A transmitting device, a detecting device and a terminal

Abstract

A kind of emitting device, detecting device and terminal, applied to optical device, detection technical field.Wherein, emitting device includes first emitting module and second emitting module, first emitting module is used to emit first light beam, second emitting module is used to emit second light beam.Wherein, the farthest detection distance of first light beam is less than the farthest detection distance of second light beam.The farthest detection distance of second light beam is larger, suitable for long-distance detection;The farthest detection distance of first light beam is smaller, can be used for close-range detection.Second emitting module emits second light beam, can detect the blind area formed when long-distance detection.First emitting module and second emitting module work in time, therefore, the light beam emitted in close-range detection process is difficult to interfere with long-distance detection, realizes the blind detection of near field range in the case where not affecting long-distance detection capability, enhances the detection performance of detecting device.

Description

Technical Field

[0001] This application relates to the fields of optical devices and detection technology, and in particular to a transmitting device, a detection device, and a terminal. Background Technology

[0002] With the development of information technology, detection technology has advanced rapidly, and various detection devices have brought great convenience to people's lives and travel. For example, Advanced Driving Assistance Systems (ADAS) play a very important role in intelligent vehicles. They utilize onboard detection devices to detect the surrounding environment while the vehicle is in motion, collect data, identify stationary and moving objects, and combine this data with navigation map data for system calculation and analysis. This allows the driver to anticipate potential dangers, effectively increasing driving comfort and safety. Detection devices can be seen as the "eyes" of the environment, including visual 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 important detection devices in the field of perception. Lidar is a technology that emits detection signals and obtains relevant information about the target (such as the target's position, shape, or velocity) by receiving the echoes reflected from the target.

[0004] To improve detection efficiency, lidar transmitters often require multiple lasers. However, the emission fields formed by multiple lasers typically overlap, and the overlapping areas are illuminated by detection signals from multiple lasers. The echo signals also contain echoes from each of the multiple lasers, easily leading to mutual interference between detections. Furthermore, since the energy of the echo decreases with distance from the target, when multiple lasers are used, the echoes from nearby targets can easily overwhelm the echoes from distant targets, significantly interfering with long-range radar detection and impacting radar performance.

[0005] How to reduce the proportion of interference signals is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0006] This application provides a transmitting device, a detection device, and a terminal that can reduce the proportion of interference signals in the echo and improve detection performance.

[0007] In a first aspect, embodiments of this application provide a launching device, which includes a first launching module and a second launching module, wherein: The first transmitting module and the second transmitting module are used for time-division multiplexing of light beams; the first transmitting module is used to transmit a first light beam, and the second transmitting module is used to transmit a second light beam. The farthest detection distance of the first beam is less than that of the second beam.

[0008] In this embodiment, the beam emitted by the second transmitting module has a longer maximum detection distance, enabling it to be used for long-range detection; the beam emitted by the first transmitting module has a shorter maximum detection distance than the beam emitted by the second transmitting module, enabling it to be used for short-range detection. The first and second transmitting modules operate simultaneously; therefore, the beam emitted during short-range detection is unlikely to interfere with long-range detection. This achieves blind spot detection within the near-field of view without affecting long-range detection capabilities, thus enhancing the detection performance of the detection device.

[0009] In one possible implementation of the first aspect, the energy density of the first beam is less than the energy density of the second beam.

[0010] In the above embodiments, the energy density of the signal is related to its maximum detection distance. When the energy density of the first beam is relatively low, the first beam is more suitable for short-range detection; correspondingly, the energy density of the second beam is relatively high, making it more suitable for long-range detection. In addition, the shorter maximum detection distance of the first beam can also avoid mutual interference between the first and second beams, improving the accuracy of both short-range and long-range detection of the detection device, and thus enhancing the detection performance.

[0011] Optionally, energy density can be replaced with energy. That is, the energy of the second beam is higher than the energy of the first beam.

[0012] In another possible implementation of the first aspect, the power of the first beam is less than the power of the second beam.

[0013] In the above embodiments, the signal power is related to its maximum detection distance. When the power of the first beam is relatively low, it is suitable for short-range detection; correspondingly, the power of the second beam is higher, making it more suitable for long-range detection. In addition, the shorter maximum detection distance of the first beam can also avoid mutual interference between the first and second beams, improving the accuracy of both short-range and long-range detection of the detection device, and thus enhancing the detection performance.

[0014] In yet another possible implementation of the first aspect, the emitting device further includes a light-homing component: The beam homogenizing component is used to homogenize the first beam to obtain a first detection signal.

[0015] In the above embodiments, the homogenization process can homogenize the first beam in the angular space, so that the first detection signal covers a larger angular range, thereby enabling close-range detection to cover more areas, greatly reducing the blind zone in the near field of view, significantly improving the close-range detection capability, and enhancing the detection performance.

[0016] In another possible implementation of the first aspect, the homogenizing component is further used to homogenize the second beam to obtain a second detection signal.

[0017] In the above embodiments, the homogenization process can homogenize the second beam in angular space, so that the second detection signal covers a larger angular range, thereby making the field of view of the second detection signal continuous and reducing the blind spot.

[0018] In another possible implementation of the first aspect, the FOV of the first detection signal overlaps with or has no gap with the FOV of the second detection signal.

[0019] In the above embodiments, the FOV of the first detection signal and the second detection signal are continuous (or overlap), which makes the field of view of the first detection signal and the second detection signal continuous, further reducing the blind spot and improving the detection performance.

[0020] In another possible implementation of the first aspect, the first transmitting module and the second transmitting module each include at least one laser.

[0021] In another possible implementation of the first aspect, the laser includes one or more of the following: a vertical-cavity surface-emitting laser (VCSEL) or a photonic crystal surface-emitting semiconductor laser (PCSEL).

[0022] VCSELs offer advantages such as high speed, low power consumption, and a wide operating temperature range, making them suitable for detection in various environments and ensuring the detection performance of the device. PCSELs have a wide operating wavelength range and are easy to package, which can improve the integration of the detection device.

[0023] In yet another possible implementation of the first aspect, the first transmitting module includes a first laser and a second laser; The first laser and the second laser are respectively disposed on both sides of the second emitting module.

[0024] In another possible implementation of the first aspect, the second emitting module includes a first laser group and a second laser group, the first laser group including one or more lasers, and the second laser group including one or more lasers. The first transmitting module is disposed between the first laser group and the second laser group.

[0025] In another possible implementation of the first aspect, the first transmitting module includes a third laser and N fourth lasers, and the second transmitting module includes N fifth lasers, where N is an integer and N≥2; In the first direction, the third laser is disposed between the third laser group and the fourth laser group; The third laser group comprises M laser pairs, which are arranged along a first direction. Each of the M laser pairs comprises a fourth laser and a fifth laser arranged along a second direction, and there is a first gap between the fourth laser and the fifth laser in each laser pair. M is an integer and N > M ≥ 2. The fourth laser group comprises NM laser pairs, which are arranged along a first direction. Each of the NM laser pairs includes a fourth laser and a fifth laser arranged along a second direction, and there is a second gap between the fourth laser and the fifth laser in each laser pair. In the second direction, the position occupied by the third laser includes the position of the first gap and the position of the second gap, and the first direction is perpendicular to the second direction.

[0026] In this implementation, the third laser fills the gap between the fourth and fifth lasers in the second direction, improving the continuity of the field of view in the second direction, enabling close-range detection with a larger field of view, further improving detection efficiency, and enhancing detection performance.

[0027] In another possible implementation of the first aspect, the first transmitting module is used to transmit the first beam during a first time period, and the second transmitting module is used to transmit the second beam during a second time period, wherein the first time period and the second time period do not overlap.

[0028] In another possible implementation of the first aspect, the second transmitting module is further configured to transmit a third beam during the first time period, the farthest detection distance of the third beam being less than the farthest detection distance of the second beam.

[0029] In this implementation, the second transmitting module can emit "weak light" during the first time period, thereby enabling close-range detection with a wider field of view, further improving close-range detection capabilities and detection efficiency.

