Detection device and terminal

Abstract

The detection device and the terminal can be applied to the fields of detection, intelligent driving and the like. Wherein a scanning module of the detection device comprises at least three reflecting surfaces and at least two end surfaces, the at least three reflecting surfaces are respectively vertical to the at least two end surfaces, the scanning module is a polyhedron with unequal angles, and at least two included angles between the at least three reflecting surfaces are different in size. The transmitting module of the detection device can emit a first light beam through the first reflecting surface of the scanning module, and the receiving module of the detection device can receive the returned first light beam through the second reflecting surface of the scanning module. As the scanning module has at least two different included angles, the overlapping initial positions of the divergent view field of the first light beam and the receiving view field of the receiving module are different, and two different overlapping areas exist in one scanning period, so that the scanning range is enlarged, a blind compensation light beam does not need to be arranged, and the scanning efficiency is improved. The device does not need to add extra devices and occupy distance measurement energy, reduces the manufacturing difficulty of the detection device, and improves the distance measurement effect.

Description

Detection device and terminal Technical Field

[0001] The present application relates to the field of laser radar technology, and in particular to a detection device and a terminal. Background Art

[0002] With the development of information technology, detection technology has made rapid progress, and a 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, collect data, identify stationary and moving objects, and perform systematic calculations and analysis in conjunction with navigation map data. This allows the driver to proactively detect potential dangers, effectively increasing 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. Among them, lidar (light detection and ranging device) offers the advantages of high resolution, excellent detection performance, and strong concealment, making it one of the most important detection devices in the field of perception. A common architecture for semi-solid-state lidar uses a transmitter (Tx) for line laser emission (line emission or line point emission), a polyhedron for line scanning (line scanning), and a receiver (Rx) for line spot reception (line reception or line point reception). The transmitter and receiver (TRx) operate on opposite sides of the polyhedron. Currently, to achieve effective range measurement, the polyhedron is a regular polyhedron. The optical axis of the beam transmitted by the Tx through the polyhedron is parallel to the optical axis of the receiving field of view of the Rx. As a result, the area where the divergence of the beam transmitted by the Tx through the polyhedron overlaps with the receiving field of view is far from the lidar, resulting in a large blind spot in the system. Therefore, blind spot filling is necessary.

[0003] Currently, by adding a blind spot beam on the Tx side, the divergent area of ​​the blind spot beam can overlap with the receiving field of view more quickly, reducing the blind spot. However, adding the blind spot beam requires additional devices, and the blind spot beam will occupy some of the laser radar's energy, affecting the laser radar's manufacturing difficulty and ranging effect.

[0004] Summary of the Invention

[0005] The present application provides a detection device and a terminal for reducing the difficulty of manufacturing the detection device and improving the ranging effect.

[0006] In a first aspect, the present application provides a detection device, comprising: a transmitting module, a receiving module and a scanning module; the scanning module comprises at least three reflecting surfaces and at least two end surfaces, the at least three reflecting surfaces are perpendicular to the at least two end surfaces, and the sizes of at least two angles between the at least three reflecting surfaces are different; the transmitting module is used to transmit a first light beam, and the first light beam is emitted through the first reflecting surface of the scanning module; the receiving module is used to receive the first light beam returned through the second reflecting surface of the scanning module.

[0007] In the above aspects, the scanning module of the detection device includes at least three reflecting surfaces and at least two end surfaces, and the at least three reflecting surfaces are respectively perpendicular to the at least two end surfaces. The scanning module is a polyhedron with unequal angles, that is, at least two angles between the at least three reflecting surfaces are different in size. The transmitting module of the detection device can emit a first light beam through the first reflecting surface of the scanning module, and the receiving module of the detection device can receive the returned first light beam through the second reflecting surface of the scanning module. Since the scanning module has at least two angles of different sizes, the overlapping starting positions of the divergent field of view of the first light beam and the receiving field of view of the receiving module are different. Within one scanning cycle, there are two or more different overlapping areas, which increases the scanning range. There is no need to set a blind beam, that is, there is no need to add additional devices and occupy ranging energy, which reduces the difficulty of manufacturing the detection device and improves the ranging effect.

[0008] In a possible implementation of the first aspect, the at least two angles include a first angle and a second angle, the angle between the first reflecting surface and the second reflecting surface is the first angle, and the first angle is smaller than the second angle.

[0009] In the above possible implementation manner, the scanning module is a polyhedron, and the polyhedron can adjust the angle between the first reflecting surface and the second reflecting surface by rotation. The at least two different angles can be the first angle and the second angle. When the first angle is smaller than the second angle, within a certain range, the overlapping position corresponding to the first angle is farther away from the scanning module than the overlapping position when the angle between the first reflecting surface and the second reflecting surface is the second angle. Then, when the first angle is smaller than the second angle, the detection device can obtain a longer detection distance.

[0010] In yet another possible implementation of the first aspect, an optical axis of the first light beam is parallel to an optical axis of a receiving field of view of the receiving module.

[0011] In the above possible implementation manner, when the angle between the first reflecting surface and the second reflecting surface is the first angle, and the first angle makes the optical axis of the first light beam parallel to the optical axis of the receiving field of view of the receiving module, the optical axis of the first light beam does not intersect with the optical axis of the receiving field of view, that is, the overlap of the transmitting field of view and the receiving field of view will not end, and the detection device can obtain the farthest perception distance.

[0012] In another possible implementation of the first aspect, the at least two angles include a first angle and a second angle, the angle between the first reflecting surface and the second reflecting surface is the first angle, and the first angle is greater than the second angle.

[0013] In the above possible implementation manner, since the overlap ends late and starts late, the blind spot between the overlap area and the detection device is larger. For the case where at least two angles include a first angle and a second angle, and the first angle is greater than the second angle, when the angle between the first reflecting surface and the second reflecting surface is the first angle, the overlap can start faster than the second angle, that is, the blind spot between the detection device and the overlap area can be reduced at this time.

[0014] In yet another possible implementation of the first aspect, an optical axis of the first light beam is not parallel to an optical axis of a receiving field of view of the receiving module.

[0015] In the above possible implementation manner, when the angle between the first reflecting surface and the second reflecting surface is the first angle, the optical axis of the first light beam and the optical axis of the receiving field of view must be non-parallel, so that the divergent field of view overlaps with the receiving field of view faster, thereby ensuring the effect of reducing blind spots.

