Transmitting device, detecting device and terminal

Abstract

The transmitting device, the detection device and the terminal can be applied to the fields of detection, intelligent surveying and mapping, intelligent driving and the like. The transmitting device comprises a first transmitting module, a second transmitting module and a first light shaping module, and the first transmitting module and the second transmitting module are arranged in parallel and are respectively used for transmitting light beams; the first light shaping module is used for processing the light beam from the first emission module to obtain a first shaped light beam. The FOV corresponding to the first shaping light beam in the object space is larger than the FOV of the first light beam in the object space without the first light shaping module. Therefore, according to the embodiment of the invention, the emission view field of the first emission module is expanded, the view field blind area of the detection device is reduced, and the detection efficiency is improved. And the second light beam is not processed by the first light shaping module, so that the second light beam can still keep better collimation, and the distance measuring capability is hardly influenced. In a word, the embodiment of the invention realizes the effect of expanding the visual field of the detection device under the condition that the distance measurement capability is not obviously reduced.

Description

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

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

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

[0003] Among them, Lidar (light detection and ranging) is a key detection device in the field of perception, offering advantages such as high resolution, excellent detection performance, and strong stealth. Lidar is a technology that transmits a detection signal and receives the echo reflected from the target to obtain relevant information about the target (such as its position, shape, or speed). However, Lidar has a limited total light output power. Lidars with strong range-finding capabilities require highly collimated laser beams, which results in a relatively small field of view and low detection efficiency.

[0004] How to expand the field of view of the detection device without significantly reducing the distance measurement capability is an urgent problem to be solved by those skilled in the art.

[0005] Summary of the Invention

[0006] The embodiments of the present application provide a transmitting device, a detecting device, and a terminal, which can expand the field of view of the detecting device, reduce the blind spot of the field of view of the detecting device, and improve the detection efficiency.

[0007] In a first aspect, an embodiment of the present application provides a transmitting device, comprising a first transmitting module, a second transmitting module, and a first light shaping element, wherein the first transmitting module and the second transmitting module are arranged in parallel:

[0008] The first emission module is used to emit a first light beam, and the second emission module is used to emit a second light beam;

[0009] Part of the first light beam is reflected by the first light shaping element to obtain a first shaped light beam.

[0010] As a possible implementation, the first light shaping element includes an incident surface, a sidewall, and an exit surface. The first light beam enters the first light shaping module from the incident surface, a portion of the first light beam is reflected by the sidewall, and the first light beam is emitted from the exit surface to obtain a first shaped light beam.

[0011] In the embodiment of the present application, a portion of the first shaped light beam is reflected by the first light-shaping module. Therefore, the propagation direction of this portion of the light beam is bent. After passing through the lens, this portion of the light beam is deflected outside the unreflected light beam, thereby increasing the field of view (FOV) of the first light beam and, accordingly, the field of view of the detection device.

[0012] Because the second beam is unbent, it maintains good collimation upon reaching the field of view, virtually unaffected by the second beam's range-finding capabilities. With the first and second transmitting modules positioned side by side, the first shaped beam can detect the blind spot created by the second beam, thereby reducing the detection device's field of view and improving detection efficiency.

[0013] In a possible implementation of the first aspect, the farthest detection distance of the first light beam is smaller than the farthest detection distance of the second light beam.

[0014] In the above embodiment, the second light beam is suitable for long-range detection, and the first light beam is suitable for short-range detection. Therefore, the first light beam emitted by the first emission module can detect the blind spot formed during long-range detection, thereby improving the short-range detection capability of the detection device and enhancing the detection performance of the detection device.

[0015] In addition, since the first light beam is used for close-range ranging, when the first light beam is shaped, the FOV of the launch device for close-range measurement can be expanded, achieving a larger range of close-range measurement, improving the blind spot filling effect, and enhancing the close-range detection capability.

[0016] Optionally, the energy density (or energy) of the first light beam is smaller than the energy density (or energy) of the second light beam, and / or the power of the first light beam is smaller than the power of the second light beam.

[0017] In a possible implementation of the first aspect, the first emitting module and the second emitting module each include one or more emitters, wherein the emitters may be edge-emitting lasers or vertical-plane-emitter lasers.

[0018] When a vertical surface emitter is mounted on a circuit board, the light-emitting surface is parallel to the circuit board surface, and therefore, the light is emitted away from the circuit board. Vertical surface emitters include, but are not limited to, vertical cavity surface emitting lasers (VCSELs) and photonic crystal surface emitting semiconductor lasers (PCSELs).

[0019] When an edge-emitting laser (EEL) is mounted on a circuit board, the light-emitting surface is the side of the laser, so its light emission direction is parallel to the circuit board. Alternatively, the EEL can be replaced with other devices that emit light at the edge of the light-emitting element, such as silicon photonic chips.

[0020] In one possible implementation of the first aspect, the transmitting device further includes a lens, wherein the first shaped light beam passes through the lens to obtain a third light beam, and the second light beam passes through the lens to obtain a fourth light beam. In this implementation, the first shaped light beam and the second light beam share the same lens, which can reduce the size of the transmitting device and improve hardware integration.

[0021] Optionally, the field of view of the third light beam is larger than that of the original light beam. The "original light beam" described here refers to the first light beam after passing through the lens, unprocessed by the first light shaping module. Specifically, the first light shaping module increases the field of view of the light beam emitted by the first transmitting module in object space, thereby correspondingly increasing the field of view of the detection device and reducing the blind spot, thereby improving the detection efficiency of the detection device.

[0022] Furthermore, the aforementioned viewing angle includes a viewing angle in a first direction, wherein the first transmitting module and the second transmitting module are arranged along the first direction, and there is a gap between the first transmitting module and the second transmitting module in the first direction.