[0030] In yet another possible implementation of the first aspect, the transmitting device further includes a collimating lens assembly; The collimating lens group is used to collimate the light beam emitted by the first emitting module and the light beam emitted by the second emitting module.

[0031] By using a collimating lens group, the collimation of the emitted beam can be improved, thereby enhancing the effectiveness of the detection results.

[0032] In yet another possible implementation of the first aspect, the distance between the focal plane of the collimating lens group and the collimating lens group is a first distance. The distance between the first plane of the transmitting device and the collimating lens group is the second distance. The first plane is the plane containing the transmitting end face of the first transmitting module and the transmitting end face of the second transmitting module. The second distance is different from the first distance.

[0033] By appropriately defocusing, the beams emitted by the first and second transmitting modules are diffused to a certain extent, which can improve the uniformity of light and thus enhance the close-range detection capability.

[0034] Secondly, embodiments of this application provide a transmitting device, which includes a first transmitting module, a second transmitting module, and a light-uniforming component, wherein: The first transmitting module is used to transmit a first beam, and the second transmitting module is used to transmit a second beam. The maximum detection distance of the first beam is less than the maximum detection distance of the second beam. The beam homogenizing component is used to homogenize the first beam to obtain a first detection signal.

[0035] In one possible implementation of the second aspect, the homogenizing component is further used to homogenize the second beam to obtain a second detection signal.

[0036] In one possible implementation of the second aspect, the FOV of the first detection signal overlaps with or has no gap with the FOV of the second detection signal.

[0037] In one possible implementation of the second aspect, the first transmitting module and the second transmitting module are used for time-division multiplexing of the beam.

[0038] Thirdly, embodiments of this application also provide a detection device, which includes a transmitting device and a photodetector, wherein the transmitting device includes the transmitting device described in any one of the first aspects or the transmitting device described in any one of the second aspects; The first transmitting module in the transmitting device is used to transmit a first beam, and the second transmitting module in the transmitting device is used to transmit a second beam; The photodetector is used to receive the echo signal corresponding to the first beam and the echo signal corresponding to the second beam.

[0039] In one possible implementation of the third aspect, the detection device further includes a control module for generating a first control signal and a second control signal, the first control signal being different from the second control signal; The first control signal is used to control the first transmitting module to emit a beam; The second control signal is used to control the second transmitting module to emit a beam.

[0040] Fourthly, embodiments of this application also provide a terminal, the terminal comprising a transmitting device as described in any of the first aspects, or a transmitting device as described in any of the second aspects, or a detection device as described in any of the third aspects.

[0041] Optionally, the terminal may be a vehicle, a drone, or a robot.

[0042] The beneficial effects of the third and fourth aspects of this application can be referred to the beneficial effects of the first or second aspects, and will not be described in detail here. Attached Figure Description

[0043] The accompanying drawings used in the description of the embodiments will be briefly introduced below.

[0044] Figure 1 This is a schematic diagram of the transmitting and receiving fields of view of a detection device; Figure 2 This is a schematic diagram of the structure of a launching device provided in an embodiment of this application; Figure 3 This is a schematic diagram of a detection range provided in an embodiment of this application; Figure 4 This is a schematic diagram of light emission timing provided in an embodiment of this application; Figure 5 This is another schematic diagram of the detection range provided in the embodiments of this application; Figure 6 This is another light emission timing diagram provided in the embodiments of this application; Figure 7This is a schematic diagram of the field of view (FOV) of a first beam and a second beam provided in an embodiment of this application; Figure 8 This is a schematic diagram of the field of view (FOV) of another first beam and second beam provided in the embodiments of this application; Figure 9 This is a schematic diagram of another launching device provided in the embodiments of this application; Figure 10 This is a schematic diagram illustrating the homogenization effect of a light-homogenizing component provided in an embodiment of this application; Figure 11 This is a schematic diagram of a possible uniform light direction provided in an embodiment of this application; Figure 12 This is a schematic diagram illustrating yet another possible uniform light direction provided in the embodiments of this application; Figure 13 This is a schematic diagram of the field of view (FOV) of a launching device provided in an embodiment of this application; Figure 14 This is a schematic diagram of a light spot provided in an embodiment of this application; Figure 15 This is a schematic diagram of the field of view (FOV) of another launching device provided in the embodiments of this application; Figure 16 This is a schematic diagram of another type of light spot provided in an embodiment of this application; Figure 17 This is a schematic diagram showing the positions of a first transmitting module and a second transmitting module provided in an embodiment of this application; Figure 18 This is a schematic diagram showing the positions of another first and second transmitting modules provided in an embodiment of this application; Figure 19 This is a schematic diagram showing the positions of another first and second transmitting modules provided in an embodiment of this application; Figure 20 This is a schematic diagram of yet another possible launching device provided in the embodiments of this application; Figure 21 These are schematic diagrams of two light patterns provided in the embodiments of this application; Figure 22 These are schematic diagrams of two more light patterns provided in the embodiments of this application; Figure 23 This is a schematic diagram of a field of view (FOV) provided in an embodiment of this application; Figure 24 This is a schematic diagram of a possible launching device provided in an embodiment of this application; Figure 25 These are schematic diagrams of two more light patterns provided in the embodiments of this application; Figure 26 This is a schematic diagram of the structure of another terminal provided in the embodiments of this application; Figure 27 This is a schematic diagram of a possible launching device provided in an embodiment of this application; Figure 28 This is a schematic diagram of the field of view (FOV) of a launching device provided in an embodiment of this application. Detailed Implementation

[0045] The embodiments of this application will now be described in further detail with reference to the accompanying drawings.

[0046] For ease of understanding, the following examples illustrate some concepts related to the embodiments of this application for reference. As follows: 1. Detection device The detection device mentioned in the embodiments of this application can be a lidar or other optical detection device, such as a fusion detection device (e.g., a detection device that integrates a radar detector and an image sensor). Taking lidar as an example, its working principle is to detect targets within the field of view by emitting detection signals and receiving echoes.

[0047] As one possible use case, the detection device in this application embodiment can be used in various fields such as intelligent driving, intelligent transportation, intelligent manufacturing, environmental detection, surveying and mapping, and drones, and can perform one or more functions such as target detection, distance measurement, speed measurement, target tracking, and imaging recognition.

[0048] As one possible application location, the detection device in this application embodiment can be applied to vehicle-mounted detection devices (e.g., vehicle-mounted radar), roadside detection devices (e.g., intersection radar), or other detection devices, such as detection devices installed on drones, robots, railcars, bicycles, traffic lights, speed measuring devices, or base stations. This application does not limit the installation location of the detection device.

[0049] 2. Field of view (FOV) There needs to be an uninterrupted 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. This line of sight can be understood as the field of view.

[0050] In some scenarios, the size of the field of view is related to the field of view angle of the detection device; the larger the field of view angle, the larger the field of view. The field of view angle refers to the angle formed by the two edges of the maximum range of the field of view. In the embodiments of this application, the field of view angle in the vertical direction refers to the angle formed by the two edges of the field of view in the vertical direction.

[0051] The above descriptions of technical terms may be used in the embodiments below.

[0052] In active detection technology, the transmitting end of the detection device sends a detection signal into the object space to be detected, so that the target in the object space can be illuminated by the detection signal. The receiving end of the detection device can receive the echo signal formed by the reflection of the detection signal on the target, and measure relevant information about the target based on the echo signal.

[0053] Because the power of the signals emitted by detection devices is usually limited, when detecting targets at a relatively long distance, the emitted detection signals have high collimation and small divergence angles. This results in poor coverage of the near-range area by the emitted detection signals, creating a large near-field blind zone. Especially when the transmitting and receiving ends are off-axis, the near-field blind zone will significantly reduce the short-range detection capability of the detection device.