[0016] In another possible implementation of the first aspect, when the angle between the first reflecting surface and the second reflecting surface is a first angle, the overlapping area of ​​the transmitting field of view of the transmitting module and the receiving field of view of the receiving module is a first overlapping area; when the angle between the first reflecting surface and the second reflecting surface is a second angle, the overlapping area of ​​the transmitting field of view of the transmitting module and the receiving field of view of the receiving module is a second overlapping area; and the combined area of ​​the first overlapping area and the second overlapping area is the target scanning area.

[0017] In the above possible implementation manner, a blind area is given, and the blind area is an area that was originally completely or partially unable to be scanned, and is currently desired to be scanned. In this case, the target scanning area that the detection device can perceive needs to include at least the entire area of ​​the blind area. Specifically, for different angles, the transmitting field of view and the receiving field of view have different overlapping areas. When the angle between the first reflecting surface and the second reflecting surface is the first angle, the overlapping area of ​​the transmitting field of view and the receiving field of view is the first overlapping area. When the angle between the first reflecting surface and the second reflecting surface is the second angle, the overlapping area of ​​the transmitting field of view and the receiving field of view is the second overlapping area. Then, the combined area of ​​the first overlapping area and the second overlapping area is the target scanning area. Among them, for scanning modules with only two different angles, the first overlapping area and the second overlapping area at least partially overlap to ensure the continuity of the scan.

[0018] In another possible embodiment of the first aspect, the position and size of the overlapping area are related to at least one of the transceiver parameters and the optical axis angle, the transceiver parameters include the initial interval between the optical axis of the first light beam and the optical axis of the receiving field of view, the width of the first light beam, the divergence angle of the first light beam, the receiving aperture of the receiving module and the field of view angle of the receiving module, and the optical axis angle is the angle between the optical axis of the first light beam and the optical axis of the receiving field of view.

[0019] In the above possible implementation manner, the position and size of the overlapping area are determined by at least one of the transmitting and receiving parameters and the angle between the optical axes. A calculation method for the overlapping area is provided to improve the accuracy of the overlapping area.

[0020] In another possible implementation of the first aspect, the optical axis angle is an angle difference between an angle between the first reflective surface and the second reflective surface and the second angle.

[0021] In the above possible implementation manner, the second angle is set to be fixed to a telemetry angle that enables the detection device to achieve the farthest perception effect, thereby improving the telemetry effect of the detection device.

[0022] In yet another possible implementation of the first aspect, the first overlapping region is closer to the scanning module than the second overlapping region.

[0023] In the above possible implementation manner, the first overlapping area is closer to the scanning module than the second overlapping area, that is, when the scanning module rotates to the first angle, the blind area corresponding to the second angle can be reduced.

[0024] In another possible implementation of the first aspect, the at least two angles further include a third angle, the third angle is greater than the first angle, and when the angle between the first reflecting surface and the second reflecting surface is the third angle, the optical axis of the first light beam is not parallel to the optical axis of the receiving field of view of the receiving module.

[0025] In the above possible implementation manner, the third angle can also make it so that when the angle between the first reflecting surface and the second reflecting surface is the third angle, the optical axis of the first light beam is not parallel to the optical axis of the receiving field of view. Then, the third angle can also play a blind spot filling effect compared to the second angle in which the optical axes are parallel.

[0026] In another possible implementation of the first aspect, when the angle between the first reflecting surface and the second reflecting surface is a third angle, the overlapping area between the transmitting field of view of the transmitting module and the receiving field of view of the receiving module is a third overlapping area, and the third overlapping area is closer to the scanning module than the first overlapping area.

[0027] In the above possible implementation manner, when the angle between the first reflecting surface and the second reflecting surface rotates to a third angle, the overlapping area of ​​the transmitting field of view and the receiving field of view can be called a third overlapping area, and the third overlapping area can be determined by the starting overlapping distance and the leaving overlapping distance corresponding to the third angle. The starting overlapping distance corresponding to the third angle is smaller than the starting overlapping distance corresponding to the first angle, and the leaving overlapping distance corresponding to the third angle is smaller than the leaving overlapping distance corresponding to the first angle. At this time, the third overlapping area can be closer to the scanning module than the first overlapping area, thereby achieving a better blind spot filling effect.

[0028] In another possible implementation of the first aspect, the at least two angles further include a fourth angle, the fourth angle is greater than the third angle, and when the angle between the first reflecting surface and the second reflecting surface is the fourth angle, the optical axis of the first light beam is not parallel to the optical axis of the receiving field of view of the receiving module.

[0029] In the above possible implementation manner, the fourth angle can also make it so that when the angle between the first reflecting surface and the second reflecting surface is the fourth angle, the optical axis of the first light beam is not parallel to the optical axis of the receiving field of view. Then, the fourth angle can also play a blind spot filling effect compared to the second angle in which the optical axes are parallel.

[0030] In another possible implementation of the first aspect, when the angle between the first reflecting surface and the second reflecting surface is a fourth angle, the overlapping area of ​​the transmitting field of view of the transmitting module and the receiving field of view of the receiving module is a fourth overlapping area, and the fourth overlapping area is closer to the scanning module than the third overlapping area.

[0031] In the above possible implementation manner, when the angle between the first reflecting surface and the second reflecting surface rotates to a fourth angle, the overlapping area of ​​the transmitting field of view and the receiving field of view can be called a fourth overlapping area, and the fourth overlapping area can be determined by the starting overlapping distance and the leaving overlapping distance corresponding to the fourth angle. The starting overlapping distance corresponding to the fourth angle is smaller than the starting overlapping distance corresponding to the third angle, and the leaving overlapping distance corresponding to the fourth angle is smaller than the leaving overlapping distance corresponding to the third angle. At this time, the fourth overlapping area can be closer to the scanning module than the third overlapping area, which can enhance the blind spot effect.

[0032] In another possible implementation of the first aspect, the second angle satisfies that the sum of the first angle and other angles between at least three reflective surfaces is the sum of the internal angles of the end face, and the second angle is negatively correlated with the optical axis angle corresponding to the first angle.

[0033] In the above possible implementation manner, the angle settings of the first angle and the second angle need to satisfy the requirement that the sum of other angles between at least three reflecting surfaces is the sum of the internal angles of the end faces, and the larger the optical axis angle corresponding to the first angle, the smaller the second angle, thereby improving the setting accuracy of the first angle and the second angle.

[0034] In another possible implementation of the first aspect, the second angle satisfies that the sum of the first angle and other angles between at least three reflecting surfaces is the sum of the internal angles of the end face, and the second angle is negatively correlated with the optical axis angle corresponding to the first angle and the third angle.

