Transmitting device, detecting device and terminal

Abstract

The transmitting device, the detection device and the terminal can be applied to the fields of detection, intelligent surveying and mapping, intelligent driving and the like. Wherein the transmitting device comprises a first transmitting module, a second transmitting module, a circuit board and a first optical module, the first transmitting module and the second transmitting module are electrically connected with the circuit board and arranged on one side of the circuit board, and the first optical module is placed between the first transmitting module and the second transmitting module. The first emitting module and the second emitting module emit light beams in different directions, and the first optical module can turn the direction of the light beams from the first emitting module, so that the light sources in different light emitting directions can emit light in the same direction. Furthermore, the first module is arranged between the first transmitting module and the second transmitting module, so that the distance between the reflected light beam and the light beam from the second transmitting module is closer, the light emitting gap of the transmitting device under the condition of multi-light-source light emitting is reduced, and the view blind area is reduced.

Description

A transmitting device, a detecting device and a terminal Technical Field

[0001] The present application relates to detection technology, which is applied to the fields of intelligent driving, intelligent transportation, surveying and mapping, intelligent manufacturing, etc., and in particular to a transmitting device, a detection device and a terminal. Background Art

[0002] With the development of information technology, detection technology has made rapid progress. A wide variety of detection devices have brought great convenience to people's lives and travel. For example, advanced driving assistance systems (ADAS) play a crucial role in smart cars. They utilize on-board detection devices to monitor the surrounding environment while the vehicle is in motion, collect data, identify stationary and moving objects, and perform systematic calculations and analysis based on navigation map data. This allows the driver to proactively detect potential dangers, effectively improving driving comfort and safety. Detection devices can be thought of as the "eyes" that perceive the environment. They include vision sensors such as cameras and radar sensors such as millimeter-wave radar, lidar, and ultrasonic radar.

[0003] Among them, Lidar (light detection and ranging) has the advantages of high resolution, good detection performance, and strong concealment, making it one of the most important detection devices in the field of perception. Lidar is a technology that transmits a detection signal and obtains relevant information about the target (such as the target's position, shape, or speed characteristics) by receiving the echo reflected by the target. To improve detection efficiency, the transmitter of Lidar often needs to be equipped with multiple lasers. However, there are gaps in the field of view between the light beams emitted by multiple lasers, resulting in a discontinuous transmission field of view at the transmitter. The gaps between the fields of view will form blind spots, seriously affecting detection performance.

[0004] How to reduce the blind spots of the laser radar field of view is an urgent problem to be solved by those skilled in the art.

[0005] Summary of the Invention

[0006] The embodiments of the present application provide a transmitting device, a detecting device, and a terminal, which can use a mixed light source for detection, reduce the blind spot of the field of view of the detecting device, and enhance the detection performance.

[0007] In a first aspect, an embodiment of the present application provides a transmitting device, including a first transmitting module, a second transmitting module, a circuit board, and a first optical module:

[0008] The first emission module and the second emission module are electrically connected to the circuit board and are arranged on one side of the circuit board, and the first optical module is placed between the first emission module and the second emission module;

[0009] The first emission module is used to emit a first light beam, and the first light beam is parallel to the circuit board;

[0010] The second emission module is used to emit a second light beam, and the direction of the second light beam is away from the circuit board;

[0011] The first optical module is used to change the direction of the first light beam to obtain a third light beam, and the direction of the third light beam is away from the circuit board.

[0012] In the embodiment of the present application, the light emitting direction of the first emission module is parallel to the direction of the circuit board, and the light emitting direction of the second emission module is away from the circuit board. By setting an optical module between the first emission module and the second emission module (for convenience of distinction, it is called the first optical module), the direction of the first light beam can be folded, so that the direction of the first light beam is also toward the direction away from the circuit board, thereby realizing the same-direction light emission using light sources with different light emitting directions (i.e., mixed light sources). Furthermore, the first optical module is set between the first emission module and the second emission module. After the first light beam changes direction after passing through the first optical module, the distance between the third light beam and the second light beam is reduced compared to the distance between the first emission module and the second emission module, so that the distance between the third light beam and the second light beam is closer. Without reducing the distance between the first emission module and the second emission module, the light emitting gap of the emission device in the case of multiple light sources emitting light can be reduced, the blind spot of the field of view can be reduced, the detection efficiency can be improved, and the detection performance can be enhanced.

[0013] In a possible implementation of the first aspect, the first emission module includes an edge-emitting laser, and the second emission module includes a vertical surface emitter laser.

[0014] When a vertical surface emitter is mounted on a circuit board, the light-emitting surface is parallel to the circuit board surface, and therefore, the light is emitted away from the circuit board. Vertical surface emitters include, but are not limited to, vertical cavity surface emitting lasers (VCSELs) and photonic crystal surface emitting semiconductor lasers (PCSELs).

[0015] When an edge-emitting laser (EEL) is mounted on a circuit board, the light-emitting surface is the side of the laser, and therefore, its light-emitting direction is parallel to the circuit board. Alternatively, the EEL can be replaced with other devices that emit light at the edge of the light-emitting element, such as silicon photonic chips.

[0016] In another possible implementation of the first aspect, the optical axis of the third light beam is coaxial with the optical axis of the second light beam. The coaxial light beams emitted by the transmitting end can reduce the aperture of the optical lens, reduce the complexity of the device design, and improve the stability of the optical path.

[0017] In another possible implementation of the first aspect, the optical axis of the third light beam is deflected toward the first emission module compared to the optical axis of the second light beam. By slightly deflecting the third light beam toward the first emission module, the angle between the third light beam and the second light beam can be reduced, or the third light beam and the second light beam can be parallel but with a smaller separation.

[0018] In another possible implementation of the first aspect, a distance between the third light beam and the second light beam is smaller than a distance from the first emission module to the second emission module.

[0019] In another possible implementation of the first aspect, the transmitting device further includes a lens configured to process the third light beam to obtain a fourth light beam, and to process the second light beam to obtain a fifth light beam. By emitting the second and third light beams through the same lens, the size of the transmitting device can be reduced, thereby improving device integration.

[0020] In another possible implementation manner of the first aspect, the fourth light beam and the fifth light beam have continuous fields of view.

[0021] Alternatively, the field of view gap between the fourth light beam and the fifth light beam is smaller than a first angle, where the first angle is the angle between the first emitting module and the second emitting module relative to the lens.

[0022] Continuous field of view or reduced field of view gaps can further reduce blind spots, thereby improving detection efficiency and the reliability of detection results.

[0023] As a possible implementation, the field of view gap between the fourth and fifth light beams is related to the distance between the second transmitting module and the first optical module. This configuration allows the field of view gap at the transmitting end to be controlled by adjusting the distance between the first and second transmitting modules. Manufacturers or developers can flexibly adjust the position of the first optical module based on their needs, improving the compatibility of the transmitting device with different scenarios.

[0024] In another possible implementation of the first aspect, the second transmitting module is located in the focal plane of the lens. In this implementation, the light beam emitted by the second transmitting module has good collimation when passing through the lens, thereby increasing the maximum detection distance of the detection device and ensuring the long-range detection capability.

[0025] In another possible implementation of the first aspect, the first optical module includes a reflective surface configured to redirect the first light beam to produce a third light beam, wherein the first reflective surface has a convex spherical mirror surface. The convex spherical surface compensates for relative defocus of the first transmitting module, thereby improving the collimation of the third light beam and enhancing range finding capability.