[0023] In a possible implementation manner of the first aspect, the partial light beam includes a first sub-beam, and the first sub-beam is reflected by a side wall of the first light shaping module close to the second emitting module.

[0024] In this embodiment, the first sub-beam is deflected away from the second emission module by the sidewall. This not only expands the FOV corresponding to the first emission module, but also creates a smaller angular gap between the deflected first sub-beam and the second beam after passing through the lens, improving field of view continuity. In short, this embodiment can reduce blind spots.

[0025] In a possible implementation manner of the first aspect, the transmitting device further includes a lens, configured to process the first shaped beam to obtain a third beam, and to process the second beam to obtain four beams;

[0026] In the first direction, the angle between the first and second beams is a first angle; the angle between the third and fourth beams is a second angle, which is smaller than the first angle. This means that the angular gap between the third and fourth beams is smaller, improving the continuity of the field of view.

[0027] In the above embodiment, the first direction is the direction in which the first emission module and the second emission module are arranged, and there is a gap between the first emission module and the second emission module in the first direction.

[0028] In a possible implementation manner of the first aspect, the partial light beam includes a second sub-beam, and the second sub-beam is reflected by a side wall of the first light shaping module away from the second emitting module.

[0029] In this embodiment, the first sub-beam is deflected by the side wall in a direction away from the emission module, thereby expanding the FOV corresponding to the first emission module and reducing the blind spot of the field of view.

[0030] In a possible implementation manner of the first aspect, the partial light beam is totally reflected on a side wall of the first light shaping module.

[0031] In a possible implementation manner of the first aspect, a sidewall of the first light shaping module is coated with a reflective film, and the partial light beam is reflected by the reflective film.

[0032] In a possible implementation of the first aspect, the angle between the side wall and the incident surface is an acute angle. The side wall is slightly deflected toward the inside of the light shaping module to reduce the incident angle, improve the deflection effect, and further expand the field of view.

[0033] In a possible implementation manner of the first aspect, the first light shaping module includes a first refractive body, a second refractive body, and a first reflective surface;

[0034] The first refractive body includes the incident surface and a first refractive surface, the second refractive body includes a second refractive surface and the exit surface, and the first refractive surface and the second refractive surface are spaced apart and opposite to each other;

[0035] The first reflective surface is located on a side wall of the light shaping module close to the second emitting module, and the first reflective surface connects the first refractive surface and the second refractive surface;

[0036] An included angle between the first reflective surface and the first refractive surface is an obtuse angle.

[0037] In this embodiment, part of the first light beam is reflected by the first reflecting surface. Due to the reflection effect, the equivalent light-emitting surface of the first shaped light beam is translated toward the second emitting module, and the "gap" between the far-sighted light beam (third light beam) and the near-sighted light beam (fourth light beam) is reduced.

[0038] Optionally, a transition layer is provided between the first refractive surface and the second refractive surface, and the refractive index of the transition layer is lower than the refractive index of the first refractive body.

[0039] Due to the refraction of light, the first shaped light beam emits brighter on the side close to the second light beam, thereby enhancing the energy of the light beam reflected by the first reflecting surface and filling more light beams in the gaps between the light sources, thereby achieving a better blind spot filling effect.

[0040] The first refractor and the second refractor are provided so that the light deflected by the first refractor is restored to a certain extent, thereby reducing the optical axis variation between the first light beam and the first shaped light beam, and reducing the directional deviation of the main optical axes of the first shaped light beam and the second light beam, thereby reducing the aperture of the lens and reducing the complexity of the optical path design.

[0041] In one possible implementation of the first aspect, a transition layer is provided between the first refractive surface and the second refractive surface. Optionally, the transition layer comprises air or a low-refractive-index material. The low-refractive-index material may be air, crystal, or the like. Exemplarily, the low-refractive-index material may be a material having a refractive index lower than a first threshold value, such as 2, 1.7, 1.5, 1.3, or 1.2.

[0042] In a possible implementation of the first aspect, the second transmitting module is defocused from the focal plane of the lens. Further, when the first transmitting module and the second transmitting module are arranged on the same plane, the first transmitting module is also defocused from the focal plane of the lens.

[0043] Optionally, the distance between the second transmitting module and the lens is less than the focal length of the lens, and the transmitting device further includes a second light shaping module, which is located between the second transmitting module and the lens, and is used to converge the second light beam to obtain a second shaped light beam.

[0044] In the above embodiment, defocusing the first transmitting module can enhance the dispersion of the light beam emitted by the first transmitting module, expanding the field of view. To compensate for the defocus of the second transmitting module, a second light shaping module is used to converge the second light beam, ensuring the collimation of the light beam emitted by the second transmitting module and improving the range finding capability.

[0045] Optionally, the distance between the second transmitting module and the lens is greater than the focal length of the lens, and the transmitting device further includes a second light shaping module, which is located between the second transmitting module and the lens, and the second light shaping module is used to diverge the second light beam to obtain a second shaped light beam.

[0046] In another possible implementation of the first aspect, the first transmitting module and the second transmitting module are configured to transmit light beams in a time-sharing manner, with the first and second light beams being emitted at different times. This arrangement staggers the emission times of the first and second light beams, thereby minimizing interference when detecting targets within different fields of view.

[0047] In another possible implementation manner of the first aspect, the first emission module is configured to emit the first light beam in a first time period;

[0048] The second emission module is used to emit the second light beam in a second time period, and the first time period and the second time period do not overlap.

[0049] In another possible implementation of the first aspect, the second emission module is further configured to emit a fifth light beam in the first time period, and a maximum detection distance of the fifth light beam is smaller than a maximum detection distance of the second light beam.

[0050] In this implementation, not only is the time isolation between long-range and short-range detection achieved, but also short-range detection over a wider range is achieved, thereby further improving detection efficiency, enhancing the short-range detection capability of the detection device, and enhancing detection performance.