[0054] Please see Figure 1 , Figure 1 This diagram illustrates the transmitting and receiving fields of view of a detection device. The transmitting and receiving ends are located at opposite ends of the device. The transmitting field of view is the object space covered by the detection signal emitted by the transmitting end, while the receiving field of view is the object space where the receiving end can receive the light. Since the receiving end can only receive the echo signal of the detection signal within the object space covered by the signal, the overlapping area of ​​the transmitting and receiving fields of view constitutes the effective detection range of the device. It can be seen that the starting position of the overlapping area is relatively far from the detection device. In the near-field object space before the overlapping area, the receiving end cannot receive the echo signal of the detection signal, thus forming a blind spot. The greater the off-axis orientation of the transmitting and receiving ends, the larger this near-field blind spot will be.

[0055] Targets located in blind spots cannot be detected by the detection device, resulting in weak short-range detection capability of the device, affecting the usability of the detection results, and limiting the value of the device.

[0056] In view of this, embodiments of this application provide a transmitting device, a detection device, and a terminal, which can improve the short-range detection capability of the detection device and enhance its detection performance.

[0057] The following is a detailed description of the solutions in the embodiments of this application.

[0058] Please see Figure 2 , Figure 2 This is a schematic diagram of the structure of a launching device provided in an embodiment of this application. The launching device 200 may include a first launching module 201 and a second launching module 202.

[0059] The first transmitting module emits a first beam, and the second transmitting module emits a second beam. The maximum detection range of the first beam is shorter than that of the second beam. The second beam has a longer maximum detection range, making it suitable for long-range detection; the first beam has a shorter maximum detection range, making it suitable for short-range detection. Therefore, by using two modules—one for long-range detection and one for short-range detection—the short-range detection process includes detecting the blind spots created during long-range detection, significantly reducing the blind spots and improving the short-range detection capability and overall performance of the detection device.

[0060] Please see Figure 3 , Figure 3 This is a schematic diagram of a detection range provided in an embodiment of this application. It can be seen that the overlapping area between the transmission field of view and the reception field of view of the first transmitting module is called overlapping area 1; the overlapping area between the transmission field of view and the reception field of view of the second transmitting module is called overlapping area 2. Overlapping area 1 covers the near-range area not covered by overlapping area 2, that is, the light emitted by the first transmitting module can detect part of the blind area formed by the second transmitting module within the near-range field of view, improving the near-range detection capability of the detection device and enhancing its detection performance.

[0061] In one possible implementation, the first transmitting module 201 and the second transmitting module 202 are connected to the same circuit board. The circuit board is a support for electronic components, and it contains conductors as lines for connecting electronic devices, including but not limited to printed circuit boards (PCBs), flexible printed circuit boards (FPCs), etc.

[0062] Furthermore, the first transmitting module 201 and the second transmitting module 202 can be electronic devices, both of which are electrically connected to the circuit board.

[0063] Alternatively, the first transmitting module 201 and the second transmitting module 202 may be electrically isolated from the circuit board. In this case, the first transmitting module 201 and the second transmitting module 202 may be fixed on the circuit board, but may not necessarily be electrically connected to the circuit board.

[0064] Alternatively, the circuit board can be replaced with a substrate, which may not contain conductors for transmitting electrical signals. The first and second transmitting modules can be fixed on the substrate.

[0065] The above describes one implementation of the present application. Below, some possible designs are provided based on the aforementioned launching device. It should be noted that the various designs described below can be implemented individually or in combination. For ease of understanding, exemplary descriptions of combined implementations will also be provided below. Some possible designs are described below.

[0066] As one possible design, the first and second transmitting modules can emit beams in a time-division manner. This arrangement allows the emission times of the first and second beams to be staggered, enabling both long-range and short-range detection to be achieved through time-division. Therefore, long-range and short-range detection are less likely to interfere with each other, achieving blind spot detection in the near field of view without affecting long-range detection capabilities, thus enhancing the detection performance of the device.

[0067] As an example of time-division luminescence, a first emitting module is used to emit a first beam during a first time period, and a second emitting module is used to emit a second beam during a second time period, wherein the first time period and the second time period do not overlap.

[0068] Please see Figure 4 , Figure 4 This is a schematic diagram of a light emission timing provided in an embodiment of this application. For example... Figure 4 As shown, within one detection period T, the first beam is emitted during time interval T_1 of the period, and the second beam is emitted during time interval T_2 of the period. Time intervals T_1 and T_2 do not overlap. Of course, Figure 4 The illustrated emission sequence is an example of a periodic emission sequence. This application also applies to non-periodic emission or periodic emission with other duration patterns. For example, the duration of time segment T_1 can differ from the duration of time segment T_2; for instance, the duration of time segment T_1 can be longer than the duration of time segment T_2, or vice versa. For example, after multiple time segments T_1 and T_2, the first and second emission modules can pause for a period before resuming emission.

[0069] Figure 5 This is another schematic diagram of the detection range provided in the embodiments of this application. Figure 5 The detection device shown includes a transmitter that is part of the transmitter provided in the embodiments of this application, such as... Figure 5 As shown in part (a), during the time period T_1, the coverage area of ​​the first beam overlaps with the receiving field of view to form area 1, and the receiving end can receive the echo signal from area 1 (proximity measurement); as Figure 5As shown in part (b), during the time period T_2, the coverage area of ​​the second beam overlaps with the receiving field of view to form an overlapping area 2. The receiving end can receive the echo signal (distance measurement) from the overlapping area 2. Although the overlapping areas 1 and 2 may overlap, by transmitting the beam in a time-division manner, the distance measurement and proximity measurement are time-isolated and difficult to interfere with each other, thereby improving the detection accuracy of the detection device and enhancing its detection performance.

[0070] It should be noted that, Figure 4 The vertical axis is used to indicate whether there is a beam of light at a certain time. There are no strict restrictions on the variables themselves. 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.

[0071] As one possible implementation, during the first time period, the second transmitting module can emit a third beam, the maximum detection range of which is less than that of the second beam. For example, the energy density of the third beam is less than that of the second beam. Furthermore, the power of the third beam is less than that of the second beam.

[0072] Since the maximum detection range of the third beam is shorter than that of the second beam, the third beam is suitable for close-range detection within the first time period. This allows for closer-range detection over a larger area within the first time period, further enhancing the close-range detection capability of the detection device. Optionally, the maximum detection range of the third beam can be equal to that of the first beam.

[0073] Please see Figure 6 , Figure 6 This is another light emission timing diagram provided in the embodiments of this application. For example... Figure 6 As shown, within a detection period T, the first transmitting module emits a first beam during time interval T_1, the second transmitting module emits a third beam during time interval T_1, and the second transmitting module emits a second beam during time interval T_2. The maximum detection distance of the first beam is less than that of the second beam, and the maximum detection distance of the third beam is also less than that of the second beam. Therefore, during time interval T_1, the beams emitted by the first and second transmitting modules can be considered as beams used for short-range detection; during time interval T_2, the beam emitted by the second transmitting module can be considered as beams used for long-range detection. This configuration achieves time isolation between long-range and short-range detection, and also enables short-range detection over a wider range, further improving detection efficiency, enhancing the short-range detection capability of the detection device, and strengthening its detection performance.

[0074] It should be noted that, Figure 6The vertical axis "power" is a diagram to indicate the farthest detection distance of the beam within a time period. Power can also be replaced by the current of the transmitting module, the energy density of the beam, the farthest detection distance of the beam, etc.

[0075] Not limited to the aforementioned design, in another possible design, the energy density of the first beam is lower than that of the second beam. The energy density of the signal is related to its maximum detection distance; when the energy density of the first beam is lower, it is suitable for short-range detection. Furthermore, the shorter maximum detection distance of the first beam can also avoid mutual interference between the first and second beams, improving the accuracy of both short-range and long-range detection, and thus enhancing the detection performance.

[0076] Optionally, if the second transmitting module also emits a third beam, the energy density of the third beam is less than that of the second beam.

[0077] Not limited to the aforementioned design, in another possible design, the power of the first beam is less than the power of the second beam. The signal power is related to its maximum detection range; with the lower power of the first beam, it is suitable for short-range detection.

