure 13 Schematic diagram of a field of view stitching provided by an embodiment of the present application;

[0078] Figure 14 Schematic diagram of a structure of a receiving module provided by an embodiment of the present application;

[0079] Figure 15 Schematic diagram of a structure of a receiving module provided by an embodiment of the present application;

[0080] Figure 16Schematic diagram of field of view stitching provided by an embodiment of the present application;

[0081] Figure 17 Schematic diagram of field of view stitching provided by an embodiment of the present application;

[0082] Figure 18 Schematic diagram of the working mode of a receiving module provided by an embodiment of the present application. Detailed implementation manners

[0083] To make the objectives, technical solutions, and advantages of the present application clearer, the embodiments of the present application will be described below with reference to the accompanying drawings in the embodiments of the present application.

[0084] Terms such as "first" and "second" in the description, claims, and drawings of the present application are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device, etc. that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products, or devices, etc.

[0085] The term "embodiment" mentioned herein means that a specific feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application. The appearance of this phrase at various positions in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art can explicitly and implicitly understand that in each embodiment of the present application, if there is no special description and logical conflict, the terms and / or descriptions between the embodiments are consistent and can be referenced to each other, and the technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0086] It should be understood that in this application, "at least one (item)" means one or more, "a plurality" means two or more, "at least two (items)" means two or three or more, and "and / or" is used to describe the association relationship of associated objects, indicating that there can be three relationships. For example, "A and / or B" can mean: only A exists, only B exists, and both A and B exist at the same time. Among them, A and B can be singular or plural. The character " / " generally indicates that the associated objects before and after are in an "or" relationship. "At least one (item) of the following" or its similar expression means any combination of these items, including any combination of single items or plural items. For example, at least one (item) of a, b, or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0087] As described in the background art section, for the currently designed lidar system architecture, it is difficult to achieve both large FoV and high-resolution performance. This application provides a transceiver device and related products, which relate to the technical field of lidar and can solve the problem of difficult to achieve both large FoV and high-resolution performance.

[0088] To describe the solution of this application more clearly, some possible application scenarios of lidar will be introduced first below.

[0089] Please refer to Figure 1A and Figure 1B , Figure 1A and Figure 1B which are schematic diagrams of the application scenarios of the radar provided by the embodiments of this application.

[0090] As Figure 1A and Figure 1B shown, in this exemplary application scenario, the lidar is installed on a vehicle as an example.

[0091] The vehicle can be, for example, a driverless vehicle, a smart vehicle, an electric vehicle, or a digital car, etc. The lidar can be deployed at various positions of the vehicle (please refer to Figure 1B ). For example, the lidar can be deployed in any one or any multiple of the four directions of the front, rear, left, and right of the vehicle to capture the environmental information around the vehicle. Figure 1A Taking the lidar deployed in the front of the vehicle as an example. The lidar can sense a fan-shaped area shown by the dashed box as Figure 1A shown, and this fan-shaped area can be called the detection area of the lidar (or the field of view of the lidar).

[0092] In a possible implementation, the lidar can obtain the longitude and latitude, speed, orientation of the host vehicle in real time or periodically, or the associated information of targets (such as other surrounding vehicles) within a certain range (such as the distance of the target, the moving speed of the target, the attitude of the target, or the grayscale image of the target, etc.). The lidar or the vehicle can determine the position and / or path planning of the vehicle based on this associated information. For example, the position of the vehicle can be determined using the longitude and latitude, or the driving direction and destination of the vehicle in the next period of time can be determined using the speed and orientation, or the number and density of obstacles around the vehicle can be determined using the distance of surrounding objects. Further, optionally, the functions of the advanced driving assistance system (ADAS) can be combined to achieve assisted driving or autonomous driving of the vehicle, etc. It should be understood that the principle of the lidar detecting the associated information of the target is as follows: the lidar emits detection light in a certain direction. If there is a target within the detection area of the lidar, the target can reflect the received detection light back to the lidar (the reflected detection light can be called the echo signal), and the lidar then determines the associated information of the target based on the echo signal.

[0093] It should be noted that the above application scenarios are only examples. The lidar provided in this application (this lidar includes the optical waveguide component provided in this application) can also be applied in a variety of other possible scenarios, and is not limited to the scenarios exemplified above. For example, the lidar can also be installed on an unmanned aerial vehicle as an airborne radar. For another example, the lidar can also be installed on a road side unit (RSU) as a roadside traffic lidar, which can achieve intelligent vehicle-road collaborative communication. For another example, the lidar can be installed on an automated guided vehicle (AGV), where AGV refers to a transport vehicle equipped with electromagnetic or optical automatic navigation devices, capable of traveling along a specified navigation path and having safety protection and various transfer functions. There is no need to list them one by one here. It should be understood 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 to the technical solutions provided in this application. Those of ordinary skill in the art know that with the emergence of new application scenarios, the technical solutions provided in this application are equally applicable to similar technical problems.

[0094] Based on the above content, the above application scenarios can be applied to fields such as unmanned driving, autonomous driving, assisted driving, intelligent driving, connected vehicles, security monitoring, remote interaction, surveying and mapping, or artificial intelligence.

[0095] Next, in combination with Figure 2A and Figure 2B , some related concepts of lidar will be introduced.

[0096] LiDAR, also known as optical radar, is short for a light detection and ranging system, and can also be called Laser Radar or LADAR (laser detection and ranging).

[0097] LiDAR uses light as the detection medium. It utilizes the emission and reception of laser to achieve the detection of targets, such as distance measurement, speed measurement, or azimuth angle measurement, etc. LiDAR can measure the distance to a target based on the time of flight of the laser, where the time of flight is the time difference between the laser emission and reception. Or, LiDAR can measure the distance to a target based on the phase difference between the emitted laser signal and the echo signal of the received laser signal. The biggest advantage of LiDAR lies in its ability to use Doppler imaging technology to create a clear three-dimensional (3D) image of the target. LiDAR collects information such as the three-dimensional coordinates, reflectivity, and texture of a large number of dense points on the target surface by using the emission and reception of laser, and obtains a three-dimensional model of the measured target based on the collected information, establishes a three-dimensional point cloud map, and draws an environmental map to achieve the purpose of environmental perception. Compared with traditional passive imaging technologies such as visible light and infrared, LiDAR imaging technology subverts the traditional two-dimensional projection imaging mode, can collect the depth information of the target surface, obtain relatively complete spatial information of the target, reconstruct the three-dimensional surface of the target through data processing, obtain a three-dimensional graph that can better reflect the geometric shape of the target, and at the same time can also obtain rich characteristic information such as the reflection characteristics and movement speed of the target surface, providing sufficient information support for data processing such as target detection, recognition, and tracking, and reducing the algorithm difficulty.