[0026] Optionally, the defocus of the first transmitting module is related to the distance between the first optical module and the first transmitting module. With this arrangement, the defocus of the first transmitting module can be controlled by adjusting the distance between the first optical module and the first transmitting module. Manufacturers or developers can flexibly set the position of the first optical module as needed, thereby improving the compatibility of the transmitting device with different scenarios.

[0027] In another possible implementation of the first aspect, the maximum detection range of the first light beam is less than the maximum detection range of the second light beam. With this configuration, the light beam emitted by the second emission module can detect blind spots created during long-range detection, thereby improving the short-range detection capability of the detection device and enhancing the detection performance of the detection device.

[0028] In another possible implementation of the first aspect, the first transmitting module and the second transmitting module are configured to transmit light beams in a time-sharing manner, with the first and second light beams being emitted at different times. This arrangement staggers the emission times of the first and second light beams, thereby minimizing interference when detecting targets within different fields of view.

[0029] In another possible implementation manner of the first aspect, the first emission module is configured to emit the first light beam in a first time period;

[0030] The second emission module is used to emit the second light beam in a second time period, and the first time period and the second time period do not overlap;

[0031] The second emission module is further configured to emit a sixth light beam during the first time period, and the maximum detection distance of the sixth light beam is smaller than the maximum detection distance of the second light beam.

[0032] In this implementation, not only is the time isolation between long-range and short-range detection achieved, but also short-range detection over a wider range is achieved, thereby further improving detection efficiency, enhancing the short-range detection capability of the detection device, and enhancing detection performance.

[0033] In another possible implementation of the first aspect, the first emission module includes N first lasers, and the second emission module includes M second lasers, where N and M are integers and N>0, M>0;

[0034] The first transmitting module and the second transmitting module are distributed along a first direction;

[0035] The first emission module includes N first lasers, and the second emission module includes M second lasers, where N and M are integers and N>1, M>1;

[0036] In a second direction, the N first lasers are arranged at intervals, and the second direction is perpendicular to the first direction;

[0037] In the second direction, the N second lasers are arranged at intervals;

[0038] The transmitting device further includes a light homogenizing component, which is used to homogenize the light beam from the first transmitting module and the light beam from the second transmitting module in the second direction.

[0039] In a second aspect, an embodiment of the present application further provides a detection device, which includes a transmitting device and a detector, and the laser transmitter includes the transmitting device described in the first aspect or any possible implementation manner of the first aspect.

[0040] The first transmitting module in the transmitting device is used to transmit a first light beam, and the second transmitting module in the transmitting device is used to transmit a second light beam;

[0041] The detector is used to receive the echo signal corresponding to the first light beam and the echo signal corresponding to the second light beam.

[0042] In a third aspect, an embodiment of the present application further provides a terminal, which includes the transmitting device described in the first aspect or any item of the first aspect, or includes the detecting device described in the second aspect.

[0043] Optionally, the terminal can be an intelligent terminal or transportation tool such as a vehicle, a drone, or a robot.

[0044] Some of the beneficial effects of the second to third aspects of this application can refer to the beneficial effects of the first aspect, and will not be described one by one here. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The following is a brief introduction to the drawings used in describing the embodiments.

[0046] FIG1 is a schematic diagram of a transmitting field of view and a receiving field of view of a detection device;

[0047] FIG2 is a transmitting end including multiple light sources;

[0048] FIG3 is a schematic diagram of an optical path of a transmitting end;

[0049] FIG4 is a schematic structural diagram of a transmitting device provided in an embodiment of the present application;

[0050] FIG5 is a schematic diagram of a transmitting end field of view provided in an embodiment of the present application;

[0051] FIG6 is a schematic structural diagram of another transmitting device provided in an embodiment of the present application;

[0052] FIG7 is a schematic structural diagram of another transmitting device provided in an embodiment of the present application;

[0053] FIG8 is a schematic structural diagram of another transmitting device provided in an embodiment of the present application;

[0054] FIG9 is a schematic diagram of a beam distance provided in an embodiment of the present application;

[0055] FIG10 is a schematic diagram of another beam distance provided in an embodiment of the present application;

[0056] FIG11 is a schematic diagram of an optical path provided in an embodiment of the present application;

[0057] FIG12 is a schematic structural diagram of another transmitting device provided in an embodiment of the present application;

[0058] FIG13 is a schematic structural diagram of another transmitting device provided in an embodiment of the present application;

[0059] FIG14 is a schematic diagram of a detection range provided in an embodiment of the present application;

[0060] FIG15 is a schematic diagram of a light-emitting timing provided by an embodiment of the present application;

[0061] FIG16 is a schematic diagram of another light-emitting timing provided in an embodiment of the present application;

[0062] FIG17 is a schematic structural diagram of another transmitting device provided in an embodiment of the present application;

[0063] FIG18 is a schematic structural diagram of a possible transmitting device provided in an embodiment of the present application;

[0064] FIG19 is a schematic structural diagram of another transmitting device provided in an embodiment of the present application;

[0065] FIG20 is a schematic diagram of the field of view of a transmitting device provided in an embodiment of the present application;

[0066] FIG21 is a schematic structural diagram of another transmitting device provided in an embodiment of the present application;

[0067] FIG22 is a schematic structural diagram of another transmitting device provided in an embodiment of the present application;

[0068] Figure 23 is a structural schematic diagram of another transmitting device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0069] The embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

[0070] For ease of understanding, the following examples provide some explanations of concepts related to the embodiments of the present application for reference.

[0071] 1. Detection device

[0072] The detection device mentioned in the embodiments of the present application can be a laser radar or other optical detection device, such as a fusion detection device (for example, a detection device integrating a radar detector and an image sensor). Its working principle is to detect targets within the field of view by emitting a detection signal and receiving an echo.

[0073] As a possible usage scenario, the detection device in the embodiment of the present application can be used in various fields such as intelligent driving, intelligent transportation, intelligent manufacturing, environmental detection, surveying and mapping, drones, etc., and can complete one or more functions of target detection, distance measurement, speed measurement, target tracking, imaging recognition, etc.

[0074] As a possible application location, the detection device in the embodiments of the present application can be applied to a vehicle-mounted detection device (e.g., a vehicle-mounted radar), a roadside detection device (e.g., an intersection radar), etc. It can also be applied to other detection devices, such as detection devices installed on drones, robots, rail cars, bicycles, traffic lights, speed measuring devices, or base stations. This application does not limit the location where the detection device is installed.

[0075] 2. Field of view (FOV)

[0076] There needs to be a line of sight (LOS) between the transmitter of the detection device and the target object, and / or between the receiver of the detection device and the target object, where the signal (e.g., radio waves, laser) can be transmitted uninterruptedly. This line of sight can be understood as the field of view, or field of view.

[0077] In some scenarios, the angle between the two edges of the maximum range through which the image of the object can pass through the lens, with the lens of an optical instrument as the vertex, is called the field of view. The field of view angle determines the visual field of the optical instrument; a larger field of view angle means a wider field of view.

[0078] In the embodiment of the present application, the field of view angle in the vertical direction refers to the angle formed by two edges of the maximum range that can be detected in the vertical direction.

[0079] The above description of technical terms may be optionally used in the following embodiments.

[0080] The detection principle of the detection device is: the transmitting end transmits the detection signal into the object space so that the target in the object space can be illuminated by the detection signal; the receiving end can receive the echo signal formed by the reflection of the detection signal on the target, and measure the relevant information of the target based on the echo signal.