[0051] In a second aspect, an embodiment of the present application provides a transmitting device, comprising a first transmitting module, a second transmitting module, a first light shaping element, and a lens, wherein the first transmitting module and the second transmitting module are arranged in parallel, and the first transmitting module and the second transmitting module are located on a focal plane of the lens;

[0052] The first emission module is used to emit a first light beam, and the second emission module is used to emit a second light beam;

[0053] The first light shaping module includes an incident surface and an exit surface. The first light beam enters the first light shaping module from the incident surface, and the first light beam exits from the exit surface to obtain a first shaped light beam. The incident surface and the exit surface are refractive surfaces.

[0054] In this embodiment, the second transmitting module is positioned on the focal plane of the lens, improving the collimation of the second beam and enhancing range-finding capabilities. The first light-shaping module refracts the beam twice, causing the equivalent light source corresponding to the first shaped beam to be somewhat defocused. This causes the first shaped beam to diffuse as it passes through the lens, thereby expanding the field of view (FOV) of the second shaped beam in the object space. This expands the device's field of view without compromising range-finding capabilities, reducing the detection device's blind spots and improving detection efficiency.

[0055] In a possible implementation of the second aspect, the farthest detection distance of the first light beam is smaller than the farthest detection distance of the second light beam.

[0056] In another possible implementation of the second aspect, the first emission module and the second emission module are used to emit light beams in a time-sharing manner, and the emission times of the first light beam and the second light beam are different.

[0057] In another possible implementation manner of the second aspect, the first emission module is configured to emit the first light beam in a first time period;

[0058] The second emission module is used to emit the second light beam in a second time period, and the first time period and the second time period do not overlap.

[0059] In another possible implementation of the second aspect, the second emission module is further configured to emit a fifth light beam in the first time period, and the farthest detection distance of the fifth light beam is smaller than the farthest detection distance of the second light beam.

[0060] In a third aspect, an embodiment of the present application provides a transmitting device, comprising a first transmitting module, a second transmitting module, a second light shaping module, and a lens, wherein the first transmitting module and the second transmitting module are defocused from a focal plane of the lens, and a distance between the first transmitting module and the lens is less than a focal length;

[0061] The first emission module is used to emit a first light beam, and the second emission module is used to emit a second light beam.

[0062] The second light shaping module is used to converge the second light beam to obtain a second shaped light beam. The first light beam and the second shaped light beam are emitted through the lens.

[0063] In this embodiment, the first transmitting module has a certain degree of defocus, causing the first light beam to disperse as it passes through the lens, thus expanding the first light beam's field of view. To compensate for the defocus of the second transmitting module, the second light beam is converged by the second light shaping module, ensuring the collimation of the beam emitted by the second transmitting module and improving the range-finding capability. This achieves an expanded field of view without compromising range-finding capability, reducing the detection device's blind spot and improving detection efficiency.

[0064] Optionally, the second shaped light beam corresponds to a second equivalent light source, and the distance between the second equivalent light source and the focal plane is smaller than the distance between the second emission module and the focal plane.

[0065] In a possible implementation of the third aspect, the emitting device further includes a first light shaping module, the first light shaping module including an incident surface, a sidewall, and an exit surface, the first light beam enters the first light shaping module from the incident surface, a portion of the first light beam is reflected by the sidewall, and the first light beam is emitted from the exit surface to obtain a first shaped light beam;

[0066] The first shaped light beam is emitted through the lens.

[0067] In a possible implementation manner of the third aspect, the farthest detection distance of the first light beam is smaller than the farthest detection distance of the second light beam.

[0068] In another possible implementation of the third aspect, the first emission module and the second emission module are used to emit light beams in a time-sharing manner, and the emission times of the first light beam and the second light beam are different.

[0069] In another possible implementation manner of the third aspect, the first emission module is configured to emit the first light beam in a first time period;

[0070] The second emission module is used to emit the second light beam in a second time period, and the first time period and the second time period do not overlap.

[0071] In another possible implementation of the third aspect, the second emission module is further configured to emit a fifth light beam in the first time period, and the farthest detection distance of the fifth light beam is smaller than the farthest detection distance of the second light beam.

[0072] In a fourth aspect, an embodiment of the present application further provides a detection device, the detection device comprising a transmitting device and a detector, the transmitting device comprising the transmitting device described in the first aspect or any possible embodiment of the first aspect,

[0073] Alternatively, the transmitting device includes the transmitting device described in the second aspect or any possible embodiment of the second aspect,

[0074] Alternatively, the transmitting device includes the transmitting device described in the third aspect or any possible embodiment of the third aspect.

[0075] In a possible implementation manner of the fourth aspect, the first transmitting module in the transmitting device is used to transmit a first light beam, and the second transmitting module in the transmitting device is used to transmit a second light beam;

[0076] The detector is used to receive the echo signal corresponding to the first light beam and the echo signal corresponding to the second light beam.

[0077] In a fifth aspect, an embodiment of the present application further provides a terminal, which includes the transmitting device described in the first aspect or any item of the first aspect, or includes the detection device described in the second aspect.

[0078] Optionally, the terminal can be an intelligent terminal or transportation tool such as a vehicle, a drone, or a robot.

[0079] Some of the beneficial effects of the second to fifth aspects of this application can refer to the beneficial effects of the first aspect, and will not be described one by one here. BRIEF DESCRIPTION OF THE DRAWINGS

[0080] The following is a brief introduction to the drawings used in describing the embodiments.