[0098] Please refer to Figure 2A , Figure 2A which is a schematic diagram of the architecture of a radar provided by an embodiment of this application.

[0099] As Figure 2A shown, the LiDAR mainly includes a laser emission part (or system) 100, a laser reception part (or system) 200, and a signal processing part (or system) 300.

[0100] Among them, the laser emission part 100 includes an excitation source (or a laser driver), a laser, and an emission optical system. The excitation source drives the laser to emit a laser beam (or a laser pulse), and the laser beam (or laser pulse) is emitted outward through the emission optical system. The laser reception part 200 includes a reception optical system and a detector; after the laser beam emitted from the lidar encounters a target object, an echo beam of reflection / scattering is formed after interacting with the target object. The echo beam is collected by the reception optical system and then received by the detector, which converts the optical signal into an electrical signal, and the electrical signal is transmitted to the signal processing part 300 after being processed by the analog front end. The signal processing part 300 processes the received signal to obtain information such as the distance, speed, and azimuth angle of the target object. In addition, information such as the surface morphology and physical properties of the target can be obtained to establish an object model. The detector is usually a photoelectric detector that converts the received optical signal into an electrical signal, and this electrical signal is usually an analog signal, while the signal processing part 300 is usually used to process digital signals, such as a digital signal processor (DSP). Therefore, the analog electrical signal is converted into a digital signal through an analog-to-digital converter (ADC) and provided to the signal processing part 300. In addition, the electrical signal can also be amplified, and the amplified electrical signal is converted into a digital signal through the analog-to-digital converter and then provided to the signal processing part 300. The signal processing part 300 includes a signal processing circuit for processing the digital signal to obtain information such as the distance, speed, and azimuth angle of the target object and further establish an object model. The lidar also includes a control circuit, such as a control part for controlling the excitation source and a control part for controlling the scanning drive circuit. These two control parts can be integrated together or set independently. In addition, the signal processing circuit and the control circuit can also be integrated together or set independently.

[0101] In addition, in one implementation, the laser emission part 100 may further include a laser modulator and a beam controller. The laser beam emitted by the laser passes through the beam controller, and the beam controller controls the direction and number of lines of the emitted laser beam under the control of the laser modulator. The laser beam emitted from the beam controller is emitted outward through the emission optical system.

[0102] In addition, the lidar may further include a scanning part (or system) 400. Under the action of the scanning part 400, the laser beam emitted by the laser realizes the scanning of the laser beam on a plane to generate real-time planar graph information. The scanning part 400 mainly includes a scanning mechanism and a scanning drive circuit. The scanning drive circuit is used to drive the scanning mechanism to operate, and under the action of the scanning mechanism, the laser beam realizes the change from "line" to "plane".

[0103] Taking the mechanical rotation scanning method as an example, specifically, it can be referred to Figure 2B , Figure 2BA schematic diagram of the architecture of a radar provided by an embodiment of the present application.

[0104] As Figure 2B shown, the scanning drive circuit drives the scanning mechanism to rotate at a stable speed. After the laser beam is incident on the optical element of the emission optical system, the scanning mechanism drives the optical element to rotate, and dense scanning of the laser beam is realized on the target plane to generate planar map information. Here, the scanning mechanism is, for example, a motor, and the scanning drive circuit is a motor driver. The rotation of the motor drives the optical element in the emission optical system to rotate, so that the laser beam incident on the optical element is reflected by the optical element, and the effect change from "line scanning" to "plane scanning" of the laser is quickly and accurately realized.

[0105] In the current line-scanning and line-receiving, line-scanning and plane-receiving, or all-solid-state lidar system architectures based on SPAD arrays, due to the limitation of the SPAD array scale, when the field of view (FoV) designed for the lidar system is large, the corresponding angular resolution is low and the ranging ability is poor; when the FoV designed for the lidar system is small, the corresponding angular resolution is high and the ranging ability is high. In other words, for the currently designed lidar system architectures, it is difficult to achieve both large FoV and high resolution performance.

[0106] In view of this, the present application provides a transceiver device and related products, which relate to the technical field of lidar. By setting the relative positions of the first receiving module and the second receiving module, the first field of view and the second field of view can be spliced in different ways, which can meet the requirements of different fields of view and different resolutions in the application scenario, so that the transceiver device can simultaneously have the performance of large FoV and high resolution, and solve the problem that it is difficult to achieve both large FoV and high resolution performance in the currently designed lidar system architectures.

[0107] Next, the transceiver device and related products provided by the present application will be described with reference to the accompanying drawings.

[0108] Please refer to Figure 3 , Figure 3 A schematic diagram of the structure of a transceiver device provided by an embodiment of the present application.

[0109] As Figure 3 shown, the transceiver device includes:

[0110] A first transmitting module Tx1, a first receiving module Rx1, a second receiving module Rx2, and a scanning module.

[0111] Among them, the above-mentioned first transmitting module Tx1 and the above-mentioned first receiving module Rx1 are located on one side of the above-mentioned scanning module, and the above-mentioned second receiving module Rx2 is located on the other side of the above-mentioned scanning module.

[0112] The above-mentioned first transmitting module Tx1 is used to transmit a first optical signal.

[0113] The above-mentioned scanning module is used to propagate the above-mentioned first optical signal to the object space.

[0114] The above-mentioned scanning module is also used to propagate a second optical signal from the above-mentioned object space to the above-mentioned first receiving module Rx1, and / or propagate a third optical signal from the above-mentioned object space to the above-mentioned second receiving module Rx2. The above-mentioned second optical signal and the above-mentioned third optical signal include the echo of the above-mentioned first optical signal.