[0081] Because the power of the signal emitted by a detection device is typically limited, when detecting targets at greater distances, the emitted detection signal must be highly collimated and have a narrow divergence angle. This results in poor coverage of the detection signal at close range, resulting in a large near-field blind spot. This blind spot significantly reduces the detection device's close-range detection capabilities, especially when the transmitter and receiver are off-axis.

[0082] Please refer to Figure 1. Figure 1 is a schematic diagram of the transmitting field of view and receiving field of view of a detection device. The transmitting end and the receiving end are respectively located at the two ends of the detection device. The transmitting field of view is the object space covered by the detection signal emitted by the transmitting end, and the receiving field of view is the object space where the receiving end can receive light. Since the receiving end can only receive the echo signal of the detection signal in the object space covered by the detection signal, the overlapping area of ​​the transmitting field of view and the receiving field of view is the effective detection range of the detection device. It can be seen that the starting position of the overlapping area is at a position far away from the detection device. In the close-range object space before the overlapping area, the receiving end cannot receive the echo signal of the detection signal, thus forming a blind spot in the field of view. The greater the off-axis degree of the transmitting end and the receiving end, the larger the close-range blind spot will be, affecting the detection efficiency.

[0083] To improve detection efficiency, the transmitting end of a detection device often needs to be equipped with multiple laser emission modules. Multiple emission modules can form multiple emission fields of view, which can improve detection efficiency to a certain extent. Please refer to Figures 2 and 3. Figure 2 shows an emission end including multiple light sources, and Figure 3 is a schematic diagram of the optical path of the emission end. Providing two emission modules (i.e., emission module 1 and emission module 2) at the transmitting end of the detection device can increase the field of view of the emission end, thereby increasing the effective detection range. However, the emission modules need to be electrically isolated, which means that there is still a gap between the multiple emission modules, so there will still be a field of view gap between the light beams emitted by the multiple emission modules. As shown in Figure 3, the light beams from emission module 1 and emission module 2 reach the field of view after passing through the lens (where the dotted line is an exemplary lens principal optical axis). In the field of view, there is still a field of view gap between the light beams from emission module 1 and emission module 2, which is represented by the angle γ. Due to the need to achieve electrical isolation between the emission modules, this field of view gap cannot be reduced by shortening the distance between the two emission modules. However, the field of view gap γ makes the field of view of the transmitter discontinuous, and there are still blind spots in the field of view, which affects the detection performance.

[0084] In view of this, the embodiments of the present application provide a transmitting device, a detecting device and a terminal, which can use a mixed light source for detection, reduce the blind spot of the field of view of the detecting device, and enhance the detection performance.

[0085] The following is a detailed description of the embodiments of the present application.

[0086] Please refer to Figure 4, which is a schematic diagram of the structure of a possible transmitting device provided in an embodiment of the present application. The transmitting device 40 may include a first transmitting module 401, a second transmitting module 402, a circuit board 403, and a first optical module 404. The first transmitting module 401 and the second transmitting module 402 are connected to the same circuit board 403.

[0087] A circuit board is a support for electronic components. Conductors in the circuit board serve as circuits connecting electronic devices, including but not limited to printed circuit boards (PCBs) and flexible printed circuit boards (FPCs).

[0088] Optionally, the first transmitting module 401 and the second transmitting module 402 may be electronic devices, and both are electrically connected to the circuit board 403 .

[0089] Alternatively, the first transmitting module 401 , the second transmitting module 402 and the circuit board 403 are electrically isolated. In this case, the first transmitting module 401 and the second transmitting module 402 can be fixed on the circuit board 403 , but are not necessarily electrically connected to the circuit board 403 .

[0090] Alternatively, the circuit board may be replaced by a substrate, and the substrate may not contain conductors for transmitting electrical signals. The first transmitting module and the second transmitting module may be fixed on the substrate.

[0091] The first emission module 401 is used to emit a first light beam, and the first light beam is parallel to the circuit board 403. As shown in FIG4 , the first light beam is represented by an arrow marked 1 .

[0092] The second emission module 402 is used to emit a second light beam, which is directed away from the circuit board 403. As shown in FIG4 , the second light beam is represented by an arrow marked 2. For example, the direction of the second light beam is perpendicular to the circuit board.

[0093] The first optical module 404 is used to change the direction of the first light beam to obtain a third light beam, and the direction of the third light beam is away from the circuit board. As shown in FIG4 , the third light beam is represented by an arrow marked 3 .

[0094] In an embodiment of the present application, the light emitting direction of the first emitting module is parallel to the direction of the circuit board, and the light emitting direction of the second emitting module is away from the circuit board. By setting a first optical module between the first emitting module and the second emitting module, the direction of the first light beam can be folded, so that the direction of the first light beam is also toward the direction away from the circuit board, thereby realizing the same-directional light emission using light sources with different light emitting directions (i.e., mixed light sources).

[0095] Optionally, the first optical module 404 is arranged between the first emission module 401 and the second emission module 402. In this way, after the first light beam changes direction after passing through the first optical module, the distance between the third light beam and the second light beam is reduced compared to the distance between the first emission module and the second emission module, so that the distance between the third light beam and the second light beam is closer. Without reducing the distance between the first emission module and the second emission module, the light emission gap of the emission device can be reduced when multiple light sources are emitted, reducing the blind spot of the field of view, improving the detection efficiency, and enhancing the detection performance. In addition, by providing the first optical module 404, the distance between the first emission module 401 and the second emission module 402 can no longer be strictly limited, thereby making the isolation space of the light source driving circuit larger and improving the flexibility of the circuit board circuit design.

[0096] Please refer to Figure 5, which is a schematic diagram of the field of view of a transmitter provided in an embodiment of the present application. The first light beam emitted by the first transmitting module 401 is deflected by the first optical module 404 to produce a third light beam. The FOV of the first light beam (the third light beam) is shown as the shaded area. The FOV of the second light beam emitted by the second transmitting module 402 is shown as the spotted area. It can be seen that the third light beam is oriented in the same direction as the second light beam and is significantly closer, reducing blind spots in the field of view.

[0097] In summary, the emitting device 40 can realize detection with a hybrid light source as the emitting end, reduce the blind spot of the field of view of the detection device, and enhance the detection performance.

[0098] It should be understood that the x, y, and z coordinates shown in the various embodiments of the present application are exemplary identifiers made to facilitate understanding and are not intended to limit the embodiments of the present application.

[0099] Based on the transmitter shown in FIG4 , some possible designs are provided below. The following various designs can be implemented individually or in combination. For ease of understanding, the combined implementation will be described below as an example. Below, some possible designs are introduced separately.

[0100] As a possible design, the first emitting module includes an edge emitting laser, and the second emitting module includes a vertical surface emitter laser.

[0101] When a vertical surface emitter is mounted on a circuit board, the light-emitting surface is parallel to the circuit board surface, and therefore, the light is emitted away from the circuit board. Vertical surface emitters include, but are not limited to, vertical cavity surface emitting lasers (VCSELs) and photonic crystal surface emitting semiconductor lasers (PCSELs).

[0102] When an edge-emitting laser (EEL) is mounted on a circuit board, the light-emitting surface is the side of the laser, so its light emission direction is parallel to the circuit board. Alternatively, the EEL can be replaced with other devices that emit light at the edge of the light-emitting element, such as silicon photonic chips.