[0035] In the above possible implementation manner, the angle settings of the first angle, the second angle and the third angle need to satisfy the requirement that the sum of the other angles between at least three reflecting surfaces is the sum of the internal angles of the end face, and the larger the sum of the optical axis angle corresponding to the first angle and the optical axis angle corresponding to the third angle, the smaller the second angle, thereby improving the setting accuracy of the first angle, the second angle and the third angle.

[0036] In another possible embodiment of the first aspect, the second angle satisfies that the sum of the first angle and other angles between at least three reflecting surfaces is the sum of the internal angles of the end face, and the second angle is negatively correlated with the optical axis angles corresponding to the first angle, the third angle and the fourth angle.

[0037] In the above possible implementation manner, the angle settings of the first angle, the second angle, the third angle and the fourth angle need to satisfy the requirement that the sum of the other angles between at least three reflecting surfaces is the sum of the internal angles of the end face, and the larger the sum of the optical axis angle corresponding to the first angle, the optical axis angle corresponding to the third angle and the optical axis angle corresponding to the fourth angle, the smaller the second angle, thereby improving the setting accuracy of the first angle, the second angle, the third angle and the fourth angle.

[0038] In another possible implementation of the first aspect, the scanning module is a reflective polyhedron or a refractive polyhedron.

[0039] In a second aspect, an embodiment of the present application further provides a terminal, which includes the detection device described in the first aspect or any item of the first aspect.

[0040] Optionally, the terminal can be an intelligent terminal or transportation tool such as a vehicle, a drone, or a robot.

[0041] Some of the beneficial effects of the second aspect 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

[0042] FIG1 is a schematic diagram of a transmitting field of view and a receiving field of view of a detection device provided in an embodiment of the present application;

[0043] FIG2 is a schematic diagram of the transmitting field of view and the receiving field of view of another detection device provided in an embodiment of the present application;

[0044] FIG3 is a schematic structural diagram of a detection device provided in an embodiment of the present application;

[0045] FIG4 is a schematic diagram of an overlap provided in an embodiment of the present application;

[0046] FIG5 is a parameter diagram provided in an embodiment of the present application;

[0047] FIG6 is a reflection diagram of a four-sided Polygon provided in an embodiment of the present application;

[0048] FIG7 is a reflection diagram of a three-sided Polygon provided in an embodiment of the present application;

[0049] FIG8 is a reflection diagram of another three-sided Polygon provided in an embodiment of the present application;

[0050] FIG9 is a schematic diagram of reflection of another four-sided Polygon provided in an embodiment of the present application;

[0051] FIG10 is a reflection diagram of a five-sided Polygon provided in an embodiment of the present application;

[0052] FIG11 is a reflection diagram of another four-sided Polygon provided in an embodiment of the present application;

[0053] FIG12 is a reflection diagram of another 5-sided Polygon provided in an embodiment of the present application;

[0054] FIG13 is a reflection diagram of a 6-sided Polygon provided in an embodiment of the present application;

[0055] FIG14 is a reflection diagram of a 7-sided Polygon provided in an embodiment of the present application;

[0056] FIG15 is a schematic structural diagram of a terminal provided in an embodiment of the present application. DETAILED DESCRIPTION

[0057] The embodiments of the present application provide a detection device and a terminal, which are used to reduce the difficulty of manufacturing the detection device and improve the ranging effect.

[0058] The following describes the embodiments of the present application in conjunction with the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of the present application, rather than all the embodiments. Those skilled in the art will appreciate that with the development of technology and the emergence of new scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0059] The terms "first," "second," and the like in the specification and claims of this application and in the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a particular order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "including" and "having," as well as any variations thereof, are intended to cover non-exclusive inclusions, e.g., a process, method, system, product, or apparatus comprising a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to these processes, methods, products, or apparatus.

[0060] The following first introduces relevant terms and concepts that may be involved in the embodiments of this application.

[0061] 1. Detection device

[0062] 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.

[0063] 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.

[0064] 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.

[0065] 2. Field of view (FOV)

[0066] 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.

[0067] 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.

[0068] 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.

[0069] The above description of technical terms may be optionally used in the following embodiments.

[0070] 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.

[0071] 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.

[0072] Please refer to Figure 1, which is a schematic diagram of the transmitting and receiving fields of view of a detection device. The detection device includes a transmitting module, a receiving module, and a regular polyhedron. The transmitting module can transmit a detection signal through the reflective surface of the regular polyhedron, and the receiving module can receive the echo signal of the detection signal through the reflective surface of the regular polyhedron. The transmitting field of view is the object space covered by the detection signal emitted by the transmitting module, and the receiving field of view is the object space where the receiving module can receive light. Since the receiving module 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 and receiving fields of view is the effective detection range of the detection device. It can be seen that due to the high collimation of the detection signal, the optical axis of the transmitting field of view is parallel to the optical axis of the receiving field of view, the transmitting field of view is relatively narrow and long, and the overlapping area is correspondingly relatively narrow and long and far away from the detection device, resulting in a small effective detection range and a relatively large blind area. A single detection can only detect a very small detection range, resulting in low detection efficiency. Among them, the structure of the detection device can also be a schematic diagram of the transmitting field of view and the receiving field of view of another detection device as shown in Figure 2. The detection signal of the transmitting module can be transmitted to the scanning module through the transmitting mirror M1, and the echo signal reflected by the scanning module can first pass through the transmitting mirror M2 and then be reflected to the receiving module. This is not limited here.

[0073] Currently, by adding a blind spot beam on the Tx side, the divergent area of ​​the blind spot beam can overlap with the receiving field of view more quickly, reducing the blind spot. However, adding the blind spot beam requires additional devices, and the blind spot beam will occupy some of the laser radar's energy, affecting the laser radar's manufacturing difficulty and ranging effect.

[0074] To solve the above problems, an embodiment of the present application provides a detection device, which is described as follows.