[0081] FIG1 is a schematic diagram of a transmitting field of view and a receiving field of view of a detection device;

[0082] FIG2 is a schematic structural diagram of a transmitting device provided in an embodiment of the present application;

[0083] FIG3 is a receiving diagram of another transmitting device provided in an embodiment of the present application;

[0084] FIG4 is a schematic diagram of a FOV provided in an embodiment of the present application;

[0085] FIG5 is a schematic diagram of another FOV;

[0086] FIG6 is a schematic diagram of an emission light path of an emission device provided in an embodiment of the present application;

[0087] FIG7 is a schematic structural diagram of another transmitting device provided in an embodiment of the present application;

[0088] FIG8 is a schematic diagram of another FOV provided in an embodiment of the present application;

[0089] FIG9 is a schematic structural diagram of another transmitting device provided in an embodiment of the present application;

[0090] FIG10 is a schematic structural diagram of another transmitting device provided in an embodiment of the present application;

[0091] FIG11 is a schematic structural diagram of another transmitting device provided in an embodiment of the present application;

[0092] FIG12 is a schematic structural diagram of another first light shaping module provided in an embodiment of the present application;

[0093] FIG13 is a schematic structural diagram of another transmitting device provided in an embodiment of the present application;

[0094] FIG14 is a schematic structural diagram of another first light shaping module provided in an embodiment of the present application;

[0095] FIG15 is a schematic structural diagram of another transmitting device provided in an embodiment of the present application;

[0096] FIG16 is a schematic structural diagram of another first light shaping module provided in an embodiment of the present application;

[0097] FIG17 is a schematic structural diagram of another first light shaping module provided in an embodiment of the present application;

[0098] FIG18 is a schematic structural diagram of another transmitting device provided in an embodiment of the present application;

[0099] FIG19 is a schematic diagram of a detection range provided in an embodiment of the present application;

[0100] FIG20 is a schematic diagram of a light-emitting timing provided in an embodiment of the present application;

[0101] FIG21 is a schematic diagram of another light-emitting timing provided in an embodiment of the present application;

[0102] FIG22 is a schematic structural diagram of another transmitting device provided in an embodiment of the present application;

[0103] FIG23 is a schematic diagram of an emission light path of another emission device provided in an embodiment of the present application;

[0104] FIG24 is a schematic diagram of a beam energy distribution in an angular space provided by an embodiment of the present application;

[0105] FIG25 is a schematic diagram of an emission light path of another emission device provided in an embodiment of the present application;

[0106] FIG26 is a schematic diagram of another beam energy distribution in angular space provided by an embodiment of the present application;

[0107] FIG27 is a schematic diagram of an emission light path of another emission device provided in an embodiment of the present application;

[0108] FIG28 is a schematic diagram of an emission light path of another emission device provided in an embodiment of the present application;

[0109] FIG29 is a schematic structural diagram of another transmitting device provided in an embodiment of the present application;

[0110] FIG30 is a schematic diagram of an emission light path of another emission device provided in an embodiment of the present application;

[0111] FIG31 is a schematic diagram of an emission light path of another emission device provided in an embodiment of the present application;

[0112] FIG32 is a schematic diagram of an emission light path of another emission device provided in an embodiment of the present application;

[0113] FIG33 is a schematic structural diagram of another transmitting device provided in an embodiment of the present application;

[0114] FIG34 is a schematic diagram of an emission light path of another emission device provided in an embodiment of the present application;

[0115] FIG35 is a schematic diagram of an emission light path of another emission device provided in an embodiment of the present application;

[0116] Figure 36 is a structural schematic diagram of another transmitting device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0117] The embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

[0118] For ease of understanding, the following examples provide some explanations of concepts related to the embodiments of the present application for reference.

[0119] 1. Detection device

[0120] 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 (such as a detection device that integrates a radar detector and an image sensor). Taking a laser radar as an example, its working principle is to detect targets within the field of view by emitting a detection signal and receiving an echo.

[0121] 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.

[0122] 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.

[0123] 2. Field of view (FOV)

[0124] 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.

[0125] 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.

[0126] The above description of technical terms may be optionally used in the following embodiments.

[0127] 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 obtain relevant information of the target based on the echo signal.

[0128] 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 small divergence angle. This results in a relatively small field of view, creating a large blind spot. This blind spot reduces the effective detection range of the detection device, especially when the transmitter and receiver are off-axis.

[0129] Please refer to Figure 1, which is a schematic diagram of the transmitting field of view and receiving field of view of a detection device. The transmitting end and the receiving end are used to transmit the detection signal and receive the echo signal, respectively. The transmitting field of view is the object space covered by the detection signal emitted by the transmitting end, and the receiving field of view is the object space where the receiving end can receive light. Since the receiving end can only receive the echo signal of the detection signal in the object space covered by the detection signal, the overlapping area of ​​the transmitting field of view and the receiving field of view is the effective detection range of the detection device. It can be seen that due to the high collimation of the detection signal, the transmitting field of view is relatively narrow and long, and the overlapping area is correspondingly relatively narrow and long, resulting in a small effective detection range and a relatively large blind area. A single detection can only detect a very small detection range, and the detection efficiency is low.

[0130] Furthermore, the overlap zone begins at a considerable distance from the detection device. In the close-range object space before the overlap zone, the receiver cannot receive the detection signal's echo, creating a near-field blind spot. The greater the off-axis distance between the transmitter and receiver, the larger this near-field blind spot becomes, severely impacting detection efficiency.

[0131] In view of this, the embodiments of the present application provide a transmitting device, a detecting device and a terminal, which can expand the field of view of the detecting device, reduce the blind spot of the field of view of the detecting device, and improve the detection efficiency.

[0132] The following is a detailed description of the embodiments of the present application.

[0133] Please refer to Figure 2, which is a schematic diagram of the structure of a possible transmitting device provided in an embodiment of the present application. Transmitting device 20 may include multiple transmitting modules and a first light shaping module 203. For example, the multiple transmitting modules include at least a first transmitting module 201 and a second transmitting module 202. The following description uses the first transmitting module 201 and the second transmitting module 202 as an example. In specific implementations, the number of first transmitting module 201 and second transmitting module 202 can be one or more.