[0115] The first field of view corresponding to the above-mentioned first receiving module Rx1 is different from the second field of view corresponding to the above-mentioned second receiving module Rx2.

[0116] It can be seen from Figure 3 that in the embodiment of the present application, the first transmitting module Tx1 and one of the receiving modules are located on one side of the scanning module, and the other receiving module is located on the other side of the scanning module. Specifically, which receiving module (the first receiving module Rx1 or the second receiving module Rx2) is on the same side as the first transmitting module Tx1 is not limited in the embodiment of the present application.

[0117] Optionally, it can be that the first transmitting module Tx1 and the first receiving module Rx1 are located on one side of the scanning module, and the second receiving module Rx2 is located on the other side of the scanning module. Optionally, it can also be that the first transmitting module Tx1 and the second receiving module Rx2 are located on one side of the scanning module, and the first receiving module Rx1 is located on the other side of the scanning module. The embodiment of the present application does not limit this.

[0118] Exemplarily, taking the first transmitting module Tx1 and the first receiving module Rx1 located on one side of the scanning module as an example, there are various possible positional relationships between the first transmitting module Tx1 and the first receiving module Rx1, specifically as follows:

[0119] Positional relationship one:

[0120] The first transmitting module Tx1 and the first receiving module Rx1 are stacked up and down. For example, the first transmitting module Tx1 is arranged above the first receiving module Rx1, or the first receiving module Rx1 is arranged above the first transmitting module Tx1.

[0121] It can be understood that since it is difficult for the transmitting module to dissipate heat, if the heat dissipation path is at the bottom case of the whole machine, the first transmitting module Tx1 is arranged below the whole machine; if the heat dissipation path is at the upper cover of the whole machine, the first transmitting module Tx1 is arranged above the whole machine.

[0122] Positional relationship two:

[0123] The first transmitting module Tx1 and the first receiving module Rx1 are stacked left and right, that is, the first transmitting module Tx1 and the first receiving module Rx1 are horizontally arranged.

[0124] It should be understood that the positional relationship 1 and the positional relationship 2 existing between the first transmitting module Tx1 and the first receiving module Rx1 are only used as two possible exemplary descriptions, and the embodiments of the present application should not be limited thereby. Other positional relationships obtained by reasonable deformation based on the above positional relationship 1 and positional relationship 2 all fall within the protection scope of the embodiments of the present application.

[0125] Optionally, the scanning module in the embodiments of the present application is a multi-faceted scanning mirror, and the multi-faceted scanning mirror is a four-sided polygon scanning mirror.

[0126] It can be understood that the included angle between two adjacent faces of the four-sided polygon scanning mirror is 90°.

[0127] The currently designed lidar system architecture is difficult to achieve both large FoV and high-resolution performance.

[0128] In the embodiments of the present application, the first field of view corresponding to the first receiving module and the second field of view corresponding to the second receiving module are different. Therefore, by setting the relative positions of the first receiving module and the second receiving module, the first field of view and the second field of view can be spliced in different ways to meet the requirements of different fields of view and different resolutions in the application scenario, so that the transceiver device can simultaneously have the performance of large FoV and high resolution, and solve the problem that the currently designed lidar system architecture is difficult to achieve both large FoV and high-resolution performance.

[0129] In one possible embodiment, the above Figure 3 shown transceiver device may further include at least one of the following:

[0130] The first reflector, the second reflector.

[0131] Among them, the first reflector is used to propagate the first optical signal emitted by the first transmitting module Tx1 to the scanning module, and the first reflector is also used to propagate the second optical signal from the scanning module to the first receiving module Rx1.

[0132] The second reflector is used to propagate the third optical signal from the scanning module to the second receiving module Rx2.

[0133] Specifically, reference can be made to Figures 4 to 6 , Figures 4 to 6 which are the structural schematic diagrams of several transceiver devices provided by the embodiments of the present application.

[0134] Such as Figure 4As shown, the transceiver device includes a first transmitting module Tx1, a first receiving module Rx1, a second receiving module Rx2, a scanning module, a first reflector, and a second reflector.

[0135] It can be understood that Figure 4 the transceiver device shown can be regarded as adding a first reflector and a second reflector to the Figure 3 transceiver device shown. Therefore, Figure 4 for each component in the transceiver device shown, for details, reference can be made to the description of the Figure 3 transceiver device shown above, which will not be elaborated here.

[0136] As Figure 5 shown, the transceiver device includes a first transmitting module Tx1, a first receiving module Rx1, a second receiving module Rx2, a scanning module, and a first reflector.

[0137] It can be understood that Figure 5 the transceiver device shown can be regarded as adding a first reflector to the Figure 3 transceiver device shown. Therefore, Figure 5 for each component in the transceiver device shown, for details, reference can be made to the description of the Figure 3 transceiver device shown above, which will not be elaborated here.

[0138] Optionally, a second reflector can also be additionally added to the Figure 3 transceiver device shown above. The new transceiver device obtained also belongs to the protection scope of this application. The structure and function of the new transceiver device are similar to those of the Figure 5 transceiver device shown, which will not be elaborated here.

[0139] As Figure 6 shown, the transceiver device includes a first transmitting module Tx1, a first receiving module Rx1, a second receiving module Rx2, a scanning module, and a first reflector.

[0140] From Figure 5 and Figure 6 it can be seen that Figure 6 the difference between the transceiver device shown and the Figure 5 transceiver device described above is that:

[0141] Figure 5 the first reflector in the transceiver device shown is a complete integrally formed reflector, while Figure 6 the first reflector in the transceiver device shown is assembled from two small reflectors. There is a gap when the two small reflectors are assembled, and the first optical signal emitted by the first transmitting module Tx1 propagates through this gap to the scanning module.

[0142] Through the above design of the first reflector,Figure 6 In the transceiver device shown, the first transmitting module Tx1 can be separately arranged from the first receiving module Rx1, without being stacked vertically or horizontally with the first receiving module Rx1, and the first transmitting module Tx1 and the second receiving module Rx2 form a coaxial architecture design.