[0075] Please refer to Figure 3, which is a structural schematic diagram of a detection device provided by an embodiment of the present application. The device 30 includes a transmitting module 301, a receiving module 302 and a scanning module 303. The scanning module 303 includes at least three reflecting surfaces and at least two end surfaces. The at least three reflecting surfaces are perpendicular to the at least two end surfaces, and the sizes of at least two angles between the at least three reflecting surfaces are different. Figure 3 takes a side view of the scanning module 303 with only three reflecting surfaces as an example (only one side end surface is shown). For example, the angles between the three reflecting surfaces include α, β and γ, wherein α and β are different in size, and γ can be any one of α and β, or different from α and β. The transmitting module 301 is used to emit a first light beam, which is emitted through the first reflecting surface of the scanning module 303. The first reflecting surface is a general term for the reflecting surface currently used to reflect the first light beam emitted by the transmitting module 301. The receiving module 302 is used to receive the first light beam returned through the second reflecting surface of the scanning module 303. The second reflecting surface is a general term for the reflecting surface that reflects the current echoed first light beam to the receiving module 302.

[0076] Due to the different angles, the starting position and range of the overlapping area are also different. For example, the overlapping schematic diagram shown in FIG4 can be referred to. Assuming that the position of the second reflecting surface remains unchanged, the angle between the first reflecting surface and the second reflecting surface on the left side of FIG4 is different from the angle between the first reflecting surface and the second reflecting surface on the right side of FIG4 . Then, the first light beam on the left side of FIG4 based on the reflection of the first reflecting surface will have a different tilt angle than that on the right side, resulting in a different overlapping position of the first light beam and the receiving field of view, as shown in FIG4 . The angle between the first reflecting surface and the second reflecting surface on the left side of FIG4 is greater than the angle between the first reflecting surface and the second reflecting surface on the right side of FIG4 .

[0077] As a possible design, the scanning module 303 is a polyhedron, which can adjust the angle between the first reflecting surface and the second reflecting surface by rotation. The at least two different angles can be the first angle and the second angle. When the first angle is smaller than the second angle, the scanning module 303 can be rotated so that the first angle serves as the angle between the first reflecting surface and the second reflecting surface. As shown in the overlapping schematic diagram on the right side of Figure 4, the overlapping is slower than that on the left side. Accordingly, the overlapping schematic diagram on the right side will end the overlapping later than the overlapping schematic diagram on the left side, that is, when the angle between the first reflecting surface and the second reflecting surface is the first angle, the detection device can sense a farther position.

[0078] When the angle between the first reflecting surface and the second reflecting surface is the first angle, and the first angle makes the optical axis of the first light beam parallel to the optical axis of the receiving field of view of the receiving module, referring to the transmitting field of view and the receiving field of view shown in Figure 1, the optical axis of the first light beam does not intersect with the optical axis of the receiving field of view, that is, the overlap of the transmitting field of view and the receiving field of view will not end, and the detection device can obtain the farthest perception distance.

[0079] As a possible design, since the overlap ends late, the overlap starts late, and the blind spot between the overlap area and the detection device is larger. For the case where at least two angles include a first angle and a second angle, and the first angle is greater than the second angle, when the angle between the first reflecting surface and the second reflecting surface is the first angle, the overlap can start faster than the second angle, that is, the blind spot between the detection device and the overlap area can be reduced at this time.

[0080] Among them, when the angle between the first reflecting surface and the second reflecting surface is the first angle, the optical axis of the first light beam and the optical axis of the receiving field of view must be non-parallel, so that the divergent field of view overlaps with the receiving field of view faster, thereby ensuring the effect of reducing the blind spot.

[0081] In the embodiment of the present application, the blind spot filling effect is achieved by setting at least two different angles for the scanning module, that is, a blind spot filling area is given, and the blind spot filling area is the area that was originally completely or partially unable to be scanned, and the area that is currently desired to be scanned, and the target scanning area that the detection device can perceive at this time requires at least the entire area of ​​the blind spot filling area. Specifically, for different angles, the transmitting field of view and the receiving field of view have different overlapping areas. When the angle between the first reflecting surface and the second reflecting surface is the first angle, the overlapping area of ​​the transmitting field of view and the receiving field of view is the first overlapping area. When the angle between the first reflecting surface and the second reflecting surface is the second angle, the overlapping area of ​​the transmitting field of view and the receiving field of view is the second overlapping area. Then, the combined area of ​​the first overlapping area and the second overlapping area is the target scanning area. Among them, for scanning modules with only two different angles, the first overlapping area and the second overlapping area at least partially overlap to ensure the continuity of the scan.

[0082] As a possible design, the overlapping area between the transmitting field of view and the receiving field of view can be determined by the starting overlap distance and the leaving overlap distance, that is, the area in the receiving field of view is divided as the overlapping area by the starting overlap distance and the leaving overlap distance. The data of the starting overlap distance and the leaving overlap distance can be obtained by calculation, wherein the determination of the starting overlap distance and the leaving overlap distance are both related to at least one of the transmitting and receiving parameters and the optical axis angle Φ. The transmitting and receiving parameters include the initial interval D between the optical axis of the first light beam and the optical axis of the receiving field of view, the width d of the first light beam, and the initial interval D between the optical axis of the first light beam and the optical axis of the receiving field of view. t , the divergence angle θ of the first light beam t , receiving aperture d of the receiving module r and the field of view angle θ of the receiving module r , the optical axis angle Φ is the angle between the optical axis of the first light beam and the optical axis of the receiving field of view. For details, please refer to the parameter diagram shown in Figure 5. In Figure 5, the starting overlap distance is L1, the ending overlap distance is L2, and the emission field of view is the field of view of the first light beam. (Due to space constraints, Figure 5 does not show the intersection of the optical axes of the emission field of view and the receiving field of view, nor the middle part between the emission field of view and the receiving field of view from the beginning to the end of the overlap.)

[0083] Accordingly, the calculation method for L1 and L2 can satisfy the following formula:

[0084] For changes in the angle between the first reflecting surface and the second reflecting surface, the maximum impact on the above formula is Φ. When the optical axis of the transmitting field of view is parallel to the optical axis of the receiving field of view, Φ is 0. Taking the second angle as an example, which makes the optical axis of the transmitting field of view parallel to the optical axis of the receiving field of view, the angle difference between the current angle between the first reflecting surface and the second reflecting surface and the first angle is Φ. Assuming that the second angle is α and the first angle is β, then Φ = β - α.

[0085] Here, Φ is negatively correlated with L1 and L2, i.e., the larger Φ is, the smaller L1 and L2 are. Therefore, if the first angle is greater than the second angle, the corresponding starting overlap distance and ending overlap distance when the angle between the first reflecting surface and the second reflecting surface is the first angle are greater than the corresponding starting overlap distance and ending overlap distance when the angle between the first reflecting surface and the second reflecting surface is the second angle. In other words, the first overlapping area is closer to the scanning module than the second overlapping area.