[0134] The first emitting module 201 is used to emit a light beam (referred to as a first light beam for easy distinction), and the first light beam is represented by an arrowed line marked 1 in FIG. 2 .

[0135] The second transmitting module 202 is used to transmit a light beam (referred to as the second light beam for easy distinction), and the first light beam is represented by the arrowed line marked 2 in FIG2 . The first transmitting module 201 and the second transmitting module 202 are arranged in parallel.

[0136] The first light shaping module 203 is used to shape the first light beam to obtain a first shaped light beam, which is represented by the arrowed line labeled F1 in Figure 2. The FOV corresponding to the first shaped light beam in the object space is larger than the FOV of the first light beam in the object space without the first light shaping module.

[0137] In the transmitting device 20, the first light shaping module processes the first light beam, which can expand the transmitting FOV of the first transmitting module. When the transmitting module is used in a detection device, it can reduce the blind spot of the detection device's field of view and improve detection efficiency. The second light beam is not processed by the first light shaping module, that is, the second light beam is not folded. When the second light beam reaches the object space, it can still maintain good collimation, so that the range-finding capability of the second light beam is almost unaffected. Therefore, the embodiment of the present application hardly reduces the range-finding capability of the first detection device. In addition, the first transmitting module and the second transmitting module are arranged in parallel, and the first shaped light beam can detect the blind spot of the second light beam, reducing the blind spot of the detection device's field of view and improving detection efficiency.

[0138] As a possible implementation, the first light shaping module 203 includes a reflective surface for reflecting a portion of the first light beam, thereby changing the direction of the portion of the first light beam and expanding the field of view (FOV) of the first light beam. For example, the first light shaping module is a reflector disposed between the first transmitting module and the second transmitting module. The edge portion of the first light beam can be illuminated by the reflector and reflected by it, while the remaining light beams in the first light beam are not reflected by the reflector.

[0139] As another possible embodiment, the first light shaping module includes an incident surface, a side wall, and an exit surface. Part of the first light beam is reflected by the side wall, so that the propagation direction of the part of the first light beam is changed. Please refer to Figure 3, which is a structural schematic diagram of another possible transmitting device provided in an embodiment of the present application. The first light shaping module 203 in the transmitting device 30 includes an incident surface 2031, a side wall 2032, and an exit surface 2033. The side wall 2032 is used to reflect the part of the first light beam to change the propagation direction of the part of the first light beam, thereby achieving the effect of expanding the FOV of the first light beam. As shown in Figure 3, the first light beam enters the first light shaping module 203 from the incident surface, and the part of the first light beam is reflected by the side wall 2032 of the first light shaping module. The first light beam is emitted from the exit surface to obtain a first shaped light beam.

[0140] Please refer to Figure 4, which is a schematic diagram of a FOV provided in an embodiment of the present application. Among them, the spotted part is the FOV of the second light beam, the shaded part is the FOV of part of the light beam in the first light beam after reflection, and the dotted part is the original FOV of the first light beam without shaping. It is not difficult to see that part of the light beam in the first light beam is reflected, and the transmission direction is folded, and the transmission direction of this part of the folded light beam is close to the edge of the second light beam. After the reflected light beam passes through the lens, it is deflected to the outside of the unreflected light beam, and the transmission direction is closer to the first light beam, so that the FOV corresponding to the first light beam is increased, and the field of view of the detection device is expanded accordingly. After the field of view is increased, a detection can detect targets in a larger range, thereby improving the detection efficiency.

[0141] Optionally, the main optical axis of the lens may be parallel to or coincide with the optical axis of the second light beam. Of course, the present application is also applicable to situations where the main optical axis of the lens is not parallel or coincident.

[0142] As a possible implementation, the first transmitting module 201 and the second transmitting module 202 are connected to the same circuit board. A circuit board is a support for electronic components. The circuit board contains conductors that serve as circuits connecting electronic components. The circuit board includes, but is not limited to, printed circuit boards (PCBs) and flexible printed circuit boards (FPCs).

[0143] Furthermore, the first transmitting module 201 and the second transmitting module 202 may be electronic devices, and both are electrically connected to the circuit board.

[0144] Alternatively, the first transmitting module 201 and the second transmitting module 202 are electrically isolated from the circuit board. In this case, the first transmitting module 201 and the second transmitting module 202 can be fixed on the circuit board, but are not necessarily electrically connected to the circuit board.

[0145] Alternatively, the circuit board may be replaced by a substrate, and the substrate may not contain conductors for transmitting electrical signals. The first transmitting module and the second transmitting module may be fixed on the substrate.

[0146] It should be understood that the x, y, and z coordinates shown in the various embodiments of the present application are exemplary identifiers made to facilitate understanding and are not intended to limit the embodiments of the present application.

[0147] Based on the aforementioned transmitter, some possible designs are provided below. The following various designs can be implemented individually or in combination. For ease of understanding, the following description will also provide an example of a combined implementation. Below, some possible designs are introduced separately.

[0148] In one possible design, the maximum detection distances of the first and second beams are different. For example, the maximum detection distance of the first beam is less than the minimum detection distance of the second beam. For another example, the maximum detection distance of the second beam is less than the minimum detection distance of the first beam.

[0149] The following is an example in which the maximum detection distance of the first light beam is relatively short.

[0150] If the maximum detection range of the first beam is less than the minimum detection range of the second beam, the second beam is suitable for long-range detection, while the first beam is suitable for short-range detection. Because the first light shaping module does not shape the first beam, the collimation of the second beam is not affected, ensuring the long-range detection capability of the second beam. The beam emitted by the second transmitting module can detect the blind spots created by long-range detection. The first light shaping module improves the field of view for short-range detection, thereby achieving better blind spot compensation and enhancing the detection performance of the detection device.