[0103] Not limited to the aforementioned design, as another possible design, the first emitting module includes an edge emitting laser, and the second emitting module includes an edge emitter and a second optical module.

[0104] Please refer to Figure 6, which is a schematic diagram of the structure of another possible transmitting device provided in an embodiment of the present application. The second transmitting module in transmitting device 60 includes a laser 601 and a second optical module 602. The light-emitting surface of laser 601 is the side surface of the laser. The signal light emitted by laser 601 is deflected by the second optical module 602 to produce a second light beam, which faces away from circuit board 403. In other words, the second light beam and the third light beam have the same direction.

[0105] Optionally, the first optical module 404 and the second optical module 602 may belong to the same optical module.

[0106] As mentioned above, both the second light beam and the third light beam face away from the circuit board.

[0107] Not limited to the aforementioned design, as one possible design, the optical axis of the third beam is coaxial with the optical axis of the second beam, or the optical axis of the third beam is offset relative to the optical axis of the second beam. The optical axis refers to the centerline of a beam (or light column), or the axis of symmetry of an optical system (including a transmitting device or optical module, etc.).

[0108] The following are two possible situations:

[0109] Case 1: The third light beam is coaxial with the second light beam. Please refer to Figure 7, which is a schematic diagram of the structure of another possible transmitting device provided in an embodiment of the present application. In the transmitting device 70 shown in Figure 7, the optical axis of the third light beam is perpendicular to the circuit board 403, and the optical axis of the second light beam is perpendicular to the circuit board 403. Therefore, the optical axis of the third light beam and the optical axis of the second light beam are parallel, that is, coaxial.

[0110] The coaxial light beam emitted from the transmitting end can reduce the aperture of the optical lens, reduce the complexity of device design, and improve the stability of the optical path.

[0111] In the transmitting device 70 shown in Figure 7, the first optical module 404 includes a reflective surface 702, which is used to change the direction of the first light beam. The angle θ between the reflective surface 702 and the circuit board is 45°. In this case, the equivalent light source of the third light beam is light source 701, and the equivalent light-emitting surface of light source 701 is parallel to the circuit board. If the second transmitting module includes a vertical surface emitter, the light-emitting surface of the second transmitting module 402 is parallel to the circuit board. Therefore, the equivalent light-emitting surface of light source 701 is parallel to the equivalent light-emitting surface of the second transmitting module 402, and the optical axis of the third light beam is parallel to the optical axis of the second light beam.

[0112] It should be noted that the terms "parallel," "coaxial," and "angles" described in the various embodiments of this application may be relative, and certain errors may exist during implementation due to manufacturing processes, installation processes, vibrations, device aging, etc. Furthermore, the equivalent light sources described in the various embodiments of this application are virtual light sources created to facilitate understanding of the optical path and the technical effects of optical components, and do not exist during the actual operation of the transmitting device.

[0113] Case 2: The optical axis of the third light beam is deviated from the optical axis of the second light beam. Optionally, the deviated direction may be slight, for example, not exceeding 45°, or less than 25°, or less than 10°.

[0114] As a possible embodiment, the deflection can be toward the first emission module. Please refer to Figure 8, which is a schematic diagram of the structure of another possible emission device provided in an embodiment of the present application. In the emission device 80 shown in Figure 8, the third light beam is directed away from the circuit board 403 and is deflected toward the first emission module, thereby making the edges of light beam 3 and light beam 2 more parallel, thereby further reducing the light output gap between the second and third light beams.

[0115] Optionally, the angle of deflection is related to the distance between the light-emitting edge of the third light beam and the light-emitting edge of the second light beam. For example, since it is difficult to achieve complete fit between the light-emitting edge of the first emission module 401 and the edge of the first optical module 404, there is also a distance between the light-emitting edge of the third light beam and the first optical module close to the second emission module, that is, there is a distance between the light-emitting edge of the third light beam and the light-emitting edge of the second light beam. By slightly deflecting the third light beam in the direction of the first emission module (for example, not more than 45°), the equivalent light source 801 of the third light beam can be brought closer to the second emission module, thereby making the angle between the third light beam and the second light beam smaller, or making them parallel but with a reduced spacing.

[0116] As a possible implementation, the optical axis of the third light beam can be deflected relative to the optical axis of the second light beam by positioning the first optical module. For example, as shown in FIG8 , the reflective surface 802 of the first optical module 404 is used to redirect the first light beam to produce the third light beam. When the angle θ between the reflective surface 802 and the circuit board is greater than 45°, the optical axis of the third light beam can be deflected relative to the optical axis of the second light beam.

[0117] Not limited to the aforementioned design, as another possible design, the distance between the third and second beams is smaller than the distance between the first and second emitting modules. The smaller the distance between the third and second beams, the smaller the gap between the emitted beams, which helps maintain a continuous field of view and reduces blind spots.

[0118] Optionally, the distance between the third light beam and the second light beam can be expressed in the following ways:

[0119] Mode 1: When the optical axis of the third light beam is parallel to the optical axis of the second light beam, the distance between the third light beam and the second light beam can be expressed as the distance between the optical axis of the third light beam and the optical axis of the second light beam.

[0120] In this approach, the distance between the optical axis of the third light beam and the optical axis of the second light beam is less than the distance between the first and second emission modules. Alternatively, the distance between the first and second emission modules can be the distance between the centers of the first and second emission modules, or the distance between the edges of the first and second emission modules.

[0121] Method 2: The distance between the third light beam and the second light beam can represent the distance between the light-emitting center of the third light beam and the light-emitting center of the second light beam. For example, please refer to Figure 9, which is a schematic diagram of a light beam distance provided in an embodiment of the present application. The light-emitting center of the third light beam (i.e., the shaded portion labeled 3) is the center of the light spot formed by the first light beam in the first optical module 404, and the light-emitting center of the second light beam (i.e., the shaded portion labeled 2) is the center of the light-emitting surface of the second emission module 402. The distance between the third light beam and the second light beam is the distance between the light-emitting center of the third light beam and the light-emitting center of the second light beam, i.e., d1 shown in Figure 9.

[0122] Optionally, the distance between the first transmitting module and the second transmitting module can be the distance between the centers of the first transmitting module 401 and the second transmitting module 402, as shown in FIG9 , d2, where d2>d1. Of course, FIG9 illustrates the example where the center of the second transmitting module 402 coincides with the light emission center of the second light beam. In a specific implementation, the two may not coincide.

[0123] Alternatively, the distance between the first transmitting module and the second transmitting module can be the distance between the edges of the first transmitting module 401 and the second transmitting module 402, as shown in FIG9 , d3, where d3>d1. Of course, FIG9 illustrates the distance between the edges of the two transmitting modules that are close to each other as an example. In specific implementations, the edges can also be edges that are far away from each other or edges in the same direction, which will not be explained here one by one.

[0124] Method 3: The distance between the third beam and the second beam can refer to the distance between the light-emitting edge of the third beam and the light-emitting edge of the second beam. Alternatively, the light-emitting edge can refer to the edge of the two beams that is close to each other, or the edge that is away from each other, or the edge that is in the same direction.

[0125] For example, please refer to Figure 10, which is a schematic diagram of another beam distance provided in an embodiment of the present application. The lower edge of the light-emitting edge of the second beam (i.e., the shaded part of label 2) is close to the third beam, and the upper edge of the light-emitting edge of the third beam (i.e., the shaded part of label 3) is close to the second beam. The distance between the third beam and the second beam can be represented by the distance between the upper edge of the third beam and the lower edge of the second beam, i.e., d4 shown in Figure 10.