[0086] In order to make the detection device take into account both the far-sightedness (the farthest perception effect) and the blind spot compensation (reducing blind spots), the second angle can be set to a fixed far-sightedness angle α that enables the detection device to achieve the farthest perception effect. When the scanning module rotates to the second angle α, the detection device can have the farthest L1 and L2. When the scanning module rotates to the first angle, the blind spot corresponding to the second angle can be reduced. The calculation formulas for L1 and L2 corresponding to the first and second angles can be shown in Table 1 below:

[0087] Table 1

[0088] In order to achieve the blind spot filling effect and ensure the scanning continuity, it is also necessary to and Assuming that the required blind area is the area defined by D1 and D2, and Need to meet:

[0089] Among them, for the values ​​of α and β, it is also necessary to satisfy that the sum of α, β and other angles between the at least three reflecting surfaces is the sum of the internal angles of the end face. Among them, for the case where α is the telephoto angle, β can be directly determined by Φ+α, and the second angle α is negatively correlated with the optical axis angle Φ corresponding to the first angle β, that is, the larger Φ is, the smaller α is.

[0090] For example, it is assumed that the number of faces of the scanning module (polygon) is N (N≥3).

[0091] 1) When N is an even number, the angles of each face are set to αβαβ…, and the specific angles of each face must satisfy:

[0092] The above formulas can be combined into Among them, Φ can be obtained from satisfying The optical axis angle is selected from the optical axis angle. For a known number of faces N, the value of the telescopic angle α can be determined, and the corresponding value of β can also be known.

[0093] For example, the even number N is 4, and please refer to Figure 6. As shown in Figure 6, it is a reflection schematic diagram of a four-sided Polygon provided in an embodiment of the present application. At this time, the scanning module includes four reflecting surfaces, and the angles between the four reflecting surfaces are α, β, α and β. When the scanning module rotates to α, the optical axis of the emitting field of view is parallel to the optical axis of the receiving field of view, as shown on the left side of Figure 6. When the scanning module rotates to β, the optical axis of the emitting field of view is not parallel to the optical axis of the receiving field of view, as shown on the right side of Figure 6. At this time, there is an optical axis angle Φ, and Φ = β-α.

[0094] 2) When N is an odd number, there will be an extra angle. The extra angle γ can be set to α or β or other reasonable values ​​c, that is,

[0095] The same principle applies here, and the combined formula is After selecting the value of Φ, the value of the telescopic angle α can be determined based on the known number of faces N and the selected value of γ, and the corresponding value of β can also be known.

[0096] For example, the odd number N takes 3 as an example, please refer to Figure 7. As shown in Figure 7, it is a reflection schematic diagram of a three-sided Polygon provided in an embodiment of the present application. At this time, the scanning module includes three reflecting surfaces, and the angles between the three reflecting surfaces are α, β and γ. When the scanning module rotates to α, the optical axis of the emitting field of view is parallel to the optical axis of the receiving field of view, as shown on the left side of Figure 7. When the scanning module rotates to β, the optical axis of the emitting field of view is not parallel to the optical axis of the receiving field of view, as shown on the right side of Figure 7. At this time, there is an optical axis angle Φ, and Φ = β-α.

[0097] As a possible design, the at least two different angles can also include a third angle, which is different from the first angle and the second angle, and the third angle is greater than the first angle. The third angle can also make the optical axis of the first light beam not parallel to the optical axis of the receiving field of view when the angle between the first reflecting surface and the second reflecting surface is the third angle. Then, compared with the second angle in which the optical axes are parallel, the third angle can also have the effect of filling the blind spot.

[0098] Since the third angle is greater than the first angle, the inclination angle of the optical axis of the emission field of view is larger. When the angle between the first reflecting surface and the second reflecting surface is rotated to the third angle, the overlapping area of ​​the emission field of view and the receiving field of view can be called the third overlapping area. The third overlapping area can be determined by the starting overlapping distance and the leaving overlapping distance corresponding to the third angle. The starting overlapping distance corresponding to the third angle is smaller than the starting overlapping distance corresponding to the first angle, and the leaving overlapping distance corresponding to the third angle is smaller than the leaving overlapping distance corresponding to the first angle. At this time, the third overlapping area can be closer to the scanning module than the first overlapping area, thereby achieving a better blind spot filling effect.

[0099] In order to achieve both farsightedness and blind spot compensation for the detection device, the second angle can be set to a fixed farsightedness angle α that enables the detection device to achieve the farthest perception effect. When the scanning module rotates to the second angle α, the detection device can have the farthest L1 and L2. When the scanning module rotates to the first angle, the blind spot corresponding to the second angle can be reduced. When the scanning module rotates to the third angle, the blind spot corresponding to the first angle can be further reduced. The calculation formulas for L1 and L2 corresponding to the first angle β1, the second angle α, and the third angle β2 can be shown in Table 2 below:

[0100] Table 2

[0101] In order to achieve the blind spot filling effect and ensure the scanning continuity, it is also necessary to and It is assumed that the blind area required is the area defined by D1 and D2, and the angle difference between the two blind areas relative to the distance measurement is Φ1 = α-β1 and Φ2 = α-β2, and the corresponding ranging ranges are and but and Need to meet:

[0102] Among them, for the values ​​of α, β1 and β2, it is also necessary to satisfy that the sum of α, β1 and β2 and other angles between the at least three reflecting surfaces is the sum of the internal angles of the end face. Among them, for the case where α is the telephoto angle, β1 can be directly determined by Φ1+α, and β2 can be directly determined by Φ2+α. The second angle α is negatively correlated with the optical axis angle Φ1 corresponding to the first angle β1 and the optical axis angle Φ2 corresponding to the third angle β2, that is, the larger the sum of Φ1 and Φ2, the smaller α.

[0103] For example, it is assumed that the number of faces of the scanning module (polygon) is N (N≥3).

[0104] 1) When N is a multiple of 3, the angles of each face are set to αβ1β2αβ1β2…, and the specific angles of each face must satisfy:

[0105] The above formulas can be combined into Among them, Φ1 and Φ2 can be obtained from the full The optical axis angle is selected from the optical axis angle. For a known number of faces N, the value of the telescopic angle α can be determined, and the corresponding values ​​of β1 and β2 can also be known.