[0078] Optionally, if the second transmitting module also transmits a third beam, the power of the third beam is less than the power of the second beam.

[0079] Not limited to the aforementioned design, in another possible design, the FOV of the first beam and the FOV of the second beam do not completely overlap. This incomplete overlap can take the following forms: Scenario 1: The field of view (FOV) of the first beam completely covers the field of view (FOV) of the second beam, and the angular range of the FOV of the first beam exceeds the angular range of the FOV of the second beam.

[0080] As one possible implementation, the overlap of FOVs can be in a certain direction (overlap on a certain plane). See also Figure 7 , Figure 7 This is a schematic diagram of the field of view (FOV) of a first beam and a second beam provided in an embodiment of this application. Please refer to [link / reference]. Figure 7 In part (a), the first and second transmitting modules are arranged along the y-direction, and the surface from which the light beam exits is located in the xy-plane. See also... Figure 7 In part (b), in the x-direction, the field of view (FOV) of the beam emitted by the first transmitting module in the object space is β_x (without changing the propagation direction by means of a reflector), and the field of view (FOV) of the beam emitted by the second transmitting module in the object space is α_x (without changing the propagation direction by means of a reflector). It can be seen that β_x and α_x have non-overlapping angular ranges.

[0081] It should be understood that Figure 7 The FOV shown is an example of the FOV in the x-direction. In actual implementation, the x-direction, y-direction, etc., can be defined according to specific circumstances. Additionally, Figure 7 The dashed line shown indicates the principal optical axis of the lens (an exemplary optical element), and the center of the optional second emitting module may coincide with the principal optical axis of the lens. Of course, this application also applies to solutions where the center of the second emitting module does not coincide with the principal optical axis.

[0082] Optional, combined Figure 3 Overlapping area 1 can be the overlapping area of ​​the transmitting field of view and the receiving field of view of the first transmitting module in the x direction. Similarly, overlapping area 2 can be the overlapping area of ​​the transmitting field of view and the receiving field of view of the second transmitting module in the x direction.

[0083] Scenario 2: The field of view (FOV) of the first beam partially covers the field of view (FOV) of the second beam. That is, the FOV of the first beam has an angle that does not overlap with the FOV of the second beam, and the FOV of the second beam also has an angle that does not overlap with the FOV of the first beam.

[0084] Please see Figure 8 , Figure 8 This is a schematic diagram of the field of view (FOV) of another first beam and second beam provided in an embodiment of this application, as shown below. Figure 8 As shown in part (a), the first and second transmitting modules are misaligned in the x-direction; as Figure 8 As shown in part (b), in the x-direction, the field of view (FOV) of the beam emitted by the first emitting module in the object space is β_x, and the field of view (FOV) of the beam emitted by the second emitting module in the object space is α_x. It can be seen that both β_x and α_x have angular ranges that do not overlap with each other.

[0085] It should be noted that, Figure 8 The lenses shown in the accompanying drawings are exemplary optical elements and are not intended to limit the beams emitted by the first and second transmitting modules to necessarily passing through the same lens. This application also applies to cases where beams pass through other optical elements.

[0086] Scenario 3: The FOV of the first beam and the FOV of the second beam do not overlap at an angle. Optionally, the angles formed by the two beams can be continuous (without gaps between FOVs) or discontinuous (with angular gaps between FOVs).

[0087] Of course, the above examples are just for ease of understanding; other situations may arise during actual implementation. Alternatively, the above multiple situations can be combined without mutual exclusion. For example, there may be multiple first and second launch modules, with different first and second launch modules satisfying different conditions.

[0088] Not limited to the aforementioned design, in another possible design, the emitting device also includes a beam homogenizing component. The beam homogenizing component is used to homogenize the beam emitted by the emitting module. The beam homogenizing component includes, but is not limited to, one or more of a microlens array, a diffuser, or a beam homogenizer.

[0089] As one possible implementation, the beam homogenizing component can homogenize the first beam emitted by the first transmitting module. For ease of distinction, the first beam after passing through the beam homogenizing component will be referred to as the first detection signal below.

[0090] As one possible implementation, the beam homogenizing component can homogenize the second beam emitted by the second transmitting module. For ease of distinction, the second beam after passing through the beam homogenizing component will be referred to as the second detection signal below.

[0091] Please see Figure 9 , Figure 9 This is a schematic diagram of another transmitting device provided in an embodiment of this application. The transmitting device 900 includes a beam homogenizing component. The beam homogenizing component 901 is disposed on the transmission path (from the transmission module to the field of view) of the first transmitting module 201 and the second transmitting module 202, and is used to homogenize the beams emitted by the first transmitting module 201 and the second transmitting module 202. The first transmitting module and the second transmitting module share the beam homogenizing component, which can further reduce the size of the transmitting device and improve the integration. In addition, sharing the beam homogenizing component can ensure that the beams emitted by the first transmitting module and the second transmitting module are homogenized, improve the continuity of the transmission field of view, improve detection efficiency, and enhance detection performance.

[0092] The location of the light-diffusing component has been described above. The following is an exemplary description of the light-diffusing component's homogenizing effect.

[0093] Figure 10 This is a schematic diagram of the homogenization effect of a light homogenizing component provided in an embodiment of this application. The light homogenizing component can homogenize the light beam emitted by the first emitting module, so that the first detection signal can cover a larger angle range, thereby enabling close-range detection to cover more areas and further reducing the near-field blind zone.

[0094] It should be noted that the direction of beam homogenization can be configured when the beam homogenization component homogenizes the beam. The homogenization direction includes, but is not limited to, linear homogenization or diffusion homogenization.

[0095] Figure 11 This is a schematic diagram of a possible beam homogenization direction provided in an embodiment of this application. The first and second emitting modules are arranged along the y-direction, with a gap in the y-direction. The surface from which the beam emitted by the emitting modules exits is located in the xy-plane, and the homogenization direction of the beam homogenization component is homogenization in the y-direction, thereby causing the beam to diffuse in the y-direction.

[0096] Figure 12 This is a schematic diagram of yet another possible beam homogenization direction provided in the embodiments of this application. The first and second emitting modules are arranged along the y-direction, with a gap in the y-direction. The surface from which the beam emitted by the emitting modules exits is located in the xy-plane, and the homogenization direction of the beam homogenization component is to form a diffuse homogenization in the xy-plane, thereby causing the beam to diffuse in the xy-plane.

[0097] Optionally, when the beam forms a diffuse dispersion in the xy plane, the degree of dispersion in the x direction is less than the degree of dispersion in the y direction.

[0098] Not limited to the aforementioned design, in another possible design, the FOV of the first detection signal and the FOV of the second detection signal overlap or have no gap.

[0099] Optionally, the FOV here refers to the FOV in a certain direction, for example, along the direction from the first launch module to the second launch module.

[0100] Because the first and second transmitting modules emit beams with different ranging capabilities, there may be a physical gap between them. Figure 9 As shown, the first launch module 201 and the second launch module 202 are arranged along the y-direction and have a gap in the y-direction.

[0101] The gaps between the transmitting modules cause discontinuous light spots to form during imaging. See also... Figure 13 , Figure 13This is a schematic diagram of the field of view (FOV) of a transmitting device provided in an embodiment of this application. The first transmitting module 201 and the second transmitting module 202 have a gap in the y-direction. The FOV of the beam emitted by the first transmitting module 201 in the y-direction is β_y, and the FOV of the beam emitted by the second transmitting module 202 in the y-direction is α_y. It can be seen that there is an angular difference of γ between β_y and α_y in the y-direction. Due to this angular difference in the FOV of the transmitting modules in a certain direction, the FOV of the first and second transmitting modules has a gap in the y-direction, resulting in a discontinuous field of view and a small blind spot that cannot be detected.

[0102] The gaps between the emission fields of view can be visually observed through the light spots. (See also...) Figure 14 This is a schematic diagram of a light spot provided in an embodiment of this application. Light spot 1401 is a light spot formed by the light beam emitted by the first emitting module, and light spot 1402 is a light spot formed by the light beam emitted by the second emitting module. There is a gap between light spot 1401 and light spot 1402.