[0126] Among them, d2>d4, and / or d3>d4, and the related description can refer to the description in the aforementioned method 2.

[0127] Method 4: The distance between the third light beam and the second light beam may be a pointing angle difference.

[0128] For example, when the transmitting device further includes a lens, the distance between the third light beam and the second light beam can be expressed as the angle between the light exit center of the first light beam, the light exit center of the second light beam, and the center of the lens (or the optical center of the lens). Figure 11 is a schematic diagram of another optical path provided in an embodiment of the present application, in which the transmitting device further includes a lens, λ2 is the angle between the light exit center of the first light beam, the light exit center of the second light beam, and the center of the lens, λ1 is the angle between the first transmitting module, the second transmitting module, and the center of the lens, and λ2 is less than λ1.

[0129] The above four methods are illustrative examples for ease of understanding. In addition, the situations shown in Figures 9-11 are also schematic diagrams of several possible optical paths. During the specific implementation process, due to the placement of components, manufacturing process, installation process, vibration, component aging, etc., the optical path may have certain errors.

[0130] Not limited to the aforementioned design, in another possible design, the transmitting device further includes a lens configured to process the third light beam to produce a fourth light beam, and to process the second light beam to produce a fifth light beam. The second and third light beams are emitted through the same lens, which can reduce the size of the transmitting device and improve the integration of the device.

[0131] A lens refers to an optical element that converges light, such as a convex lens or a meniscus lens. In some scenarios, a lens may also have a collimating function, such as a collimating lens assembly.

[0132] Optionally, the main optical axis of the lens may coincide with the center of the second emission module. Furthermore, the coincidence may be in partial dimensions, for example, in the x-direction.

[0133] Please refer to Figure 12, which is a schematic diagram of the structure of another possible transmitting device provided in an embodiment of the present application. Transmitting device 120 includes a lens 1201. The third light beam (i.e., the shaded portion indicated by 3) passes through the lens to obtain a fourth light beam (i.e., the shaded portion indicated by 4). The second light beam (i.e., the shaded portion indicated by 2) passes through the lens to obtain a fifth light beam (i.e., the shaded portion indicated by 5). Optionally, the angle between the fourth and fifth light beams is λ3.

[0134] In another possible implementation, the field of view gap between the fourth light beam and the fifth light beam is smaller than a first angle, where the first angle is the angle between the first emitting module and the second emitting module relative to the lens.

[0135] 11 and 12 , λ3 is the field of view gap between the fourth light beam and the fifth light beam, λ1 is the angle between the first transmitting module, the second transmitting module and the center of the lens, and λ3 < λ1.

[0136] In conjunction with Figure 3, it is not difficult to see that in the case of multiple light sources, the electrical isolation of the light sources will result in a large angular gap between the optical signals of the two light sources (angle γ as shown in Figure 3). Through the solution of the embodiment of the present application, the field of view gap between the light beams emitted by the two transmitting modules can be greatly reduced (λ3 < γ), thereby expanding the coverage range and reducing the blind spot of the field of view.

[0137] In one possible implementation, the fourth and fifth beams have a continuous field of view. In some scenarios, the field of view between the fourth and fifth beams can be achieved through reflection, refraction, or other effects. For example, the third beam can be deflected so that the optical axis of the fourth beam is parallel to the optical axis of the fifth beam, and the gap between the edges is close to zero, thereby achieving a continuous field of view between the fourth and fifth beams.

[0138] Continuous field of view or reduced field of view gaps can further reduce blind spots, thereby improving detection efficiency and the reliability of detection results.

[0139] As one possible implementation, the field of view gap between the fourth and fifth light beams is related to the distance between the second transmitting module and the first optical module. By adjusting the distance between the first and second transmitting modules, the field of view gap at the transmitting end can be controlled. Manufacturers or developers can flexibly adjust the position of the first optical module according to their needs, improving the compatibility of the transmitting device in different scenarios.

[0140] For example, the edges between the first emitting module and the second optical module are close to each other, or the distance between them is small, so that the field of view gap of the emitting end can be reduced, thereby narrowing the blind area of ​​the field of view.

[0141] Not limited to the aforementioned design, in another possible design, the second emitting module is located at the focal plane of the lens. Alternatively, the second emitting module includes a light emitting surface, and the second emitting module is located at the focal plane of the lens.

[0142] Setting the second transmitting module on the focal plane can make the light beam emitted by the second transmitting module have better collimation when passing through the lens, thereby improving the maximum detection distance of the detection device and ensuring the distance measurement capability.

[0143] Not limited to the above design, in another possible design, the first emitting module is defocused relative to the focal plane of the lens. As shown in FIG7 , the first emitting module is equivalent to a light source 701, and the light source 701 is defocused relative to the focal plane of the lens.

[0144] By relatively defocusing the second emission module, the third light beam can be made to exhibit a certain degree of diffusion effect. After passing through the lens, the third light beam can have a wider field of view and reduce the blind spot.

[0145] Optionally, the defocus amount corresponding to the first transmitting module is related to the distance between the first optical module and the first transmitting module. For example, when the second transmitting module is arranged on the focal plane of the lens, the farther the distance between the second transmitting module and the first optical module is, the greater the defocus amount corresponding to the first transmitting module is. With this arrangement, the defocus amount of the first transmitting module can be controlled by adjusting the distance between the first optical module and the first transmitting module. Manufacturers or developers can flexibly set the position of the first optical module according to needs, thereby improving the compatibility of the transmitting device for different scenarios.

[0146] As one possible implementation, the first optical module includes a reflective surface that redirects the first light beam to produce a third light beam. The first reflective surface has a convex spherical mirror surface. This convex spherical surface compensates for the relative defocus of the first transmitting module, improving the collimation of the third light beam and enhancing range-finding capabilities.

[0147] Please refer to Figure 13, which is a structural schematic diagram of another possible emitting device provided in an embodiment of the present application. In the emitting device 130 shown in Figure 13, the first optical module 404 is used to change the mirror shape of the reflection surface of the first light beam from the first emitting module 401 into a convex spherical surface, so that the light beam after the first light beam passes through the first optical module 404 has a larger field of view angle.

[0148] In addition, the equivalent light source of the third light beam can be regarded as light source 1301. Since the third light beam diverges compared to the first light beam, the distance between the first optical module and the equivalent light source 1301 is smaller than the distance between the first optical module and the first transmitting module. The relative defocus of the first transmitting module and the lens is compensated, which can improve the distance measurement capability.

[0149] Not limited to the aforementioned design, in another possible design, the maximum detection distances of the first light beam and the second light beam are different.

[0150] For example, the maximum detection distance of the first light beam is smaller than the maximum detection distance of the second light beam. For another example, the maximum detection distance of the second light beam is smaller than the maximum detection distance of the first light beam.

[0151] The following is an example in which the maximum detection distance of the first light beam is relatively short.

[0152] If the maximum detection distance of the first beam is less than that of the second beam, the second beam is suitable for long-range detection, while the first beam is suitable for short-range detection. Therefore, through the hybrid light source, the light beam emitted by the first emission module can detect the blind spots formed during long-range detection, improving the short-range detection capability of the detection device and enhancing the detection performance of the detection device.