[0151] As a possible implementation, the maximum detection distance of the first light beam can be smaller than the maximum detection distance of the second light beam by:

[0152] Implementation method 1: The energy density of the first beam is lower than that of the second beam. The energy density of a signal is related to its maximum detection range: the lower the energy density, the shorter the maximum detection range. Therefore, the first beam is suitable for short-range detection. Furthermore, the shorter maximum detection range of the first beam prevents mutual interference between the first and second beams, improving both the short-range and long-range detection accuracy of the detection device and enhancing detection performance.

[0153] In the second implementation, the power of the first beam is lower than that of the second beam. The power of a signal is related to its maximum detection range: the lower the power, the shorter the maximum detection range. Therefore, the first beam is suitable for short-range detection.

[0154] The above implementation is only an example. In a specific implementation, the first light beam can be made suitable for close-range detection and / or blind spot detection by setting the first emission module to be defocused or diverging.

[0155] As a possible implementation, when the first transmitting module is used for proximity detection, by setting the first transmitting module to be relatively defocused from the lens, the FOV of the first transmitting module can be expanded, the range of close-range detection can be improved, and the blind spot of the field of view can be further reduced.

[0156] Not limited to the aforementioned design, as a possible design, the first transmitting module and the second transmitting module respectively include one or more transmitters.

[0157] For example, the first emission module may include a long strip laser whose light-emitting surface is a rectangular strip. For another example, the first emission module may include multiple lasers, and the multiple lasers are electrically isolated by gaps.

[0158] Optionally, the emitter may be an edge-emitting laser or a vertical-plane-emitting laser, etc.

[0159] When a vertical surface emitter is mounted on a circuit board, the light-emitting surface is parallel to the circuit board surface, and therefore, the light is emitted away from the circuit board. Vertical surface emitters include, but are not limited to, vertical cavity surface emitting lasers (VCSELs) and photonic crystal surface emitting semiconductor lasers (PCSELs).

[0160] When an edge-emitting laser (EEL) is mounted on a circuit board, the light-emitting surface is the side of the laser, so its light emission direction is parallel to the circuit board. Alternatively, the EEL can be replaced with other devices that emit light at the edge of the light-emitting element, such as silicon photonic chips.

[0161] Not limited to the aforementioned design, as another possible design, the transmitting device further includes a lens, which is used to process the first shaped beam to obtain a third beam, and the second beam to obtain a fourth beam. The field of view of the third beam is larger than that of the original beam. The "original beam" described here refers to the beam after the first beam, which has not been processed by the first light shaping module, passes through the lens. Through the first light shaping module, the FOV of the third beam can be increased, the field of view of the detection device is also increased accordingly, the blind spot is reduced accordingly, and the detection efficiency of the detection device is improved.

[0162] Please refer to Figure 5, which is a schematic diagram of another FOV. The light beam from the first transmitting module is not processed by the first light shaping module. After passing through the lens, the FOV of the first transmitting module in the object space is smaller than the FOV of the third light beam in the object space shown in Figure 4. Therefore, the first shaping module increases the FOV of the light beam emitted by the first transmitting module in the object space, reduces the blind spot, and thus improves detection efficiency.

[0163] Not limited to the above design, as another possible design, the partial light beam includes a first sub-beam, and the first sub-beam is reflected by a side wall of the first light shaping module close to the second emission module. As shown in Figure 3, the side wall 2032 is the side wall close to the second emission module.

[0164] In this embodiment, the first sub-beam is deflected away from the second emission module by the sidewall. This not only expands the FOV corresponding to the first emission module, but also creates a smaller angular gap between the deflected first sub-beam and the second beam after passing through the lens, improving field of view continuity. In short, this embodiment can reduce blind spots.

[0165] As a possible implementation, the angle between the first and second beams is a first angle, which is λ as shown in Figure 4 . The first shaped beam passes through the lens to produce a third beam, and the second beam passes through the lens to produce a fourth beam. The angle between the third and fourth beams (or the second angle) is smaller than the first angle, i.e., the second angle is smaller than λ. As shown in Figure 4 , after the first sub-beam passes through the lens, it further fills the gap in the field of view, reducing the angular gap between the third and fourth beams and improving the continuity of the field of view.

[0166] The first angle and the second angle are angles in a first direction (eg, the x-direction), where the first direction is the direction in which the first and second emission modules are arranged. That is, there is a gap between the first and second emission modules in the first direction.

[0167] Please refer to Figure 6, which is a schematic diagram of the emission optical path of a possible emission device provided in an embodiment of the present application. The first sub-beam is reflected by the first light shaping module 203. The reverse extension line of the optical path of the reflected first sub-beam can converge on the equivalent light source 601, which can also be called a virtual image of the light source. In the x-direction, the distance between the equivalent light source 601 and the second emission module 202 is smaller than the distance between the second emission module 202 and the first emission module 201. Because the distance between the equivalent light source 601 and the first emission module 201 is closer, after passing through the lens, the angular gap between the reflected first sub-beam and the second light beam is smaller, thereby achieving a better blind spot filling effect.

[0168] In addition, the equivalent light sources described in the embodiments of the present application are virtual light sources created to facilitate understanding of the optical path and the technical effects of the optical elements, and do not actually exist in the emitting device.

[0169] Without being limited to the aforementioned design, as a possible design, the partial light beam includes a second sub-beam, and the second sub-beam is reflected by a side wall of the first light shaping module away from the second emitting module.

[0170] Please refer to FIG. 7 , which is a schematic structural diagram of another possible transmitting device provided in an embodiment of the present application. The first light shaping module 203 in the transmitting device 70 further includes a side wall 2034 , and the side wall 2034 is away from the first transmitting module.