[0103] In this design, the field of view (FOV) of the first detection signal overlaps with or is seamless with the FOV of the second detection signal. For example, taking the y-direction as an example, the first beam and the second beam overlap or are seamless in the angular space of the y-direction, which makes the field of view of a set of detectors continuous, further reducing the near-field blind zone, improving detection efficiency, and enhancing detection performance.

[0104] Optionally, overlapping or seamless FOVs can be achieved through a light-diffusing component, and / or through the positional arrangement design of the first and second emission modules (e.g., setting an additional light source in the y-direction).

[0105] The following explains the situation where the field of view (FOV) overlaps or has no gaps when using a light-diffusing component.

[0106] By homogenizing the light using a homogenizing component, the light beam can be homogenized, filling the gaps between the emission fields of the transmitting modules with diffused light, further reducing the blind spot. For example, when the first and second transmitting modules have a gap in the y-direction, the homogenization process includes homogenization in the y-direction, filling the gap between the emitted light (i.e., the first detection signal and the second detection signal) of the first and second beams in the angular space of the y-direction, further reducing the blind spot and improving near-range detection performance.

[0107] Please see Figure 15 , Figure 15This is a schematic diagram of the field of view (FOV) of another transmitting device provided in this application embodiment. The first transmitting module 201 and the second transmitting module 202 have a gap in the y-direction. Before passing through the homogenizing component, the FOV of the light beam emitted by the first transmitting module 201 (represented by the dashed line with an arrow) in the y-direction is β_y, and the FOV of the light beam emitted by the second transmitting module 202 (represented by the solid line with an arrow) in the y-direction is α_y. There is an angular difference of γ between β_y and α_y in the y-direction. Through the homogenizing component, the light from the first transmitting module 201 and the second transmitting module 202 can be homogenized in the y-direction, thereby making the first detection signal and the second detection signal gapless (with overlap) and the field of view continuous.

[0108] The effect of continuous field of vision can be intuitively perceived through light spots. Please see [link / reference]. Figure 16 , Figure 16 This is a schematic diagram of another type of light spot provided in an embodiment of this application. The beam homogenizing component homogenizes the light beams emitted by the first emitting module 201 and the second emitting module 202 in the y-direction. Light spot 1601 is the light spot formed after homogenization of the light beam emitted by the first emitting module, and light spot 1602 is the light spot formed after homogenization of the light beam emitted by the second emitting module. It can be seen that the gap between the light spot formed by the first emitting module 201 and the light spot formed by the second emitting module 202 is filled.

[0109] It should be understood that homogenization may not ensure a completely uniform distribution of the beam within the angular space, as factors such as manufacturing processes, cost, device aging, or environmental factors can lead to uneven beam uniformity. The homogenization process described in the embodiments of this application is not limited to complete homogenization; this application also applies to incomplete homogenization schemes, such as... Figure 16 The light spot 1602 shown is a light spot formed after homogenization processing. Although the distribution of optical signal energy within light spot 1602 is uneven, it still solves the problem of uneven distribution of optical signal energy. Figure 14 The gap shown causes a blind spot in the field of vision.

[0110] Not limited to the aforementioned design, in one possible design, the first and second transmitting modules each include at least one laser (also referred to as a light source in some embodiments).

[0111] Optionally, the laser can be an edge-emitting laser or a vertical-surface-emitting laser, etc. Wherein: When a vertical-plane emitting laser is mounted on a circuit board, its emitting surface is parallel to the surface of the circuit board; therefore, its emission direction is away from the circuit board. For example, a vertical-plane emitting laser includes, but is not limited to, one or more of the following: a vertical-cavity surface-emitting laser (VCSEL), a photonic crystal surface-emitting semiconductor laser (PCSEL), and a fiber laser.

[0112] When an edge-emitting laser (EEL) is mounted on a circuit board, the light-emitting surface is the side of the laser, therefore, its light emission direction is parallel to the circuit board. Optionally, the EEL can also be replaced with other devices that emit light at the edge of the light-emitting element, such as silicon photonics chips.

[0113] Not limited to the aforementioned design, in another possible design, the first transmitting module includes two lasers, which are referred to as the first laser and the second laser for easy distinction. The first laser and the second laser are respectively located on opposite sides of the second transmitting module.

[0114] The following description uses a single laser as an example of the first and second lasers. This application also applies to cases where the first and / or second lasers contain multiple lasers.

[0115] Please see Figure 17 , Figure 17 This is a schematic diagram showing the positions of a first transmitting module and a second transmitting module provided in an embodiment of this application. Taking the xy plane as an example, the first transmitting module includes a first laser 1701 and a second laser 1702, which are respectively disposed on both sides of the second transmitting module 202.

[0116] Optionally, the second transmitting module 202 includes a laser 1703, which can be one or more.

[0117] It should be understood that the first laser 1701, the second laser 1702, and the laser 1703 can be the same type of laser or different types of lasers.

[0118] As an example of laser type, the first laser 1701, the second laser 1702, and the laser 1703 are vertically emitting lasers, with their emission directions facing away from the circuit board. For example, the first laser 1701 is a VCSEL or PCSEL, the second laser 1702 is a VCSEL or PCSEL, and the laser 1703 is a VCSEL or PCSEL.

[0119] As another example of laser type, the first laser 1701, the second laser 1702 and the laser 1703 are edge-emitting lasers, and the light emission direction of the three is parallel to the circuit board.

[0120] As another example of laser type, the first laser 1701, the second laser 1702, and the laser 1703 are all lasers, with some being vertically emitting lasers and others being edge-emitting lasers. Furthermore, by using optical elements such as mirrors, the propagation direction of the beam emitted by some of the lasers can be changed, thereby making the beams of all lasers face the same direction.

[0121] The following description uses the example of lasers 1701, 1702, and 1703 all being vertical-plane lasers, namely: Figure 17 The multiple lasers shown can have their light output direction in the Z direction. Of course, this application is also applicable to other types of lasers and lasers with other light output methods.

[0122] As one possible implementation, the length of the first laser 1701 is greater than the length of the laser 1703 in the x-direction. In some scenarios, this arrangement allows the first laser 1701 to form a larger field of view (FOV) in the x-direction, thereby improving the effectiveness of near-range blind spot detection. In other scenarios, this arrangement makes it easier to achieve an energy density (or power) of the first laser 1701 that is lower than that of the laser 1703, thus facilitating the use of the first laser 1701 for near-range blind spot detection and improving near-range detection capabilities.

[0123] Optionally, in the x-direction, the length of the second laser 1702 is greater than the length of the laser 1703. See the foregoing for a related description.

[0124] As another possible implementation, the first laser 1701, the second emitting module 202, and the second laser 1702 are arranged along the y-direction. Furthermore, in the x-direction, one side edge of the first laser 1701, the second emitting module 202, and the second laser 1702 are in the same position in the x-direction (i.e., one side edge is aligned).

[0125] Not limited to the aforementioned design, in another possible design, the second emitting module comprises two laser groups, which are conveniently referred to as the first laser group and the second laser group. The first laser group comprises one or more lasers, and the second laser group comprises one or more lasers. The first emitting module is positioned between the first laser group and the second laser group.

[0126] Please see Figure 18 , Figure 18 This is a schematic diagram showing the positions of another first transmitting module and a second transmitting module provided in the embodiments of this application. Taking the xy plane as an example, the second transmitting module includes a laser group 1801 and a laser group 1802. The laser group 1801 includes 3 lasers (the number is only for example), and the laser group 1802 includes 3 lasers (the number is only for illustration).

[0127] The first transmitting module 201 is disposed between the laser group 1801 and the laser group 1802.

[0128] Optionally, the lasers included in the first transmitting module and the lasers included in the second transmitting module can be the same type of laser or different types of lasers. See the foregoing for a related description.

[0129] The following description uses the example of both the first transmitting module and the second transmitting module containing vertical plane lasers as examples: Figure 18 The multiple lasers shown can have their light output direction in the Z direction. Of course, this application is also applicable to other types of lasers and lasers with other light output methods.