[0143] It should be understood that the Figures 3 to 6 above-mentioned transceiver device is only used to illustrate the structural functions of the transceiver device proposed in this application as several possible examples, and should not be used to limit this application. Other transceiver devices obtained by reasonable deformation, supplementation or combination based on the Figures 3 to 6 above-mentioned transceiver device all fall within the protection scope of this application.

[0144] Through the embodiments of this application, by setting the first reflector and / or the second reflector, the optical path of the transceiver can be changed, the width of the whole transceiver device can be reduced, and the utilization rate of the internal space resources of the whole machine can be improved.

[0145] Based on the Figures 3 to 6 above-mentioned transceiver device, this application also correspondingly provides several schematic three-dimensional structure diagrams of the transceiver device.

[0146] Please refer to Figures 7 to 9 , Figures 7 to 9 which are schematic three-dimensional structure diagrams of several transceiver devices provided by the embodiments of this application.

[0147] As Figure 7 shown, the transceiver device includes a first transmitting module Tx1, a first receiving module Rx1, a second receiving module Rx2, and a scanning module.

[0148] It can be understood that Figure 7 can be regarded as the three-dimensional structure diagram of the transceiver device shown above. Therefore, Figure 3 for each component in the transceiver device shown, specific reference can be made to the description of the transceiver device shown above Figure 7 and will not be elaborated here. Figure 3

[0149] Figure 8 As shown, the transceiver device includes a first transmitting module Tx1, a first receiving module Rx1, a second receiving module Rx2, a scanning module, a first reflector, and a second reflector.

[0150] Among them, the scanning module is placed at the center of the transceiver device (LiDAR). The first receiving module Rx1 and the first transmitting module Tx1 on the right side of the transceiver device are stacked vertically. Specifically, the first transmitting module Tx1 is below and the first receiving module Rx1 is above. It can be understood that since the first transmitting module Tx1 has difficulty in heat dissipation, if the heat dissipation path is at the bottom case of the whole machine, the first transmitting module Tx1 is set below the whole machine. Optionally, if the heat dissipation path is at the upper cover of the whole machine, the first transmitting module Tx1 is set above the whole machine. The second receiving module Rx2 is placed on the left side of the scanning module and is on the same plane as the modules on the right side of the scanning module. The scanning module can be a four-sided scanning mirror, and the included angle between the four faces of the four-sided scanning mirror is 90°. The optical path propagation between the scanning module and each module on the left and right sides is realized through the design of the first reflecting mirror and the second reflecting mirror.

[0151] Optionally, in order to ensure that the modules on both sides of the scanning module can see the same target simultaneously, it is required that the optical paths of the optical signal emitted by the first transmitting module Tx1 passing through the scanning module, the optical signal propagating through the scanning module to the first receiving module Rx1, and the optical signal propagating through the scanning module to the first receiving module Rx1 are parallel to each other.

[0152] Specifically, the optical signal emitted by the first transmitting module Tx1 is irradiated onto the scanning module through the first reflecting mirror and then emitted. The optical signal reflected from the target returns along the original path and is respectively irradiated onto the first receiving module Rx1 and the second receiving module Rx2. The reflected optical signal is first irradiated onto the first reflecting mirror on the right side of the scanning module and then reflected by the first reflecting mirror onto the first receiving module Rx1. The reflected optical signal is first irradiated onto the second reflecting mirror on the left side of the scanning module and then reflected by the second reflecting mirror onto the second receiving module Rx2.

[0153] It can be understood that Figure 8 can be regarded as the three-dimensional structure diagram of the transceiver device shown above. Therefore, Figure 4 for each component in the transceiver device shown, specific reference can be made to the description of the transceiver device shown above, and details will not be elaborated here. Figure 8 shown above, and details will not be elaborated here. Figure 4 shown above, and details will not be elaborated here.

[0154] As Figure 9 shown, the transceiver device includes a first transmitting module Tx1, a first receiving module Rx1, a second receiving module Rx2, a scanning module, and a second reflecting mirror.

[0155] It can be understood that Figure 9 can be regarded as the three-dimensional structure diagram of a new transceiver device obtained by adding a second reflecting mirror to the transceiver device shown above. The structure and function of the new transceiver device are the same as those of the transceiver device shown Figure 3 above. Figure 5 shown above (inFigure 3 A first mirror is additionally added to the transceiver device shown. Similarly, therefore, Figure 9 For each component in the transceiver device shown, reference can specifically be made to the description of the transceiver device shown above in Figure 3 and Figure 5 and will not be elaborated here.

[0156] It should be understood that the transceiver device in the above Figures 7 to 9 only illustrates the three-dimensional structure of the transceiver device proposed in this application as several possible examples, and should not be used to limit this application. Other transceiver devices obtained by reasonable deformation, supplement, or combination based on the transceiver device in the above Figures 7 to 9 all fall within the protection scope of this application.

[0157] From the transceiver device shown above in Figures 7 to 9 it can be seen that Figure 7 the transceiver device shown in Figure 8 has no first mirror and / or second mirror, the overall width of the machine is relatively large, but there are fewer components, and the optical path for transmitting and receiving light is also shorter. Figure 9 The transceiver device shown in Figure 8 has a first mirror additionally added, which can reduce the overall width of the machine, but there are more components, and the optical path for transmitting and receiving light also increases.

[0158] In a possible embodiment, the first optical signal, the second optical signal, and the third optical signal in the transceiver device shown in any of the above Figures 3 to 9 are parallel to each other.

[0159] It can be understood that the scanning module is used to propagate the first optical signal emitted by the first transmitting module Tx1 to the object space, and is also used to propagate a part of the echo of the first optical signal (i.e., the second optical signal) to the first receiving module Rx1, and propagate a part of the echo of the first optical signal (i.e., the third optical signal) to the second receiving module Rx2. By adjusting the relative positional relationship between the scanning module, the first transmitting module Tx1, the first receiving module Rx1, and the second receiving module Rx2, the first optical signal, the second optical signal, and the third optical signal can be made parallel to each other to ensure that the first receiving module Rx1 and the second receiving module Rx1 can simultaneously detect the same target.