[0106] Exemplarily, the multiple N of 3 takes 3 as an example, please refer to Figure 8, as shown in Figure 8 is another reflection schematic diagram of a three-sided Polygon provided in an embodiment of the present application, at this time the scanning module includes three reflecting surfaces, the angles between the three reflecting surfaces are α, β1 and β2, when the scanning module is rotated to α, the optical axis of the emitting field of view is parallel to the optical axis of the receiving field of view, as shown on the left side of Figure 8, when the scanning module is rotated to β1, the optical axis of the emitting field of view is not parallel to the optical axis of the receiving field of view, as shown in the middle diagram of Figure 8, at this time there is an optical axis angle Φ1, and Φ1 = β1-α; when the scanning module is rotated to β2, the optical axis of the emitting field of view is not parallel to the optical axis of the receiving field of view, and As shown on the right side of FIG8 , at this time there is an optical axis angle Φ2, and Φ2=β2-α.

[0107] 2) When When the remainder is 1, there will be an extra angle. The extra angle γ can be set to α or β1 or β2 or other reasonable values ​​c, that is,

[0108] The same principle applies here, and the combined formula is After selecting the values ​​of Φ1 and Φ2, the value of the telescopic angle α can be determined based on the known number of faces N and the selected value of γ, and the corresponding values ​​of β1 and β2 can also be known.

[0109] For example, Taking 4 as an example of N in the remainder of 1, please refer to Figure 9. As shown in Figure 9, it is a reflection schematic diagram of another 4-sided Polygon provided in an embodiment of the present application. At this time, the scanning module includes 4 reflection surfaces. The angles between the 4 reflection surfaces are α, β1, β2 and γ. When the scanning module rotates to α, the optical axis of the emitting field of view is parallel to the optical axis of the receiving field of view, as shown in the first figure in Figure 9. When the scanning module rotates to β1, the optical axis of the emitting field of view is not parallel to the optical axis of the receiving field of view, as shown in the second figure in Figure 9. At this time, there is an optical axis angle Φ1, and Φ1=β1-α; when the scanning module rotates to β2, the optical axis of the emitting field of view is not parallel to the optical axis of the receiving field of view, and As shown in the third figure of FIG9 , at this time there is an optical axis angle Φ2, and Φ2=β2-α.

[0110] 3) When When the remainder is 2, there will be two extra angles. The extra angles γ1 and γ2 can be set to α or β1 or β2 or other reasonable values ​​c, that is,

[0111] The same principle applies here, and the combined formula is After selecting the values ​​of Φ1 and Φ2, the value of the telescopic angle α can be determined based on the known number of faces N and the selected values ​​of γ1 and γ2, and the corresponding values ​​of β1 and β2 can also be known.

[0112] For example, Taking 5 as an example of N of remainder 2, please refer to Figure 10. As shown in Figure 10, it is a reflection schematic diagram of a 5-sided Polygon provided in an embodiment of the present application. At this time, the scanning module includes 5 reflecting surfaces. The angles between the 5 reflecting surfaces are α, β1, β2, γ1 and γ2. When the scanning module rotates to α, the optical axis of the emitting field of view is parallel to the optical axis of the receiving field of view, as shown in the first figure in Figure 9. When the scanning module rotates to β1, the optical axis of the emitting field of view is not parallel to the optical axis of the receiving field of view, as shown in the second figure in Figure 9. At this time, there is an optical axis angle Φ1, and Φ1=β1-α; when the scanning module rotates to β2, the optical axis of the emitting field of view is not parallel to the optical axis of the receiving field of view, and As shown on the right side of FIG8 , at this time there is an optical axis angle Φ2, and Φ2=β2-α.

[0113] As a possible design, the at least two different angles include a fourth angle on the basis of the third angle. The fourth angle is different from the first angle, the second angle and the third angle, and the fourth angle is greater than the third angle. The fourth angle can also make the optical axis of the first light beam not parallel to the optical axis of the receiving field of view when the angle between the first reflecting surface and the second reflecting surface is the fourth angle. Then, compared with the second angle in which the optical axes are parallel, the fourth angle can also have the effect of filling the blind spot.

[0114] Since the fourth angle is greater than the third angle, the inclination angle of the optical axis of the emitting field of view is larger. When the angle between the first reflecting surface and the second reflecting surface is rotated to the fourth angle, the overlapping area of ​​the emitting field of view and the receiving field of view can be called the fourth overlapping area. The fourth overlapping area can be determined by the starting overlapping distance and the leaving overlapping distance corresponding to the fourth angle. The starting overlapping distance corresponding to the fourth angle is smaller than the starting overlapping distance corresponding to the third angle, and the leaving overlapping distance corresponding to the fourth angle is smaller than the leaving overlapping distance corresponding to the third angle. At this time, the fourth overlapping area can be closer to the scanning module than the third overlapping area, which can enhance the blind spot filling effect.

[0115] In order to enable the detection device to take into account both the far-sightedness and blind spot compensation effects, the second angle can be set to be fixed to the far-sightedness angle α that enables the detection device to achieve the farthest perception effect. When the scanning module rotates to the second angle α, the detection device can have the farthest L1 and L2. When the scanning module rotates to the first angle, the blind spot corresponding to the second angle can be reduced. When the scanning module rotates to the third angle, the blind spot corresponding to the first angle can be further reduced. When the scanning module rotates to the fourth angle, the blind spot corresponding to the third angle can be further reduced. Among them, the calculation formulas for L1 and L2 corresponding to the first angle β1, the second angle α, the third angle β2, and the fourth angle β3 can be shown in Table 3 below:

[0116] In order to achieve the blind spot filling effect and ensure the scanning continuity, it is also necessary to and Assuming that the blind spot area required is the area defined by D1 and D2, the angle differences of the three blind spots relative to the distance measurement are Φ1 = α-β1, Φ2 = α-β2, and Φ3 = α-β3, and the corresponding ranging ranges are and but and Need to meet:

[0117] Among them, for the values ​​of α, β1, β2 and β3, it is also necessary to satisfy that the sum of α, β1, β2 and β3 and other angles between the at least three reflecting surfaces is the sum of the internal angles of the end face, among which, for the case where α is the telemetry angle, β1 can be directly determined by Φ1+α, β2 can be directly determined by Φ2+α, and β3 can be directly determined by Φ3+α. The second angle α is negatively correlated with the optical axis angle Φ1 corresponding to the first angle β1, the optical axis angle Φ2 corresponding to the third angle β2, and the optical axis angle Φ3 corresponding to the fourth angle β3, that is, the larger the sum of Φ1, Φ2 and Φ3, the smaller α.

[0118] Exemplarily, the number of faces of the scanning module (polygon) is assumed to be N (N≥4).