[0130] In one possible implementation, the length of the first transmitting module 201 is greater than the length of the laser group 1801 in the x-direction. In some scenarios, this arrangement allows the first transmitting module 201 to form a larger field of view (FOV) in the x-direction, thereby improving the effectiveness of near-range blind spot detection. In other scenarios, this arrangement makes it easier to ensure that the energy density (or power) of the beam emitted by the first transmitting module 201 is lower than the energy density (or power) of the laser group 1801, thus facilitating the use of the first transmitting module 201 for near-range blind spot detection and improving near-range detection capabilities.

[0131] As another possible implementation, in the x-direction, the length of the first transmitting module 201 is greater than the length of the laser group 1802. See the foregoing for a related description.

[0132] As another possible implementation, the laser group 1801, the first emitting module 201, and the laser group 1802 are arranged along the y-direction. Furthermore, in the x-direction, one side edge of the laser group 1801, the first emitting module 201, and the laser group 1802 are in the same position in the x-direction (i.e., one side edge is aligned).

[0133] Please see Figure 19 , Figure 19 This is a schematic diagram showing the positions of another first and second transmitting modules provided in an embodiment of this application. The first transmitting module includes a third laser 1901 and N fourth lasers, where N is an integer and N≥2. Figure 19 As shown, the N fourth lasers include lasers 1902a, 1902b, 1902c, and 1902d. The second transmitting module includes N fifth lasers, for example, N fifth lasers including lasers 1903a, 1903b, 1903c, and 1903d. Optionally, the lasers included in the first transmitting module and the lasers included in the second transmitting module can be of the same type or different types of lasers. Related descriptions can be found above.

[0134] The following description uses the example of both the first transmitting module and the second transmitting module containing vertical plane lasers as examples: Figure 19 The multiple lasers shown can have their light output direction in the Z direction. Of course, this application is also applicable to other types of lasers and lasers with other light output methods.

[0135] In a first direction (e.g., the y-direction), a third laser 1901 is disposed between laser group 1904 and laser group 1905. Laser group 1904 and laser group 1905 each contain multiple laser pairs, and each laser pair contains a fourth laser and a fifth laser disposed opposite to each other.

[0136] For ease of distinction, laser group 1904 can be referred to as the third laser group, and laser group 1905 as the fourth laser group. Optionally, the third laser group contains M laser pairs, and the fourth laser group contains NM laser pairs, where M is an integer and N > M ≥ 2.

[0137] Taking laser group 1904 as an example, it contains two laser pairs arranged along a first direction (y-direction). Each laser pair contains a fourth laser and a fifth laser, and there is a gap between the fourth and fifth lasers in each laser pair (for easy distinction, referred to as the first gap). For example, laser 1902a (fourth laser) and laser 1903a (fifth laser) form a laser pair, and laser 1902a and laser 1903a have a first gap in the second direction (x-direction).

[0138] Similarly, laser group 1905 comprises two laser pairs arranged along a first direction (y-direction), with a first gap between the fourth and fifth lasers in each pair. For example, lasers 1902c (fourth laser) and 1903c (fifth laser) form a laser pair, with a first gap between them in a second direction (x-direction).

[0139] In the second direction (x direction), the position occupied by the third laser 1901 includes the position of the first gap and the position of the second gap, and the first direction is perpendicular to the second direction.

[0140] For example, in the x-direction, the left edge of the first gap and the left edge of the second gap are located inside the left edge of the third laser, or the left edge of the first gap and the left edge of the second gap overlap the left edge of the third laser; the right edge of the first gap and the right edge of the second gap are located inside the right edge of the third laser, or the right edge of the first gap and the right edge of the second gap overlap the right edge of the third laser.

[0141] Combination Figure 19 Because there is a gap between the two lasers belonging to different emission modules in the x-direction, the field of view of the beams emitted by the two lasers is discontinuous in the x-direction. By setting a third laser 1901, the gap in the x-direction can be filled, so that the field of view of the first emission module and the field of view of the second emission module are continuous in the field of view, further reducing the blind zone and improving the close-range detection capability.

[0142] Optionally, a fourth laser and a fifth laser in a laser pair are positioned along a second direction (such as the x-direction). Further optionally, in the y-direction, the edges of a fourth laser and a fifth laser in a laser pair are aligned.

[0143] Optionally, in the x-direction, the length of the fourth laser in a laser pair is greater than the length of the fifth laser.

[0144] Not limited to the aforementioned design, in another possible design, the transmitting device also includes a collimating lens group. The collimating lens group is used to collimate the beam emitted by the first transmitting module and the beam emitted by the second transmitting module.

[0145] Optionally, the collimating lens group may include one or more of a lens or a collimating device. Optionally, the lens in some of the foregoing embodiments may be replaced with a collimating lens group.

[0146] Not limited to the aforementioned design, in another possible design, the collimating lens group has a converging effect and a focal plane. There is defocus between the emitting end faces of the first and second emitting modules and the focal plane of the collimating lens group.

[0147] As one possible implementation, the distance between the focal plane of the collimating lens group and the collimating lens group is a first distance, and the distance between the first plane of the transmitting device and the collimating lens group is a second distance. The first plane is the plane containing the transmitting end face of the first transmitting module and the transmitting end face of the second transmitting module.

[0148] The second distance is different from the first distance, that is, the "first plane" is out of focus.

[0149] The above describes some possible designs for embodiments of this application. In specific implementation, the above designs can be combined. The following describes embodiments obtained by combining some designs as examples. It should be understood that modules and logic not explained in the following description can be referenced to the foregoing basic information and possible designs.

[0150] This application provides a transmitting device, including a first transmitting module and a second transmitting module. The first transmitting module and the second transmitting module are used for time-division transmitting a light beam. The first transmitting module is used to transmit a first light beam, and the second transmitting module is used to transmit a second light beam. The farthest detection distance of the first light beam is less than the farthest detection distance of the second light beam.

[0151] Example 1 can also be combined with one or more of the aforementioned designs, and the combinations will not be elaborated here.

[0152] This application provides a transmitting device, which includes a first transmitting module, a second transmitting module, and a light homogenizing component.

[0153] The first transmitting module is used to transmit the first beam, and the second transmitting module is used to transmit the second beam. The maximum detection distance of the first beam is less than the maximum detection distance of the second beam.

[0154] The beam homogenization component is used to homogenize the first beam to obtain the first detection signal.

[0155] Furthermore, the homogenizing component is also used to homogenize the second beam to obtain a second detection signal.

[0156] Embodiment 2 can also be combined with one or more of the aforementioned designs; the combinations will not be elaborated here.

[0157] Please see Figure 20 , Figure 20 This is a schematic diagram of another possible transmitting device provided in an embodiment of this application. The detection device includes a circuit board (or light source circuit board), a collimating lens group, and a light-diffusing component, and optionally includes a reflector. The light-diffusing component can be implemented using a microlens array. It should be noted that the placement of the optical elements (collimating lens group, light-diffusing component, or reflector, etc.) is not limited in the embodiments of this application; the order shown in the diagram is an exemplary order. Optionally, the first transmitting module and the second transmitting module are disposed on the same circuit board and electrically connected to the circuit board.

[0158] The light source circuit board includes a first emitting module and a second emitting module. The distribution of the first emitting module (containing light sources indicated by gray boxes) and the second emitting module (containing light sources indicated by white boxes) in the xy plane is shown in region 2001. The light sources in the second emitting module are spaced apart along the y-direction. The first emitting module comprises two parts, which are respectively arranged at both ends of the second emitting module.

[0159] The light source circuit board drives the first and second emitting modules to emit light beams. The collimating lens group collimates and shapes the light beams before they are emitted onto the homogenizing component. The distribution of the collimated light beam in angular space corresponds to the distribution of the light source on the circuit board.