[0160] In a possible embodiment, the emission timing of the first optical signal in the transceiver device shown in any of the above Figures 3 to 9 is the same as the reception timing of the second optical signal and the reception timing of the third optical signal.

[0161] For details, please refer to Figure 10 , Figure 10 which is a schematic diagram of a signal transceiver timing provided by an embodiment of the present application.

[0162] As Figure 10 shown, the timing of the signal transmitted by the first transmitting module Tx1, the timing of the signal received by the first receiving module Rx1, the timing of the signal received by the second receiving module Rx2, and the timing of the frame synchronization signal of the point cloud are given.

[0163] It can be understood that while the first transmitting module Tx1 transmits the first optical signal, the first receiving module Rx1 and the second receiving module Rx2 respectively receive the second optical signal and the third optical signal simultaneously.

[0164] Optionally, it can be that before the first transmitting module Tx1 transmits the optical signal, the first receiving module Rx1 and the second receiving module Rx2 are in the state of receiving signals, or it can be that after a period of time after the first transmitting module Tx1 starts to transmit the optical signal, the first receiving module Rx1 and the second receiving module Rx2 are in the state of receiving signals. The embodiments of the present application do not limit this.

[0165] Optionally, it can be that after the first transmitting module Tx1 finishes transmitting the optical signal, the first receiving module Rx1 and the second receiving module Rx2 end the state of receiving signals, or it can be that before the first transmitting module Tx1 finishes transmitting the optical signal, the first receiving module Rx1 and the second receiving module Rx2 end the state of receiving signals. The embodiments of the present application do not limit this.

[0166] Through the embodiments of the present application, the transmitting timing is the same as the receiving timing, which can effectively save the transmitting cost of the transceiver device, thereby effectively saving the overall power consumption of the machine, and is beneficial to ensuring the ranging accuracy of the received point cloud, thus improving the detection accuracy of the transceiver device.

[0167] In a possible embodiment, the vertical field of view angle of the first field of view corresponding to the first receiving module Rx1 in the transceiver device shown in any one of the above Figures 3 to 9 is different from the vertical field of view angle of the second field of view corresponding to the second receiving module Rx2.

[0168] Through the embodiments of the present application, the relative positions of the first receiving module Rx1 and the second receiving module Rx2 can be set so that the first field of view and the second field of view are stitched in different ways to improve the vertical resolution of the transceiver device, so that the transceiver device can simultaneously have the performance of a large FoV and a high vertical resolution.

[0169] Optionally, there may also be a situation of a region of interest (ROI) in the region corresponding to the first field of view and the region corresponding to the second field of view as described above. Specifically, as follows:

[0170] The first field of view is included in the second field of view, or the second field of view is included in the first field of view.

[0171] It can be understood that when the first field of view is included in the second field of view, the area corresponding to the first field of view can be regarded as the ROI. By setting the relative positions of the first receiving module Rx1 and the second receiving module Rx2, the first field of view is included in the second field of view to improve the resolution of the ROI (i.e., the area corresponding to the first field of view), so that the transceiver device can simultaneously have the performance of a large FoV and a high resolution of the ROI.

[0172] Alternatively, it can be understood that when the second field of view is included in the first field of view, the area corresponding to the second field of view can be regarded as the ROI. By setting the relative positions of the first receiving module Rx1 and the second receiving module Rx2, the second field of view is included in the first field of view to improve the resolution of the ROI (i.e., the area corresponding to the second field of view), so that the transceiver device can simultaneously have the performance of a large FoV and a high resolution of the ROI.

[0173] In a possible embodiment, the first field of view corresponding to the first receiving module Rx1 and the second field of view corresponding to the second receiving module Rx2 in the transceiver device shown in any of the above Figures 3 to 9 are different. Specifically, the following several situations may exist:

[0174] Situation 1:

[0175] The first receiving module Rx1 includes a first detector and a first receiving optical component, and the second receiving module Rx2 includes a second detector and a second receiving optical component.

[0176] Moreover, the first detector and the second detector are the same, the focal lengths of the first receiving optical component and the second receiving optical component are different, and the first field of view and the second field of view overlap in the angular space.

[0177] Specifically, reference can be made to Figure 11 , Figure 11 which is a schematic diagram of a field of view stitching provided in an embodiment of the present application.

[0178] As Figure 11 shown, the focal length of the first receiving optical component in the first receiving module Rx1 is greater than the focal length of the second receiving optical component in the second receiving module Rx2. Then, the FoV (i.e., the first field of view) covered by the first receiving module Rx1 is smaller and the resolution is higher, which is suitable for long-distance ranging. The FoV (i.e., the second field of view) covered by the second receiving module Rx2 is larger and the resolution is lower, which is suitable for short-distance ranging. The overlapping area of the first field of view and the second field of view can simultaneously meet the detection requirements of a large FoV and a high resolution.

[0179] Optionally, the first field of view and the second field of view overlap in angular space. It can be that the first field of view is included in the second field of view (in this case, the area corresponding to the first field of view can be regarded as the ROI), or the second field of view is included in the first field of view (in this case, the area corresponding to the second field of view can be regarded as the ROI), or the first field of view and the second field of view intersect but there is no inclusion relationship. The embodiments of the present application do not limit this.

[0180] Optionally, in the case where there is an ROI in the overlapping area corresponding to the first field of view and the second field of view, for details, refer to Figure 12 , Figure 12 which is a schematic diagram of field of view stitching provided by the embodiments of the present application.

[0181] As Figure 12 shown, the focal length of the first receiving optical component in the first receiving module Rx1 is greater than the focal length of the second receiving optical component in the second receiving module Rx2. Then, the FoV (i.e., the first field of view) covered by the first receiving module Rx1 is smaller and the resolution is higher, which is suitable for long-distance ranging. The FoV (i.e., the second field of view) covered by the second receiving module Rx2 is larger and the resolution is lower, which is suitable for short-distance ranging. And the first field of view is included in the second field of view (in this case, the area corresponding to the first field of view can be regarded as the ROI), which can improve the resolution of the ROI (i.e., the area corresponding to the first field of view), so that the transceiver device can simultaneously have the performance of a large FoV and a high resolution of the ROI.