[0153] As a possible implementation, the maximum detection distance of the first light beam can be smaller than the maximum detection distance of the second light beam by:

[0154] Implementation method 1: The energy density of the first beam is lower than that of the second beam. The energy density of a signal is related to its maximum detection range: the lower the energy density, the shorter the maximum detection range. Therefore, the first beam is suitable for short-range detection. Furthermore, the shorter maximum detection range of the first beam prevents interference between short-range and long-range detection, improving both the short-range and long-range detection accuracy of the detection device and enhancing detection performance.

[0155] In the second implementation, the power of the first beam is lower than that of the second beam. The power of a signal is related to its maximum detection range: the lower the power, the shorter the maximum detection range. Therefore, the first beam is suitable for short-range detection.

[0156] The above implementation is only an example. In a specific implementation, the first optical module may be defocused, the first light beam may be diverged, etc., so that the first light beam is suitable for close-range detection and / or blind spot detection.

[0157] As a possible implementation, when the second transmitting module is used for proximity detection, by setting the second transmitting module to be relatively defocused from the lens, the field of view of the second transmitting module can be expanded, the range of close-range detection can be improved, and the blind spot of the field of view can be further reduced.

[0158] Not limited to the aforementioned design, in another possible design, the first and second transmitting modules are configured to transmit light beams in a time-sharing manner, with the first and second light beams being emitted at different times. This arrangement staggers the emission times of the first and second light beams, making it less likely that the first and second light beams will interfere with each other when detecting targets within different fields of view.

[0159] Please refer to Figure 14, which is a schematic diagram of a detection range provided by an embodiment of the present application. It can be seen that the overlapping area between the transmitting field of view of the first transmitting module and the receiving field of view is overlapping area 1; the overlapping area between the transmitting field of view of the second transmitting module and the receiving field of view is overlapping area 2. There is overlap between overlapping area 1 and overlapping area 2. When the two perform detection in time-sharing mode, overlapping area 1 and overlapping area 2 are isolated by time-sharing, reducing mutual interference and increasing the effective proportion of the signal received by the detection device.

[0160] Optionally, when the first light beam and the second light beam are used for short-range detection and long-range detection respectively, blind spot detection of the near field of view is also achieved without affecting the long-range detection capability, thereby enhancing the detection performance of the detection device.

[0161] As an example of time-sharing lighting, the first emission module is used to emit a first light beam in a first time period, and the second emission module is used to emit a second light beam in a second time period, and the first time period and the second time period do not overlap.

[0162] Please refer to Figure 15, which is a schematic diagram of a light-emitting timing provided by an embodiment of the present application. As shown in Figure 15, within a detection period T, the first light beam is _1 The second beam is emitted during the period T _2 The time period is emitted. _1 Time period and T _2 The time periods do not overlap. Of course, the light-emitting timing shown in FIG15 is an exemplary description based on the periodic light-emitting timing. The present application is also applicable to non-periodic light-emitting or periodic light-emitting with other regular durations. For example, the duration of the T_1 time period may be different from the duration of the T_2 time period, such as: the duration of the T_1 time period may be greater than the duration of the T_2 time period, or the duration of the T_1 time period may be less than the duration of the T_2 time period. For example, after experiencing multiple T_1 time periods and multiple T_2 time periods, the first emission module and the second emission module may pause for a period of time and then resume emitting light.

[0163] It should be noted that the vertical axis of Figure 15 is used to illustrate whether there is a light beam at a certain time, and there is no strict restriction on the variable itself. For example, the variables represented by the coordinates can be whether the transmitting module is powered on, the level of the transmitting module, the power of the signal light emitted by the transmitting module, etc.

[0164] As a possible implementation, in the second time period, the second emission module may emit a sixth light beam, and the maximum detection distance of the sixth light beam is different from the maximum detection distance of the second light beam.

[0165] For example, if the maximum detection range of the first beam is less than that of the second beam, the maximum detection range of the sixth beam is also less than that of the second beam. This configuration allows the sixth beam to be suitable for close-range detection within the first time period. This allows for a wider range of close-range detection within the first time period, further enhancing the close-range detection capabilities of the detection device. Optionally, the sixth beam has the same ranging capability as the first beam.

[0166] Please refer to Figure 16, which is another schematic diagram of a light-emitting timing provided by an embodiment of the present application. As shown in Figure 16, in a detection period T, the first emission module is in the period T _1 The first light beam is emitted in the time period, and the second emission module is in the period T _1 The sixth light beam is emitted during the time period, and the second emission module is in the period T _2 The second light beam is emitted during the time period, wherein: the farthest detection distance of the first light beam is less than the farthest detection distance of the second light beam, and the farthest detection distance of the sixth light beam is also less than the farthest detection distance of the second light beam. _1 During the time period T, the light beams emitted by the first emission module and the second emission module can be regarded as light beams for close-range detection. _2 During this time period, the beam emitted by the second transmitting module can be considered the beam used for long-range detection. This arrangement not only achieves temporal isolation between long-range and short-range detection, but also enables short-range detection over a wider range, further improving detection efficiency and enhancing the detection device's short-range detection capabilities, thus enhancing detection performance.

[0167] It should be noted that the vertical axis "power" in Figure 16 is a diagram to illustrate the farthest detection distance of the light beam within a time period. The power can also be replaced by the current of the transmitting module, the energy density of the light beam, the farthest detection distance of the light beam, etc.

[0168] Not limited to the aforementioned design, in another possible design, the first emission module includes multiple (for example, N, N is an integer and N>0) first lasers, and the second emission module includes multiple (for example, M, N is an integer and M>0) second lasers, and the first emission module and the second emission module are distributed along a first direction.

[0169] As a possible implementation, M=1, N=1. Figure 17 is a schematic structural diagram of another possible transmitting device provided in an embodiment of the present application. Among them, the first transmitting module 401 and the second transmitting module 402 are arranged along the x-direction, the first transmitting module 401 includes a laser, and its light emitting direction is away from the direction of the circuit board, that is, the z-direction; the second transmitting module 402 includes a laser, and its light emitting direction is parallel to the direction of the circuit board, that is, the x-direction. The transmitting module includes a laser, so that the light beam emitted by the transmitting module has no gaps in the second direction (such as the y-direction), thereby improving the continuity of the field of view in the second direction.

[0170] As another possible implementation, N>1, M>1. In the second direction, the N first lasers are arranged at intervals, and the second direction is perpendicular to the first direction; in the second direction, the N second lasers are arranged at intervals.

[0171] Figure 18 is a schematic diagram of the structure of a possible transmitting device provided in an embodiment of the present application. A first transmitting module 401 and a second transmitting module 402 are arranged along the x-direction. The first transmitting module 401 includes four lasers, whose light is emitted in a direction away from the circuit board, i.e., the z-direction. The second transmitting module 402 includes three lasers, whose light is emitted in a direction parallel to the circuit board, i.e., the x-direction.

[0172] Since lasers with larger light-emitting surfaces are difficult and expensive to manufacture, costs can be reduced by setting up multiple separate lasers. Multiple separate lasers can also reduce heat dissipation pressure, avoid high-temperature hot spots on the circuit board, and increase service life.

[0173] As a possible implementation, the gap between the first lasers (such as d5 as shown in FIG18 ) is smaller than the gap between the second lasers (such as d6 as shown in FIG18 ).