[0119] 1) When N is a multiple of 4, the angles of each face are set to αβ1β2β3αβ1β2β3…, and the specific angles of each face must satisfy:

[0120] The above formulas can be combined into Among them, Φ1, Φ2 and Φ3 can be obtained from the full The optical axis angle is selected from the optical axis angle. For a known number of faces N, the value of the telescopic angle α can be determined, and the corresponding values ​​of β1, β2 and β3 can also be known.

[0121] Exemplarily, N is a multiple of 4, and N is taken as an example. Please refer to Figure 11. As shown in Figure 11, it is a reflection schematic diagram of another 4-sided Polygon provided in an embodiment of the present application. At this time, the scanning module includes 4 reflecting surfaces, and the angles between the 4 reflecting surfaces are α, β1, β2 and β3. When the scanning module is rotated to α, the optical axis of the emitting field of view is parallel to the optical axis of the receiving field of view, as shown in the first figure in Figure 11. When the scanning module is rotated to β1, the optical axis of the emitting field of view is not parallel to the optical axis of the receiving field of view, as shown in the second figure in Figure 11. At this time, there is an optical axis angle Φ1, and Φ1=β1-α; when the scanning module is rotated to β2, the optical axis of the emitting field of view is not parallel to the optical axis of the receiving field of view, and As shown in the third figure of Figure 11, there is an optical axis angle Φ2 at this time, and Φ2 = β2-α; when the scanning module rotates to β3, the optical axis of the transmitting field of view is not parallel to the optical axis of the receiving field of view, and As shown in the fourth figure of FIG11 , at this time there is an optical axis angle Φ3, and Φ3=β3-α.

[0122] 2) When When the remainder is 1, there will be an extra angle. The extra angle γ can be set to α or β1 or β2 or β3 or other reasonable values ​​c, that is,

[0123] The same principle applies here, and the combined formula is After selecting the values ​​of Φ1, Φ2, and Φ3, the value of the telescopic angle α can be determined based on the known number of faces N and the selected value of γ, and the corresponding values ​​of β1, β2, and β3 can also be known.

[0124] For example, Taking 5 as an example of N of remainder 1, please refer to Figure 12. As shown in Figure 12, it is a reflection schematic diagram of another 5-sided Polygon provided in an embodiment of the present application. At this time, the scanning module includes 5 reflecting surfaces. The angles between the 5 reflecting surfaces are α, β1, β2, β3 and γ. When the scanning module rotates to α, the optical axis of the emitting field of view is parallel to the optical axis of the receiving field of view, as shown in the first figure in Figure 12. When the scanning module rotates to β1, the optical axis of the emitting field of view is not parallel to the optical axis of the receiving field of view, as shown in the second figure in Figure 12. At this time, there is an optical axis angle Φ1, and Φ1=β1-α; when the scanning module rotates to β2, the optical axis of the emitting field of view is not parallel to the optical axis of the receiving field of view, and As shown in the third figure of Figure 12, there is an optical axis angle Φ2 at this time, and Φ2 = β2-α; when the scanning module rotates to β3, the optical axis of the transmitting field of view is not parallel to the optical axis of the receiving field of view, and As shown in the fourth figure of FIG12 , at this time there is an optical axis angle Φ3, and Φ3=β3-α.

[0125] 3) When When the remainder is 2, there will be two extra angles. The extra angles γ1 and γ2 can be set to α or β1 or β2 or β3 or other reasonable values ​​c, that is,

[0126] The same principle applies here, and the combined formula is After selecting the values ​​of Φ1, Φ2 and Φ3, the value of the telescopic angle α can be determined based on the known number of faces N and the selected values ​​of γ1 and γ2, and the corresponding values ​​of β1, β2 and β3 can also be known.

[0127] For example, Taking 6 as an example of N of remainder 2, please refer to Figure 13. As shown in Figure 13, it is a reflection schematic diagram of a 6-sided Polygon provided in an embodiment of the present application. At this time, the scanning module includes 6 reflection surfaces, and the angles between the 6 reflection surfaces are α, β1, β2, β3, γ1 and γ2. When the scanning module rotates to α, the optical axis of the emitting field of view is parallel to the optical axis of the receiving field of view, as shown in the first figure in Figure 13. When the scanning module rotates to β1, the optical axis of the emitting field of view is not parallel to the optical axis of the receiving field of view, as shown in the second figure in Figure 13. At this time, there is an optical axis angle Φ1, and Φ1=β1-α; when the scanning module rotates to β2, the optical axis of the emitting field of view is not parallel to the optical axis of the receiving field of view, and As shown in the third figure of Figure 13, there is an optical axis angle Φ2 at this time, and Φ2 = β2-α; when the scanning module rotates to β3, the optical axis of the transmitting field of view is not parallel to the optical axis of the receiving field of view, and As shown in the fourth figure of FIG13 , at this time there is an optical axis angle Φ3, and Φ3=β3-α.

[0128] 4) When When the remainder is 3, there will be three extra angles. The extra angles γ1, γ2 and γ3 can be set to α or β1 or β2 or β3 or other reasonable values ​​c, that is,

[0129] The same principle applies here, and the combined formula is After selecting the values ​​of Φ1, Φ2 and Φ3, the value of the telescopic angle α can be determined based on the known number of faces N and the selected values ​​of γ1, γ2 and γ3, and the corresponding values ​​of β1, β2 and β3 can also be known.

[0130] For example, Taking 7 as an example of N in remainder 3, please refer to Figure 14. As shown in Figure 14, it is a reflection schematic diagram of a 7-sided Polygon provided in an embodiment of the present application. At this time, the scanning module includes 7 reflection surfaces, and the angles between the 7 reflection surfaces are α, β1, β2, β3, γ1, γ2 and γ3. When the scanning module rotates to α, the optical axis of the emitting field of view is parallel to the optical axis of the receiving field of view, as shown in the first figure in Figure 14. When the scanning module rotates to β1, the optical axis of the emitting field of view is not parallel to the optical axis of the receiving field of view, as shown in the second figure in Figure 14. At this time, there is an optical axis angle Φ1, and Φ1=β1-α; when the scanning module rotates to β2, the optical axis of the emitting field of view is not parallel to the optical axis of the receiving field of view, and As shown in the third figure of Figure 14, there is an optical axis angle Φ2 at this time, and Φ2 = β2-α; when the scanning module rotates to β3, the optical axis of the transmitting field of view is not parallel to the optical axis of the receiving field of view, and As shown in the fourth figure of FIG. 14 , at this time there is an optical axis angle Φ3, and Φ3=β3-α.