[0182] Optionally, it can also be that the focal length of the first receiving optical component in the first receiving module Rx1 is less than the focal length of the second receiving optical component in the second receiving module Rx2. Then, the FoV (i.e., the first field of view) covered by the first receiving module Rx1 is larger and the resolution is lower, which is suitable for short-distance ranging. The FoV (i.e., the second field of view) covered by the second receiving module Rx2 is smaller and the resolution is higher, which is suitable for long-distance ranging. And the overlapping area of the first field of view and the second field of view can simultaneously meet the detection requirements of a large FoV and a high resolution.

[0183] Optionally, the first field of view and the second field of view overlap in angular space. It can be that the first field of view is included in the second field of view (in this case, the area corresponding to the first field of view can be regarded as the ROI), or the second field of view is included in the first field of view (in this case, the area corresponding to the second field of view can be regarded as the ROI), or the first field of view and the second field of view intersect but there is no inclusion relationship. The embodiments of the present application do not limit this.

[0184] Optionally, the first receiving module Rx1 and the second receiving module Rx2 in the embodiments of the present application can share the same backend system-on-chip (SoC) chip, or can be respectively connected to two different backend SoC chips. The embodiments of the present application do not limit this.

[0185] Case 2:

[0186] The first receiving module Rx1 includes a first detector and a first receiving optical component, and the second receiving module Rx2 includes a second detector and a second receiving optical component.

[0187] Moreover, the focal lengths of the first receiving optical component and the second receiving optical component are the same. The first detector is offset relative to the optical center of the first receiving optical component, and the second detector is offset relative to the optical center of the second receiving optical component. The first field of view and the second field of view are continuous and non-overlapping in angular space.

[0188] Alternatively, the focal lengths of the first receiving optical component and the second receiving optical component are the same. The optical axes of the first receiving module and the second receiving module are not parallel. The first field of view and the second field of view are continuous and non-overlapping in angular space.

[0189] Specifically, refer to Figure 13 , Figure 13 which is a schematic diagram of field of view stitching provided by an embodiment of the present application.

[0190] As Figure 13 shown, the focal lengths of the first receiving optical component in the first receiving module Rx1 and the second receiving optical component in the second receiving module Rx2 are the same. The FoV (i.e., the first field of view) covered by the first receiving module and the FoV (i.e., the second field of view) covered by the second receiving module are both relatively small and the resolutions are both high. By setting the detector eccentrically relative to the receiving optical component, or by setting the two receiving modules to tilt in different directions, the first field of view and the second field of view can be made continuous and non-overlapping in angular space, that is, the first field of view and the second field of view are seamlessly stitched in angular space to form a larger FoV, so that the transceiver device can simultaneously have the performance of a large FoV and high resolution.

[0191] Optionally, for the method of setting the detector eccentrically relative to the receiving optical component, specifically refer to Figure 14 , Figure 14 which is a schematic structural diagram of a receiving module provided by an embodiment of the present application.

[0192] As Figure 14As shown, the focal lengths of the first receiving optical component in the first receiving module Rx1 and the second receiving optical component in the second receiving module Rx2 are the same. The first detector in the first receiving module Rx1 is offset relative to the optical center of the first receiving optical component. Specifically, it can be offset upward relative to the optical center, such that the first field of view faces downward. The second detector in the second receiving module Rx2 is offset relative to the optical center of the second receiving optical component. Specifically, it can be offset downward relative to the optical center, such that the second field of view faces upward, and the first field of view and the second field of view are continuous and non-overlapping in angular space to meet the requirements of the application scenario for different fields of view and different resolutions, so that the transceiver device can simultaneously have the performance of a large FoV and high resolution.

[0193] Optionally, for the manner in which the two receiving modules are inclined in different directions, specific reference can be made to Figure 15 , Figure 15 which is a schematic structural diagram of a receiving module provided by an embodiment of the present application.

[0194] As Figure 15 shown, the focal lengths of the first receiving optical component in the first receiving module Rx1 and the second receiving optical component in the second receiving module Rx2 are the same. The optical axes of the first receiving module Rx1 and the second receiving module Rx2 are inclined in different directions respectively. Specifically, the optical axis of the first receiving module Rx1 can be inclined upward, that is, the first detector and the first receiving optical component are rotated counterclockwise as a whole, such that the first field of view faces downward, and the optical axis of the second receiving module Rx2 is inclined downward, that is, the second detector and the second receiving optical component are rotated clockwise as a whole, such that the second field of view faces upward, making their optical axes non-parallel, and the first field of view and the second field of view are continuous and non-overlapping in angular space to meet the requirements of the application scenario for different fields of view and different resolutions, so that the transceiver device can simultaneously have the performance of a large FoV and high resolution.

[0195] Case three:

[0196] The first receiving module Rx1 includes a first detector and a first receiving optical component, and the second receiving module Rx2 includes a second detector and a second receiving optical component.

[0197] Moreover, the first receiving module Rx1 and the second receiving module Rx2 are the same. There is a first offset between the first detector and the second detector, and the first offset is N + 0.5 pixels. The first field of view and the second field of view overlap in angular space, where N is the number of channels in the non-overlapping interval.

[0198] Specific reference can be made to Figure 16 , Figure 16 which is a schematic diagram of field of view stitching provided by an embodiment of the present application.

[0199] As Figure 16As shown, the first receiving module Rx1 and the second receiving module Rx2 are the same. The FoV (i.e., the first field of view) covered by the first receiving module Rx1 and the FoV (i.e., the second field of view) covered by the second receiving module are both relatively large, and the resolutions are both relatively low. By setting a 0.5-pixel offset of the first detector relative to the second detector, the first field of view and the second field of view can overlap in the angular space, and the resolution of the overlapping area can be increased by at least a factor of two, so that the transceiver device can simultaneously have the performance of a large FoV and a high resolution.

[0200] Optionally, Figure 16 The 0.5-pixel offset setting of the first detector relative to the second detector shown should not be used to limit the embodiments of the present application. In fact, it can be an (N + 0.5)-pixel offset setting of the first detector relative to the second detector, where N is the number of channels in the non-overlapping interval, and the embodiments of the present application do not limit this.