[0171] Please refer to Figure 8, which is a schematic diagram of another FOV provided by an embodiment of the present application. The spotted portion is the FOV of the second light beam, the shaded portion is the FOV after the partial light beam is reflected, and the dotted portion is the original FOV of the first light beam without shaping.

[0172] It's easy to see that part of the first beam is reflected, its transmission direction diverted, and the direction of this diverted beam is deflected outside the FOV of the unreflected beam. After passing through the lens, the reflected beam is deflected outside the unreflected beam and further away from the first beam, increasing the FOV corresponding to the first beam and the field of view of the detection device. This increased FOV allows a single detection to detect a wider range of targets, improving detection efficiency.

[0173] Optionally, the first light beam may be reflected on both side walls.

[0174] Figure 9 is a schematic diagram of the structure of another transmitting device provided in an embodiment of the present application. In transmitting device 90, a first light beam emitted by a first transmitting module 201 is processed by a first light shaping module to produce a first shaped light beam. Part of the first light beam is reflected by a sidewall 2032 of the first light shaping module 203 near the second transmitting module, part is reflected by a sidewall 2034 of the first light shaping module 203 away from the second transmitting module, and part is not reflected by the sidewalls. After passing through the lens, the field of view (FOV) corresponding to the first light beam is expanded in both directions, thereby further increasing the field of view of the detection device and improving detection efficiency.

[0175] Not limited to the aforementioned design, in another possible design, a portion of the light beam undergoes total internal reflection (TIR) ​​on the sidewalls of the first light-shaping module. Total internal reflection (TIR), also known as total internal reflection, is an optical phenomenon. When light enters a medium with a higher refractive index from a medium with a lower refractive index, if the angle of incidence is greater than a certain critical angle, the refracted light disappears, and the incident light is reflected without entering the medium with a lower refractive index.

[0176] Exemplarily, the first light shaping module is an optical waveguide or optical plate, which typically has a higher refractive index than air, forming a refractive surface between different refractive indices. When a portion of the first light beam is incident on the sidewall of the first light shaping module, reflection or total internal reflection occurs on the sidewall.

[0177] By reflecting the light beam through total internal reflection, the manufacturing cost of the optical module can be reduced.

[0178] Not limited to the aforementioned design, in another possible design, reflection can be achieved through coating.

[0179] Please refer to Figure 10, which is a schematic diagram of the structure of another possible transmitting device provided in an embodiment of the present application. In transmitting device 100, the sidewall of first light shaping module 203 includes a reflective surface, and a portion of the first light beam is reflected by the reflective surface. This description uses the sidewall near second transmitting module 202 as an example, but the same applies to other sidewalls.

[0180] Optionally, the reflective surface may be realized by a reflective film. For example, the side wall of the first light shaping module is plated with a reflective film, and part of the light beam is reflected by the reflective film.

[0181] Reflecting the light beam through a reflective surface can free the light beam from the angle of incidence, improving flexibility. In addition, using a reflective surface for reflection can reduce the possibility of the light beam passing through the refractive surface, reducing stray light inside the detection device.

[0182] As a possible implementation, the sidewalls form an acute angle with the horizontal. That is, along the light-emitting direction, the sidewalls deflect toward the interior of the light-shaping module. This arrangement reduces the incident angle of the light beam upon entering the sidewalls, improving the deflection effect and further expanding the field of view.

[0183] The horizontal plane is parallel to the light emitting surface of the first emitting module and / or parallel to the incident surface. FIG11 is a schematic structural diagram of another possible emitting device provided in an embodiment of the present application. In the emitting device 110, the angle between the sidewall of the first light shaping module 203 and the incident surface is θ, where θ is less than 90°.

[0184] Optionally, the side wall can be a side wall on one side, such as a side wall close to the second emission module or a side wall away from the second emission module. Of course, the present application is also applicable to the case where both side walls deflect inward at the same time.

[0185] Not limited to the aforementioned design, in another possible design, the second optical module can be implemented by a group of a refractive body and a reflective surface.

[0186] Please refer to FIG. 12 , which is a schematic structural diagram of a first light shaping module provided in an embodiment of the present application. The first light shaping module 203 includes a first refractive body and a first reflective surface 2036 .

[0187] The first refractive body includes an incident surface 2031 and a first refractive surface 2035. The first reflective surface 2036 is located on a side of the first refractive surface away from the incident surface.

[0188] Please refer to Figure 13, which is a schematic diagram of the structure of another possible transmitting device provided in an embodiment of the present application. In transmitting device 130, first light shaping module 203 includes the first light shaping module shown in Figure 12. The light beam from first transmitting module 201 passes through incident surface 2031 and first refractive surface 2035 before being emitted. Part of the light beam passes through first refractive surface 2035 and is reflected by first reflective surface 2036, while part of the light beam does not pass through first reflective surface 2036.

[0189] Due to the refraction of light, after passing through the first refractor, the light beam is deflected outward from the first light shaping module. This results in a greater beam width and energy at the edges of the beam. This deflection by the first refractor causes more light to be deflected onto the first reflective surface 2036, thereby increasing the energy of the light beam reflected by the first reflective surface 2036. When this light reaches the object space, it expands the field of view of the reflected beam, improving blind spot compensation and boosting detection efficiency.

[0190] Optionally, the first refractive surface 2035 is not parallel to the horizontal direction. The non-parallel refractive surface can further improve the refraction deflection of the light beam and further increase the energy of the light beam reflected by the first reflective surface 2036.

[0191] As shown in Figure 12, the angle between the first reflective surface and the first refractive surface is an obtuse angle. For example, the angle between the first reflective surface 2036 and the first refractive surface 2035 is μ, where μ is less than 90°.