[0174] In one possible embodiment, the transmitting device further includes a light homogenization component for homogenizing the light beams from the first transmitting module and the second transmitting module in the second direction. The light homogenization component fills the gap in the y direction of the laser, further reducing the blind spot in the field of view.

[0175] Optionally, the light homogenization component can be implemented by a microlens array, a light homogenization plate, a light homogenization sheet, or a diffusion plate.

[0176] The above describes some possible designs of the embodiments of the present application. During specific implementation, the above multiple designs can also be combined. The following is an exemplary introduction to the combination of some designs. It should be understood that for modules and logic not explained in the following embodiments, reference can be made to the descriptions in the above designs, and the following embodiments can also be combined.

[0177] Please refer to Figure 19, which is a schematic diagram of the structure of another possible transmitting device provided in an embodiment of the present application. Transmitting device 190 includes a circuit board and a collimating lens group, and optionally includes a light homogenizing component or a reflector, etc. The light homogenizing component can be optionally implemented by a microlens array.

[0178] A first emitting module 401 and a second emitting module 402 are mounted on a light source circuit board 403. The light from the first emitting module 401 is directed away from the circuit board (e.g., the z-direction), while the light from the second emitting module 402 is directed parallel to the circuit board (e.g., the x-direction). A first optical module 404 is placed between the first and second emitting modules to achieve co-directional light emission.

[0179] The distribution of the first and second transmitter modules on the xy plane is shown in region 1901. The first transmitter module includes multiple first transmitters distributed along the y-direction with gaps between them. The second transmitter module includes multiple second transmitters distributed along the y-direction with gaps between them. Optionally, the edges of the first and second transmitter modules are aligned in the y-direction.

[0180] Figure 20 is a schematic diagram of the field of view of a transmitting device provided in an embodiment of the present application. As shown in part (a) of Figure 20, in the x-direction, the second light beam emitted by the second transmitting module 402, after passing through the collimating lens group and the light homogenizing component (optional), has a field of view angle of ɑ in the x-direction. As shown in part (b) of Figure 20, the first light beam emitted by the first transmitting module 401, after passing through the first optical module 404, the collimating lens group, and the light homogenizing component (optional), has a field of view angle of β in the x-direction. There is a gap γ between ɑ and β. Due to the close distance between the first optical module 404 and the second transmitting module 402, γ is significantly reduced, thereby reducing the blind spot of the detection device, improving detection efficiency, and enhancing detection performance.

[0181] As a possible implementation, in the y direction, the first light beam and the second light beam can be homogenized by a light homogenization component to achieve a continuous field of view of the emitting device in the y direction.

[0182] As a possible implementation, the first optical module 404 folds the optical path so that the equivalent back focus position of the first transmitting module 401 is longer than that of the second transmitting module 402. In the z direction, the second transmitting module 402 is located at the focal plane of the collimating lens assembly, while the first transmitting module 401 is at a defocus distance.

[0183] As one possible implementation, within a period T, the first emitting module emits a first light beam during T1, and the second emitting module emits a sixth light beam during T1 (see portion (b) of Figure 20). The second emitting module emits a second light beam during T2 (see portion (a) of Figure 20). The first and sixth light beams are used for short-range detection, while the second light beam is used for long-range detection. This illumination method can improve the field of view for short-range detection, enhance detection efficiency, and enhance detection performance.

[0184] The embodiment shown in FIG19 can also be combined with one or more of the aforementioned designs, and this application will not elaborate on the combination cases one by one.

[0185] Please refer to Figure 21, which is a schematic diagram of the structure of another possible transmitting device provided in an embodiment of the present application. Transmitting device 210 includes a light source circuit board 403 and a collimating lens assembly. Specifically, a first transmitting module 401 and a second transmitting module 402 are provided on light source circuit board 403. The distribution of the first transmitting module and the second transmitting module on the xy plane is shown in area 2101.

[0186] The first emitting module 401 and the second emitting module 402 each contain a long, rectangular light source. The first emitting module 401 emits light away from the circuit board (e.g., the z-direction), while the second emitting module 402 emits light parallel to the circuit board (e.g., the x-direction). A first optical module 404 is placed between the first and second emitting modules to ensure that the light sources emit light in the same direction.

[0187] Optionally, the edges of the first and second emission modules are aligned in the y direction. By providing the first optical module 404, the gap between the light beams emitted by the first and second emission modules is significantly reduced, thereby narrowing the blind spot of the detection device, improving detection efficiency, and enhancing detection performance.

[0188] The first optical module 404 in the transmitting device 210 may be a reflector with a slightly convex spherical surface. The convex spherical mirror surface can compensate for the defocus of the first transmitting module and improve the distance measurement performance.

[0189] For example, the slightly convex spherical reflector is close to the second emission module 402, and its tilt angle can be 45°, so that the optical axis of the first emission module 401 can be folded to be parallel to the optical axis of the collimating lens group, so that the light beam emitted by the first emission module 401 and the light beam emitted by the second emission module 402 are coaxial.

[0190] As a possible implementation, in the x-direction, the collimation system can achieve a field of view angle ɑ for the light beam emitted by the second emitting module 402, and a field of view angle β for the light beam emitted by the first emitting module 401. Because the first optical module 404 is in close proximity to the telemetry light source, the field of view angle β closely matches the field of view angle ɑ, thereby achieving a continuous field of view for the hybrid light source and reducing detection blind spots. For a related description, please refer to the description of Figure 20.

[0191] As a possible implementation, the first optical module 404 folds the optical path so that the equivalent back focus position of the first transmitting module 401 is longer than that of the second transmitting module 402. In the z direction, the second transmitting module 402 is located at the focal plane of the collimating lens assembly, while the first transmitting module 401 is at a defocus distance.

[0192] As a possible implementation, within a period T, the first transmitting module emits a first light beam during T1, the second transmitting module emits a sixth light beam during T1, and the second transmitting module emits a second light beam during T2. The first and sixth light beams are used for close-range detection, while the second light beam is used for long-range detection. This illumination method can improve the field of view for close-range detection, increase detection efficiency, and enhance detection performance.

[0193] The embodiment shown in FIG21 can also be combined with one or more of the aforementioned designs, and this application will not elaborate on the combination situations one by one.

[0194] Please refer to Figure 22, which is a schematic diagram of the structure of another possible transmitting device provided in an embodiment of the present application. Transmitting device 220 includes a light source circuit board 403, a first transmitting module 401, a second transmitting module 402, and a third transmitting module 2201. The light source circuit board 403 is connected to the first transmitting module 401, the second transmitting module 402, and the third transmitting module 2201.

[0195] A first optical module 404 is provided between the first transmitting module 401 and the second transmitting module 402 . The first optical module 404 is used to change the light beam from the first transmitting module 401 so that the light beam from the first transmitting module 401 and the light beam from the second transmitting module 402 have the same direction.

[0196] A third optical module 2202 is provided between the third emitting module 2201 and the second emitting module 402 to change the light beam from the third emitting module 2201 so that the light beam from the third emitting module 2201 and the light beam from the second emitting module 402 have the same direction.

[0197] The embodiment shown in FIG22 can also be combined with one or more of the aforementioned designs, and the present application will not further elaborate on the combination. In addition, the optical path design and component placement design of the third emission module 2201 can also refer to the design of the first emission module 401, and will not be further described here.

[0198] Please refer to Figure 23, which is a structural diagram of another possible transmitting device provided in an embodiment of the present application. The transmitting device 230 includes a first transmitting module 2301, a second transmitting module 2302, a circuit board 2303 and an optical module 2304.