[0201] It can be understood that the first receiving module Rx1 and the second receiving module Rx2 are the same, which can be understood as two receiving modules developed based on the same SPAD model. When the two receiving modules are assembled, the first detector in the first receiving module Rx1 has an (N + 0.5)-pixel offset relative to the second detector in the second receiving module Rx2, so that the first field of view corresponding to the first receiving module Rx1 and the second field of view corresponding to the second receiving module Rx2 overlap in the angular space to meet the requirements of different fields of view and different resolutions in the application scenario, so that the transceiver device can simultaneously have the performance of a large FoV and a high resolution.

[0202] Case 4:

[0203] The first field of view and the second field of view overlap in the angular space. The first receiving module Rx1 includes a first detector and a first receiving optical component, and the second receiving module Rx2 includes a second image sensor chip and a second receiving optical component.

[0204] Alternatively, the first field of view and the second field of view overlap in the angular space. The first receiving module Rx1 includes a first image sensor chip and a first receiving optical component, and the second receiving module Rx2 includes a second detector and a second receiving optical component.

[0205] Specifically, reference can be made to Figure 17 , Figure 17 which is a schematic diagram of field of view stitching provided by the embodiments of the present application.

[0206] As Figure 17As shown, the first receiving module Rx1 includes a first detector and a first receiving optical component, and is a receiving module based on direct time of flight (DToF). The second receiving module Rx2 includes a second image sensor chip and a second receiving optical component, and is a receiving module based on image sensing. Moreover, the first field of view corresponding to the first receiving module Rx1 and the second field of view corresponding to the second receiving module Rx2 overlap in the angular space to meet the requirements of the application scenario for different fields of view and different resolutions, so that the transceiver device can simultaneously have the performance of a large FoV and high resolution.

[0207] Optionally, Figure 17 It is shown that the first receiving module Rx1 is a receiving module based on DToF, and the second receiving module Rx2 is a receiving module based on image sensing. This should not limit the embodiments of the present application. In fact, it may also be that the first receiving module Rx1 is a receiving module based on image sensing, and the second receiving module Rx2 is a receiving module based on DToF. The embodiments of the present application do not limit this.

[0208] Exemplarily, the first receiving module Rx1 includes a first image sensor chip and a first receiving optical component, and is a receiving module based on image sensing. The second receiving module Rx2 includes a second detector and a second receiving optical component, and is a receiving module based on DToF. Moreover, the first field of view corresponding to the first receiving module Rx1 and the second field of view corresponding to the second receiving module Rx2 overlap in the angular space to meet the requirements of the application scenario for different fields of view and different resolutions, so that the transceiver device can simultaneously have the performance of a large FoV and high resolution.

[0209] Optionally, the above-mentioned receiving module based on image sensing may specifically be a receiving module based on high-resolution linear red green blue (RGB), or may be a receiving module based on near-infrared (NIR) high resolution, or may be a receiving module based on other high-resolution image sensors. The embodiments of the present application do not limit this.

[0210] It can be understood that the fields of view corresponding to the two receiving modules overlap in angular space. One of the receiving modules is a receiving module based on direct time of flight (DToF), and the other receiving module is a receiving module based on image perception. The overlapping FoVs (i.e., the first field of view and the second field of view) covered by the two receiving modules are relatively large. The resolution corresponding to the DToF-based receiving module is relatively low. By using the image perception-based receiving module, the resolution corresponding to the overlapping field of view can be improved, that is, the resolution corresponding to the DToF-based receiving module can be improved, so that the transceiver device can simultaneously have the performance of a large FoV and high resolution. In addition, when the two receiving modules share the same whole machine, the relative alignment of the receiving modules during factory production, high and low temperature, and aging can be ensured, realizing the fusion of LiDAR and Camera, and improving the system resolution.

[0211] In a possible embodiment, the transceiver device described above Figures 3 to 9 as shown in any one of the above can be applied to a vehicle.

[0212] When the vehicle speed is greater than a first value, the first receiving module Rx1 in the transceiver device turns on to receive optical signals, and the second receiving module Rx2 in the transceiver device turns off to receive optical signals. The first field of view corresponding to the first receiving module Rx1 is smaller than the second field of view corresponding to the second receiving module Rx2.

[0213] When the vehicle speed is less than a second value, the first receiving module Rx1 in the transceiver device turns off to receive optical signals, and the second receiving module Rx2 in the transceiver device turns on to receive optical signals. The second value is less than or equal to the first value.

[0214] Specifically, reference can be made to Figure 18 , Figure 18 which is a schematic diagram of a working mode of a receiving module provided in an embodiment of the present application.

[0215] As Figure 18 shown, when the transceiver device is applied to a vehicle, in the application scenarios of high-speed or low-speed driving of the vehicle, the working modes of the first receiving module Rx1 and the second receiving module Rx2 are different, and support switching of the working modes according to different requirements of the application scenarios.

[0216] Among them, a possible working mode is that in the mode of high-speed driving of the vehicle, the first receiving module Rx1 corresponding to the relatively small covered FoV (i.e., the first field of view) turns on to receive optical signals, with a relatively high resolution, suitable for long-distance ranging, and the second receiving module Rx2 corresponding to the relatively large covered FoV (i.e., the second field of view) turns off to receive optical signals.

[0217] In the mode of low-speed vehicle driving, the second receiving module Rx2 corresponding to covering a larger FoV (i.e., the second field of view) turns on the reception of optical signals, with a lower resolution, suitable for short-distance ranging, and the first receiving module Rx1 corresponding to covering a smaller FoV (i.e., the first field of view) turns off the reception of optical signals.

[0218] It can be understood that in the application scenarios of high-speed or low-speed vehicle driving, the first value and the second value can be used as the boundary for dividing high speed and low speed. When the vehicle speed is greater than the first value, it is determined as high-speed driving, and when the vehicle speed is less than the second value, it is determined as low-speed driving, and the second value is less than or equal to the first value. The embodiments of the present application do not limit this.

[0219] Through the embodiments of the present application, the requirements for different fields of view and different resolutions in the application scenarios can be met, and the system computing power overhead can be effectively reduced.