[0131] Among them, only 1-3 examples of β used for blind spot filling are given above. For a scanning module with N≥5, the number of corners used for blind spot filling can also be 4 or more, which will not be repeated here.

[0132] The scanning modules in the above figures are all taken as reflective polyhedrons as an example. The scanning module can also be a refractive polyhedron, which will not be described in detail here.

[0133] In an embodiment of the present application, the scanning module of the detection device includes at least three reflecting surfaces and at least two end surfaces, and the at least three reflecting surfaces are respectively perpendicular to the at least two end surfaces. The scanning module is a polyhedron with unequal angles, that is, at least two angles between the at least three reflecting surfaces are different in size. The transmitting module of the detection device can emit a first light beam through the first reflecting surface of the scanning module, and the receiving module of the detection device can receive the returned first light beam through the second reflecting surface of the scanning module. Since the scanning module has at least two angles of different sizes, the divergent field of view of the first light beam and the overlapping starting position of the receiving field of view of the receiving module are different. Within one scanning cycle, there are two or more different overlapping areas, which increases the scanning range. There is no need to set a blind beam, that is, there is no need to add additional devices and occupy ranging energy, which reduces the difficulty of making the detection device and improves the ranging effect.

[0134] Please refer to FIG. 15 , which is a schematic diagram of the structure of a terminal provided in an embodiment of the present community. The terminal 150 includes the aforementioned detection device.

[0135] Optionally, the terminal can be an intelligent terminal or transportation tool such as a vehicle, a drone, or a robot.

[0136] In the description of this application, the terms "left", "right", "vertical", "parallel", "non-parallel", 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.

[0137] 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.

[0138] 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.

Claims

1. A detection device, characterized in that: include: Transmitting module, receiving module and scanning module; The scanning module comprises at least three reflecting surfaces and at least two end surfaces, the at least three reflecting surfaces are perpendicular to the at least two end surfaces, and at least two angles between the at least three reflecting surfaces are different in size; The transmitting module is used to transmit a first light beam, and the first light beam is emitted through the first reflecting surface of the scanning module; The receiving module is used to receive the first light beam returned via the second reflecting surface of the scanning module.

2. The detection device according to claim 1, characterized in that: The at least two angles include a first angle and a second angle, the angle between the first reflecting surface and the second reflecting surface is the first angle, and the first angle is smaller than the second angle.

3. The detection device according to claim 2, characterized in that: The optical axis of the first light beam is parallel to the optical axis of the receiving field of view of the receiving module.

4. The detection device according to claim 1, characterized in that: The at least two angles include a first angle and a second angle, the angle between the first reflecting surface and the second reflecting surface is the first angle, and the first angle is greater than the second angle.

5. The detection device according to claim 4, characterized in that: The optical axis of the first light beam is not parallel to the optical axis of the receiving field of view of the receiving module.

6. The detection device according to claim 4 or 5, characterized in that: When the angle between the first reflecting surface and the second reflecting surface is the first angle, the overlapping area between the transmitting field of view of the transmitting module and the receiving field of view of the receiving module is the first overlapping area; when the angle between the first reflecting surface and the second reflecting surface is the second angle, the overlapping area between the transmitting field of view of the transmitting module and the receiving field of view of the receiving module is the second overlapping area; and the combined area of ​​the first overlapping area and the second overlapping area is the target scanning area.

7. The detection device according to claim 6, characterized in that: The position and size of the overlapping area are related to at least one of the transceiver parameters and the optical axis angle, the transceiver parameters include the initial interval between the optical axis of the first light beam and the optical axis of the receiving field of view, the width of the first light beam, the divergence angle of the first light beam, the receiving aperture of the receiving module and the field of view angle of the receiving module, and the optical axis angle is the angle between the optical axis of the first light beam and the optical axis of the receiving field of view.

8. The detection device according to claim 7, characterized in that: The optical axis angle is the angle difference between the angle between the first reflecting surface and the second reflecting surface and the second angle.

9. The detection device according to claim 7 or 8, characterized in that: The first overlapping area is closer to the scanning module than the second overlapping area.

10. The detection device according to any one of claims 7 to 9, characterized in that: The at least two angles also include a third angle, which is greater than the first angle. When the angle between the first reflecting surface and the second reflecting surface is the third angle, the optical axis of the first light beam is not parallel to the optical axis of the receiving field of view of the receiving module.

11. The detection device according to claim 10, characterized in that: When the angle between the first reflecting surface and the second reflecting surface is the third angle, the overlapping area between the transmitting field of view of the transmitting module and the receiving field of view of the receiving module is the third overlapping area, and the third overlapping area is closer to the scanning module than the first overlapping area.

12. The detection device according to claim 10 or 11, characterized in that: The at least two angles also include a fourth angle, which is greater than the third angle. When the angle between the first reflecting surface and the second reflecting surface is the fourth angle, the optical axis of the first light beam is not parallel to the optical axis of the receiving field of view of the receiving module.

13. The detection device according to claim 12, characterized in that: When the angle between the first reflecting surface and the second reflecting surface is the fourth angle, the overlapping area between the transmitting field of view of the transmitting module and the receiving field of view of the receiving module is the fourth overlapping area, and the fourth overlapping area is closer to the scanning module than the third overlapping area.

14. The detection device according to any one of claims 7 to 9, characterized in that: The second angle satisfies that the sum of the first angle and other angles between the at least three reflecting surfaces is the sum of the internal angles of the end surface, and the second angle is negatively correlated with the optical axis angle corresponding to the first angle.

15. The detection device according to claim 10 or 11, characterized in that: The second angle satisfies that the sum of the first angle and other angles between the at least three reflecting surfaces is the sum of the internal angles of the end surface, and the second angle is negatively correlated with the optical axis angles corresponding to the first angle and the third angle.

16. The detection device according to claim 12 or 13, characterized in that: The second angle satisfies that the sum of the first angle and other angles between the at least three reflecting surfaces is the sum of the internal angles of the end face, and the second angle is negatively correlated with the optical axis angles corresponding to the first angle, the third angle and the fourth angle.

17. The detection device according to any one of claims 1 to 16, characterized in that: The scanning module is a reflective polyhedron or a refracting polyhedron.

18. A terminal, characterized in that: The terminal comprises the detection device according to any one of claims 1-17.

19. The terminal according to claim 18, characterized in that: The terminal is a vehicle, a drone or a robot.

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