[0199] The first transmitting module 2301 emits a light beam (referred to as beam A for ease of distinction) in a direction away from the circuit board 2303, while the second transmitting module 2302 emits a light beam (referred to as beam B for ease of distinction) in a direction parallel to the circuit board 2303. The optical module 2304 is disposed in the light-emitting direction of the first transmitting module 2301 and is used to redirect the light beam from the first transmitting module 2301 to generate a light beam (referred to as beam C for ease of distinction) heading in another direction, ensuring that beam C and beam B are oriented in the same direction.

[0200] The emitting device shown in FIG23 realizes luminescence in the same direction using light sources with different light emitting directions (ie, mixed light sources).

[0201] As a possible design, the distance between the optical module 2304 and the first emitting module 2301 is smaller than the distance between the first emitting module 2301 and the second emitting module 2302. Accordingly, the distance between the light beam C and the light beam B is reduced compared to the distance between the first emitting module 2301 and the second emitting module 2302, so that the light beam C and the light beam B are adjacent, thereby reducing the gap between the light outputs of different light sources when multiple light sources are emitted.

[0202] In short, the light beams C and B are directed in the same direction and the distance between them is greatly shortened, which can reduce the blind spot of the detection device.

[0203] The embodiment shown in FIG23 can also be combined with one or more of the aforementioned designs, and this application will not elaborate on the combination situations one by one.

[0204] An embodiment of the present application also provides a detection device, which includes a transmitting device and a detector. The transmitting device is the transmitting device described in the aforementioned embodiments, such as one or more transmitting devices among transmitting device 40, transmitting device 60, transmitting device 70, transmitting device 80, transmitting device 120, transmitting device 130, transmitting device 190, transmitting device 210, transmitting device 220, or transmitting device 230.

[0205] Exemplarily, the first transmitting module in the transmitting device is used to transmit a first light beam, the second transmitting module in the transmitting device is used to transmit a second light beam, and the detector is used to receive an echo signal corresponding to the first light beam and an echo signal corresponding to the second light beam.

[0206] An embodiment of the present application further provides a terminal, which includes the aforementioned transmitting device and / or detecting device.

[0207] Optionally, the terminal can be an intelligent terminal or transportation tool such as a vehicle, a drone, or a robot.

[0208] In the description of this application, the terms "center", "up", "down", "vertical", "horizontal", "inside", "outside", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they should not be understood as limitations on this application.

[0209] In addition, the Cartesian coordinate system and the x, y, and z directions shown in the various embodiments of this application are illustrative designations for ease of understanding and are not intended to limit the embodiments of this application. During implementation, the placement of components, the arrangement direction, and the direction of the light beam may be designed in other ways, and the coordinate system may also use other coordinate systems such as a spherical coordinate system.

[0210] In the embodiments of this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described in this application as "exemplary" or "for example" should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0211] The “at least one” mentioned in the embodiments of this application refers to one or more, and “plurality” refers to two or more. “At least one of the following items” or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can represent: a, b, c, (a and b), (a and c), (b and c), or (a and b and c), where a, b, c can be single or multiple. “And / or” describes the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character “ / ” generally indicates that the previous and next associated objects are in an “or” relationship.

[0212] Furthermore, unless otherwise indicated, ordinal numbers such as "first" and "second" in the embodiments of this application are used to distinguish multiple objects and are not intended to limit the order, timing, priority, or importance of multiple objects. For example, the first and second transmitting modules are merely for ease of description and do not indicate differences in the lighting method, lighting order, or importance of the first and second transmitting modules.

Claims

1. A launching device, characterized in that: The transmitting device includes a first transmitting module, a second transmitting module, a circuit board and a first optical module. The first emission module and the second emission module are electrically connected to the circuit board and are arranged on one side of the circuit board, and the first optical module is placed between the first emission module and the second emission module; The first emission module is used to emit a first light beam, and the first light beam is parallel to the circuit board; The second emission module is used to emit a second light beam, and the direction of the second light beam is away from the circuit board; The first optical module is used to change the direction of the first light beam to obtain a third light beam, and the direction of the third light beam is away from the circuit board.

2. The launch device according to claim 1, characterized in that The first emission module includes an edge-emitting laser, and the second emission module includes a vertical surface emitter laser.

3. The launching device according to claim 1 or 2, characterized in that: The optical axis of the third light beam is coaxial with the optical axis of the second light beam, or the optical axis of the third light beam is biased toward the first emission module compared to the optical axis of the second light beam.

4. The transmitting device according to any one of claims 1 to 3, characterized in that: The distance between the third light beam and the second light beam is smaller than the distance between the first emission module and the second emission module.

5. The transmitting device according to any one of claims 1 to 4, characterized in that: The emitting device further includes a lens, which is used to process the third light beam to obtain a fourth light beam, and to process the second light beam to obtain a fifth light beam.

6. The launching device according to claim 5, characterized in that The fourth light beam has a continuous field of view with the fifth light beam, Alternatively, the field of view gap between the fourth light beam and the fifth light beam is smaller than a first angle, where the first angle is the angle between the first emitting module and the second emitting module relative to the lens.

7. The launching device according to claim 5 or 6, characterized in that: The second transmitting module is located at the focal plane of the lens.

8. The emitting device according to claim 7, characterized in that the first optical module includes a reflecting surface, the reflecting surface is used to change the direction of the first light beam to obtain a third light beam, and the mirror shape of the first reflecting surface is a convex spherical surface.

9. The transmitting device according to any one of claims 1 to 8, characterized in that: The farthest detection distance of the first light beam is smaller than the farthest detection distance of the second light beam.

10. The launching device according to claim 9, characterized in that The first emission module and the second emission module are used to emit light beams in a time-sharing manner, and the emission times of the first light beam and the second light beam are different.

11. The launching device according to claim 9 or 10, characterized in that: The first emission module is used to emit the first light beam in a first time period; The second emission module is used to emit the second light beam in a second time period, and the first time period and the second time period do not overlap; The second emission module is further configured to emit a sixth light beam during the first time period, and the maximum detection distance of the sixth light beam is smaller than the maximum detection distance of the second light beam.

12. The transmitting device according to any one of claims 1 to 11, characterized in that: The first emission module includes N first lasers, and the second emission module includes M second lasers, where N and M are integers and N>0, M>0; The first transmitting module and the second transmitting module are distributed along a first direction; The first emission module includes N first lasers, and the second emission module includes M second lasers, where N and M are integers and N>1, M>1; In a second direction, the N first lasers are arranged at intervals, and the second direction is perpendicular to the first direction; In the second direction, the N second lasers are arranged at intervals; The transmitting device further includes a light homogenizing component, which is used to homogenize the light beam from the first transmitting module and the light beam from the second transmitting module in the second direction.

13. A detection device, characterized in that: The detection device comprises a transmitting device and a detector, wherein the transmitting device comprises the transmitting device according to any one of claims 1 to 12; The first transmitting module in the transmitting device is used to transmit a first light beam, and the second transmitting module in the transmitting device is used to transmit a second light beam; The detector is used to receive the echo signal corresponding to the first light beam and the echo signal corresponding to the second light beam.

14. A terminal, characterized in that: The terminal includes the transmitting device according to any one of claims 1 to 12, or includes the detecting device according to claim 13. The terminal according to claim 14 , wherein: The terminal is a vehicle, a drone or a robot.

Images