[0160] Because the two parts of the first transmitting module are located at opposite ends of the second transmitting module, and there is a gap between the two parts in the y-direction, the light beam emitted by the first transmitting module forms a discontinuous spot in the angular space along the y-direction. Similarly, because the light source in the second transmitting module has a gap in the y-direction, the light beam emitted by the first transmitting module also forms a discontinuous spot in the angular space along the y-direction. See also Figure 21 , Figure 21 These are schematic diagrams of two light patterns provided in embodiments of this application. For example... Figure 21 Part (a) is the beam shape of the beam emitted by the first transmitting module in the angular space of the y-direction, such as Figure 21 Part (b) is the beam shape of the beam emitted by the second emission module in the angular space of the y-direction.

[0161] The beam homogenization component can be used to homogenize light beams. After homogenization by the beam homogenization component, gaps in the y-direction of the emitted light from the first emitting module are filled. Similarly, after homogenization by the beam homogenization component, gaps in the y-direction of the emitted light from the second emitting module are filled. See also Figure 22 , Figure 22 These are schematic diagrams of two more light patterns provided in the embodiments of this application. For example... Figure 22 Part (a) shows the beam shape in the angular space along the y-direction after homogenization of the beam emitted by the first transmitting module; as shown... Figure 22 Part (b) is the beam pattern in the angular space of the y-direction after homogenization of the beam emitted by the second emission module.

[0162] Optionally, within a period T, the first emitting module emits light during a first time period, and the second emitting module emits light during a second time period, with no overlap between the first and second time periods.

[0163] Optional, Figure 20 The illustrated embodiment also ensures that the beams emitted by the first and second transmitting modules have a continuous, gapless field of view in the x-direction. See also... Figure 23 , Figure 23 This is a schematic diagram of a field of view (FOV) provided in an embodiment of this application. In the x-direction, the FOV of the second transmitting module is α_x, and the FOV of the first transmitting module is β_x. The FOV of the first transmitting module covers the FOV of the second transmitting module, making the field of view for distance measurement and the field of view for near measurement continuous in the x-direction without gaps.

[0164] In summary, the embodiments of this application achieve blind spot detection in the near field of view, and the detected field of view is continuous, which significantly reduces the blind spot range of the detection device and significantly enhances the detection performance of the detection device.

[0165] Please see Figure 24 , Figure 24 This is a schematic diagram of a possible transmitting device provided in an embodiment of this application. The transmitting device includes a light source circuit board, a collimating lens group, and a light homogenizing component. The light homogenizing component can optionally be implemented using a microlens array. Optionally, the first transmitting module and the second transmitting module are disposed on the same circuit board and electrically connected to each other.

[0166] The light source circuit board includes a first emitting module and a second emitting module. The first emitting module (containing light sources indicated by gray boxes) and the second emitting module (containing light sources indicated by white boxes) are distributed in the xy plane as shown in region 2401. The light sources in the second emitting module are spaced apart along the y-direction, and the first emitting module is positioned between the light sources in the second emitting module.

[0167] The light source circuit board drives the first and second emitting modules to emit light beams. The collimating lens group collimates and shapes the light beams before they are emitted onto the homogenizing component. The collimated light beams are distributed in angular space, corresponding to the distribution of the light source on the circuit board.

[0168] As one possible implementation, in the x-direction, the length of the first transmitting module is a first length (denoted as ls), and the length of the second transmitting module is a second length (denoted as lb), where ls > lb. Since the first and second transmitting modules share some optical elements (e.g., collimating lens group), the longer first transmitting module will have a larger field of view in the x-direction, thereby enabling closer-range detection over a wider range and improving closer-range detection efficiency.

[0169] exist Figure 24 In the illustrated emitting device, the first emitting module is positioned in the middle of the light source circuit board in the y-direction. Therefore, the light spot formed by the beam emitted by the first emitting module in the y-direction exists in the middle of the light-emitting area. However, the light source in the second emitting module has a gap in the y-direction, resulting in a discontinuous light spot formed by the beam emitted by the first emitting module in the y-direction. Please refer to [link / reference]. Figure 25 , Figure 25 These are schematic diagrams of two more light patterns provided in the embodiments of this application. For example... Figure 25 Part (a) is the beam shape of the beam emitted by the first transmitting module in the angular space of the y-direction, such as Figure 25 Part (b) is the beam shape of the beam emitted by the second emission module in the angular space of the y-direction.

[0170] The beam homogenization component can be used to homogenize a light beam. After homogenization by the beam homogenization component, the emitted light from the first emitting module is diffused in the y-direction. Similarly, after homogenization by the beam homogenization component, gaps in the emitted light in the y-direction are filled. See also Figure 26 , Figure 26 These are schematic diagrams of two more light patterns provided in the embodiments of this application. For example... Figure 26 Part (a) shows the beam shape in the angular space along the y-direction after homogenization of the beam emitted by the first transmitting module; as shown... Figure 26 Part (b) is the beam pattern in the angular space of the y-direction after homogenization of the beam emitted by the second emission module.

[0171] Optionally, within a period T, the first emitting module emits light during a first time period, and the second emitting module emits light during a second time period, with no overlap between the first and second time periods.

[0172] in addition, Figure 24The illustrated embodiment also ensures that the beams emitted by the first and second transmitting modules have a continuous, gapless field of view in the x-direction. The FOV (Field of View) of both in the x-direction can be referenced. Figure 23 The relevant descriptions will not be explained in detail here.

[0173] In summary, the embodiments of this application achieve blind spot detection within the near field of view, and the detected field of view is continuous, the blind spot range is significantly reduced, and the detection performance of the detection device is significantly enhanced.

[0174] Please see Figure 27 , Figure 27 This is a schematic diagram of a possible transmitting device provided in an embodiment of this application. The transmitting device includes a light source circuit board, a collimating lens group, and a light-diffusing assembly, and optionally includes a reflector. The light-diffusing assembly can optionally be implemented using a microlens array. Optionally, the first transmitting module and the second transmitting module are disposed on the same circuit board and electrically connected to each other.

[0175] The light source circuit board is equipped with a first emission module and a second emission module. The distribution of the first emission module (containing the light source indicated by the gray box) and the second emission module (containing the light source indicated by the white box) on the xy plane is shown in region 2701.

[0176] The second transmitting module is distributed along the y-direction with a gap between the two light sources. The length of the second transmitting module in the x-direction is a first length (denoted as lb). A portion of the light sources in the first transmitting module (e.g., referred to as light source A) is positioned opposite to the light sources in the second transmitting module to form a light source pair. The length of light source A in the x-direction is a second length (denoted as ls1). Another portion of the light sources in the first transmitting module (e.g., referred to as light source B) is positioned between the light source pairs. The length of light source B in the x-direction is a third length (denoted as ls2).

[0177] Figure 28 This is a schematic diagram of the FOV of a transmitting device provided in an embodiment of this application. In the x-direction, the FOV of the second transmitting module (lb) of the transmitting device is α_x, the FOV of the light source A (ls1) in the first transmitting module is β_x, and the FOV of the light source B (ls2) in the first transmitting module is... _x. In the x-direction, the light source B of the second transmitting module, the light source A of the first transmitting module, and the light source B of the first transmitting module are arranged sequentially, with a light source emitting a signal at each x-coordinate. Therefore, the field of view α_x, the field of view β_x, and the field of view angle The continuous, gapless field of view of _x significantly improves the short-range detection capability of the detection device, enhances detection efficiency, and strengthens detection performance.

[0178] In the y-direction, the beam can be homogenized by the beam homogenizing component, thus achieving a continuous field of view for the transmitting device in the y-direction.

[0179] In one possible implementation, within a period T, a first transmitting module emits a first beam during a first time period, and a second transmitting module emits a third beam during the same first time period; the second transmitting module then emits a second beam during a second time period. The maximum detection range of the third beam is less than that of the second beam, and the maximum detection range of the first beam is less than that of the second beam. In this implementation, the second transmitting module performs long-range detection during the second time period, while the first and second transmitting modules are used for short-range detection during the first time period, thereby improving the field-of-view coverage, detection efficiency, and detection performance for short-range detection.