[0220] Optionally, in the embodiments of the present application, only taking the transceiver device shown in any one of the above Figures 3 to 9 as an example applied to a vehicle, the working modes of the first receiving module Rx1 and the second receiving module Rx2 in different application scenarios are described. The transceiver device shown in any one of the above Figures 3 to 9 can also be applied to other terminals or scenarios. It can be a transportation tool, such as a vehicle used in any possible scenario such as an aircraft, a drone, a slow moving vehicle, a spacecraft, or a ship, or it can be a surveying and mapping device or any device that can carry a detection device. One or more of the transceiver devices shown in any one of the above Figures 3 to 9 are deployed on the terminal.

[0221] The present application provides a chip, and the chip includes the transceiver device provided by the present application.

[0222] The present application provides a radar or a radar system, and the radar or the radar system includes the transceiver device provided by the present application or the above chip.

[0223] In a possible implementation manner, the radar includes, but is not limited to, a lidar, etc.

[0224] In a possible implementation manner, there may be an intelligent sensor integrating multiple sensors. In the case where the above intelligent sensor includes, but is not limited to, a laser detection function, etc., the above intelligent sensor can also be called a radar or a radar system.

[0225] The present application also provides a terminal device, which includes the transceiver device, chip, radar or radar system provided by the present application. For example, the terminal device may be a transportation vehicle, such as a vehicle, truck, aircraft, drone, slow transport vehicle, spacecraft, or ship, etc., a transportation vehicle used in any possible scenario, or may also be a surveying and mapping device or any device that can carry a detection device. One or more transceiver devices, chips, radars or radar systems provided by the present application are deployed on the terminal device.

[0226] As described above, the above are only specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present application, and all of them should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A transceiver device, characterized in that, The transceiver device includes: A first transmitting module, a first receiving module, a second receiving module, and a scanning module; Wherein, the first transmitting module and the first receiving module are located on one side of the scanning module, and the second receiving module is located on the other side of the scanning module; The first transmitting module is configured to transmit a first optical signal; The scanning module is configured to propagate the first optical signal to the object space; The scanning module is further configured to propagate a second optical signal from the object space to the first receiving module, and / or propagate a third optical signal from the object space to the second receiving module, where the second optical signal and the third optical signal include echoes of the first optical signal; The first field of view corresponding to the first receiving module and the second field of view corresponding to the second receiving module are different.

2. The device according to claim 1, wherein The first optical signal, the second optical signal, and the third optical signal are parallel to each other.

3. The device according to claim 1 or 2, characterized in that, The vertical field of view angles of the first field of view and the second field of view are different.

4. The device according to any one of claims 1 to 3, characterized in that The first field of view is included in the second field of view, or the second field of view is included in the first field of view.

5. The device according to any one of claims 1 to 4, characterized in that The first transmitting module is disposed above the first receiving module, or the first receiving module is disposed above the first transmitting module, or the first transmitting module and the first receiving module are horizontally arranged.

6. The device according to any one of claims 1 to 5, characterized in that, The scanning module is a multi-faceted scanning mirror; The multi-faceted scanning mirror is a four-sided polygon scanning mirror.

7. The device according to any one of claims 1 to 6, characterized in that The transceiver device further includes at least one of the following: A first reflecting mirror and a second reflecting mirror; The first reflecting mirror is configured to propagate the first optical signal emitted by the first transmitting module to the scanning module, and the first reflecting mirror is further configured to propagate the second optical signal from the scanning module to the first receiving module; The second reflecting mirror is configured to propagate the third optical signal from the scanning module to the second receiving module.

8. The device according to any one of claims 1 to 7, characterized in that, The emission timing of the first optical signal is the same as the reception timing of the second optical signal and the reception timing of the third optical signal.

9. The device according to any one of claims 1 to 8, characterized in that, The first receiving module includes a first detector and a first receiving optical component, and the second receiving module includes a second detector and a second receiving optical component.

10. The device according to claim 9, characterized in that, The first detector and the second detector are the same, the focal lengths of the first receiving optical component and the second receiving optical component are different, and the first field of view and the second field of view overlap in angular space.

11. The device according to claim 9, characterized in that The focal lengths of the first receiving optical component and the second receiving optical component are the same, the first detector is offset with respect to the optical center of the first receiving optical component, the second detector is offset with respect to the optical center of the second receiving optical component, and the first field of view and the second field of view are continuous and non-overlapping in angular space; Or, the focal lengths of the first receiving optical component and the second receiving optical component are the same, the optical axes of the first receiving module and the second receiving module are not parallel, and the first field of view and the second field of view are continuous and non-overlapping in angular space.

12. The device according to claim 9, characterized in that, The first receiving module and the second receiving module are the same. There is a first offset between the first detector and the second detector, and the first offset is N + 0.5 pixels. The first field of view and the second field of view overlap in angular space, where N is the number of channels in the non-overlapping interval.

13. The device according to any one of claims 1 to 8, characterized in that, The first field of view and the second field of view overlap in angular space. The first receiving module includes a first detector and a first receiving optical component, and the second receiving module includes a second image sensor chip and a second receiving optical component; or the first receiving module includes a first image sensor chip and a first receiving optical component, and the second receiving module includes a second detector and a second receiving optical component.

14. The device according to any one of claims 1 to 13, characterized in that, The transceiver device is applied to a vehicle; When the vehicle speed is greater than a first value, the first receiving module turns on to receive the optical signal, the second receiving module turns off to receive the optical signal, and the first field of view is smaller than the second field of view; When the vehicle speed is less than a second value, the first receiving module turns off to receive the optical signal, the second receiving module turns on to receive the optical signal, and the second value is less than or equal to the first value.

15. A chip, characterized in that, The chip includes the transceiver device according to any one of claims 1 to 14.

16. A radar, characterized in that, The radar includes the transceiver device according to any one of claims 1 to 14, or the chip according to claim 15.

17. A terminal device, characterized in that, The terminal device includes the transceiver device according to any one of claims 1 to 14, or the chip according to claim 15, or the radar according to claim 16.

18. A car end, characterized in that, The vehicle end includes the transceiver device according to any one of claims 1 to 14, or the chip according to claim 15, or the radar according to claim 16, or the terminal device according to claim 17.

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