[0180] As one possible implementation, the light source circuit board is out of focus relative to the focal plane of the collimating lens, which causes the light beams emitted by the first and second transmitting modules to be diffused to a certain extent, which can improve the light uniformity effect and thus improve the close-range detection capability.

[0181] This application also provides a detection device, which includes a transmitting device and a photodetector, wherein the transmitting device includes the transmitting device described in any one of the first aspects or the transmitting device described in any one of the second aspects; The first transmitting module in the transmitting device is used to transmit a first beam, and the second transmitting module in the transmitting device is used to transmit a second beam; The photodetector is used to receive the echo signal corresponding to the first beam and the echo signal corresponding to the second beam.

[0182] In one possible implementation, the detection device further includes a control module for generating a first control signal and a second control signal, wherein the first control signal is different from the second control signal; the first control signal is used to control the first transmitting module to emit a beam; and the second control signal is used to control the second transmitting module to emit a beam.

[0183] In this implementation, the first transmitting module and the second transmitting module are driven by different control signals, thus achieving isolation between the first transmitting module and the second transmitting module in terms of control. This is beneficial for controlling the output power of the lidar and improving the flexibility of the transmitted signal.

[0184] This application also provides a terminal, which includes the aforementioned transmitting device and / or the aforementioned detection device, the transmitting device described in any of the first aspects, or includes the transmitting device described in any of the second aspects, or includes the detection device described in any of the third aspects.

[0185] Optionally, the terminal may be a vehicle, a drone, or a robot.

[0186] In the description of this application, the terms “center,” “upper,” “lower,” “vertical,” “horizontal,” “inner,” and “outer,” etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used 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, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0187] Furthermore, the Cartesian coordinate system and the x, y, and z directions shown in the various embodiments of this application are exemplary identifiers for ease of understanding and are not intended to limit the embodiments of this application. In actual implementation, the placement of devices, their arrangement direction, and the direction of the beam may have other designs, and other coordinate systems such as spherical coordinates may also be used.

[0188] In this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design described as "exemplary" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0189] In this application, "at least one" in the embodiments refers to one or more items, and "more than one" refers to two or more items. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or multiple 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, and c can be single or multiple. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0190] Furthermore, unless otherwise stated, the use of ordinal numbers such as "first" and "second" in the embodiments of this application is for distinguishing multiple objects and is not for limiting the order, timing, priority, or importance of multiple objects. For example, "first emission module" and "second emission module" are used only for ease of description and do not indicate differences in the light emission mode, light emission order, or importance of the first emission module and the second emission module.

Claims

1. A transmitting device, characterized by The transmitting device includes a first transmitting module, a second transmitting module, and a light homogenizing component. The first transmitting module and the second transmitting module are used to transmit beams in a time-division manner. The first transmitting module is used to transmit a first beam, and the second transmitting module is used to transmit a second beam. The maximum detection distance of the first beam is less than the maximum detection distance of the second beam. There is a gap between the first laser in the first transmitting module and the laser in the second transmitting module in a first direction. The beam homogenizing component is used to homogenize the first beam in the first direction to obtain a first detection signal; In the second direction, there is no gap between the first laser in the first transmitting module and the laser in the second transmitting module. The first direction is different from the second direction.

2. The transmitting apparatus of claim 1, wherein The energy density of the first beam is less than that of the second beam, and / or the power of the first beam is less than that of the second beam.

3. The launching device according to claim 1, characterized in that, The homogenizing component is also used to homogenize the second beam to obtain a second detection signal.

4. The transmitting apparatus of claim 3, wherein The field of view of the first detection signal overlaps with the field of view of the second detection signal or there is no gap between them.

5. The launch device of claim 1, wherein, The first transmitting module and the second transmitting module each contain at least one laser.

6. The transmitting apparatus of claim 5, wherein, The at least one laser comprises a vertical cavity surface-emitting laser (VCSEL) and / or a photonic crystal surface-emitting laser (PCSEL).

7. The launching device according to any one of claims 1-6, characterized in that, The first transmitting module includes a first laser and a second laser; The first laser and the second laser are respectively disposed on both sides of the second emitting module.

8. The launching device according to any one of claims 1-6, characterized in that, The second emitting module includes a first laser group and a second laser group, wherein the first laser group includes one or more lasers and the second laser group includes one or more lasers; The first transmitting module is disposed between the first laser group and the second laser group.

9. The launching device according to any one of claims 1-6, characterized in that, The first transmitting module includes a third laser and N fourth lasers, and the second transmitting module includes N fifth lasers, where N is an integer and N≥2; In the first direction, the third laser is disposed between the third laser group and the fourth laser group; The third laser group comprises M laser pairs, which are arranged along a first direction. Each of the M laser pairs includes a fourth laser and a fifth laser arranged along a second direction, and there is a first gap between the fourth laser and the fifth laser in each laser pair. M is an integer and M > N ≥ 2. The fourth laser group comprises NM laser pairs, which are arranged along a first direction. Each of the NM laser pairs includes a fourth laser and a fifth laser arranged along a second direction, and there is a second gap between the fourth laser and the fifth laser in each laser pair. In the second direction, the position occupied by the third laser includes the position of the first gap and the position of the second gap, and the first direction is perpendicular to the second direction.

10. The launching device according to any one of claims 1-6, characterized in that, The first transmitting module is used to transmit the first beam during a first time period, and the second transmitting module is used to transmit the second beam during a second time period, wherein the first time period and the second time period do not overlap.

11. The launching device according to claim 10, characterized in that, The second transmitting module is also used to transmit a third beam during the first time period, wherein the farthest detection distance of the third beam is less than the farthest detection distance of the second beam.

12. The launching device according to any one of claims 1-6, characterized in that, The launching device also includes a collimating lens assembly; The collimating lens group is used to collimate the light beam emitted by the first emitting module and the light beam emitted by the second emitting module.

13. The launching device according to claim 12, characterized in that, The distance between the focal plane of the collimating lens group and the collimating lens group is the first distance. The distance between the first plane of the transmitting device and the collimating lens group is the second distance. The first plane is the plane containing the transmitting end face of the first transmitting module and the transmitting end face of the second transmitting module. The second distance is different from the first distance.

14. A launching device, characterized in that, The transmitting device includes a first transmitting module, a second transmitting module, and a light homogenizing component; The first transmitting module is used to transmit a first beam, and the second transmitting module is used to transmit a second beam. The maximum detection distance of the first beam is less than the maximum detection distance of the second beam. The first laser in the first emitting module and the laser in the second emitting module have a gap in the first direction. The beam homogenizing component is used to homogenize the first beam in the first direction to obtain a first detection signal. In the second direction, there is no gap between the first laser in the first transmitting module and the laser in the second transmitting module. The first direction is different from the second direction.

15. The launching device according to claim 14, characterized in that, The homogenizing component is also used to homogenize the second beam to obtain a second detection signal.

16. The launching device according to claim 15, characterized in that, The field of view of the first detection signal overlaps with the field of view of the second detection signal or there is no gap between them.

17. A detection device, characterized in that, The detection device includes a transmitting device and a photodetector, wherein the transmitting device comprises the transmitting device according to any one of claims 1-13 or the transmitting device according to any one of claims 14-16; The first transmitting module in the transmitting device is used to transmit a first beam, and the second transmitting module in the transmitting device is used to transmit a second beam; The photodetector is used to receive the echo signal corresponding to the first beam and the echo signal corresponding to the second beam.

18. The detection device according to claim 17, characterized in that, The detection device further includes a control module, which is used to generate a first control signal and a second control signal, wherein the first control signal is different from the second control signal. The first control signal is used to control the first transmitting module to emit a beam; The second control signal is used to control the second transmitting module to emit a beam.

19. A terminal, characterized in that, The terminal includes a transmitting device as described in any one of claims 1-13, or a transmitting device as described in any one of claims 14-16, or a detection device as described in claim 17 or 18.

20. The terminal according to claim 19, characterized in that, The terminal can be a vehicle, drone, or robot.

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