[0192] Alternatively, the incident surface is parallel to the light-emitting surface of the first emitting module 201, while the first refractive surface forms an angle with the light-emitting surface of the first emitting module 201. For another example, the first refractive surface 2035 forms an angle with the incident surface. As shown in FIG13 , along the direction from the second emitting module 202 to the first emitting module 201, the first refractive surface 2035 deflects toward the incident surface, forming an angle with the incident surface.

[0193] Alternatively, optionally, the first refractive surface 2035 is parallel to the light emitting surface of the first emitting module, and the incident surface is not parallel to the light emitting surface of the first emitting module.

[0194] In some possible scenarios, the first refractive surface 2035 can be considered the exit surface of the first light-shaping module. Optionally, the first refractive body further includes sidewalls, as indicated by the dotted arrows in Figure 13. Some light is reflected by the sidewalls of the first refractive body, changing its propagation direction. This light can also expand the field of view of the first emission module, further improving detection efficiency.

[0195] As a possible embodiment, the first light shaping module further includes a second refractive body. The second refractive body includes a second refractive surface, and the second refractive surface is spaced apart from and opposed to the first refractive surface. The spaced apart means that the two surfaces are arranged opposite to each other with a space between them.

[0196] Please refer to Figure 14, which is a schematic diagram of the structure of another first light shaping module provided in an embodiment of the present application. The first light shaping module 203 includes a first refractive body, a second refractive body, and a first reflective surface 2036. The first refractive body includes an incident surface 2031 and a first refractive surface 2035, and the second refractive body includes a second refractive surface 2037 and an exit surface 2033. The first refractive surface 2035 and the second refractive surface 2037 are spaced apart and opposed to each other. The first reflective surface 2036 connects the first refractive surface 2035 and the second refractive surface 2037.

[0197] Optionally, the first refractive surface 2035 and the second refractive surface 2037 may be parallel. Of course, the present invention is also applicable to the case where the two are not completely parallel.

[0198] Please refer to Figure 15, which is a schematic diagram of the structure of another possible transmitting device provided in an embodiment of the present application. The first light shaping module in transmitting device 150 includes the optical module shown in Figure 14. The light beam from first transmitting module 201 is emitted through incident surface 2031, first refractive surface 2035, second refractive surface, and exit surface. Part of the light beam passes through first refractive surface 2035 and is reflected by first reflective surface 2036, while part of the light beam does not pass through first reflective surface 2036.

[0199] In the transmitting device 150 shown in Figure 15, due to the refraction of light, the gap between the two refractive bodies causes the light to disperse outward, so that the first shaped light beam emits stronger light on the side close to the second light beam, enhancing the energy of the light beam reflected by the first reflecting surface, so that more light fills the gap, thereby further expanding the field of view and achieving a better blind spot effect.

[0200] Furthermore, the addition of a second refractor to the first refractor allows the deflected light to recover to a certain degree, minimizing optical axis variation between the first and shaped beams, and reducing the directional deviation of the principal optical axes of the first and second beams. This reduces the lens aperture and the complexity of the optical path design. This approach can minimize optical path differences between the first and second beams caused by changes in component performance or position, particularly when optical components age or become loose, thereby improving the stability of the detection system.

[0201] Optionally, a transition layer is provided between the first refractive surface and the second refractive surface.

[0202] As one possible implementation, the refractive index of the transition layer is lower than that of the first and / or second refractive bodies. When light passes from a high-refractive-index medium to a low-refractive-index medium, it is deflected away from the normal, causing more of the light beam to be deflected toward the sidewalls of the first light-shaping module. This increases the energy of the light beam reflected by the optical module, achieving a better blind spot correction effect.

[0203] Optionally, the transition layer comprises air or a low-refractive-index material. Exemplarily, the low-refractive-index material may be a material having a refractive index lower than a first threshold value, such as 2, 1.7, 1.5, 1.3, or 1.2.

[0204] Optionally, the first refractive body can be realized by an optical element such as a prism or an optical plate, for example, a triangular prism or a right-angle prism, etc. Similarly, the second refractive body can also be realized by an optical element such as a prism or an optical plate.

[0205] The first light shaping module is described above in terms of its cross-sectional shape. To facilitate understanding, two overall implementations of the first light shaping module are listed below.

[0206] As a possible overall implementation, please refer to Figure 16, which is a schematic structural diagram of another first light shaping module provided in an embodiment of the present application. The first light shaping module includes a flat plate 1601, a first refractive body 1602, and a second refractive body 1603. The first refractive body 1602 and the second refractive body 1603 are a pair of triangular prisms. The transition layer between the first refractive body 1602 and the second refractive body 1603 is filled with a low-refractive-index material, or the transition layer is air. One side of the flat plate 1601 is a reflective surface or a refractive surface.

[0207] The material of plate 1601 is not limited herein. For example, plate 1601 can be made of metal or graphite, providing a smooth surface for reflection. Alternatively, plate 1601 can be made of ceramic, alloy, or other materials. In this case, a reflective film can be applied to plate 1601 to provide a reflective surface. Alternatively, plate 1601 can be made of a transparent crystal or a transparent amorphous material, so that light beams passing through plate 1601 are reflected or totally reflected.

[0208] Optionally, the flat plate 1601 , the first refractive body 1602 and the second refractive body 1603 may be connected together, for example, by gluing or fixing them by other connecting members.

[0209] As another possible overall implementation, the first refractive body, the second refractive body, and the reflective surface are formed by processing a single piece of material. Please refer to Figure 17, which is a structural schematic diagram of another first light shaping module provided in an embodiment of the present application. The first light shaping module is made of a single piece of material and includes an incident surface 2031, a first refractive surface 2035, a first reflective surface 2036 (represented by dark color), a second refractive surface 2037, and an exit surface 2033. The space between the first refractive surface 2035 and the second refractive body 1603 is filled with a low refractive index material or the middle area is an air gap.

[0210] Optionally, the first reflective surface 2036 is a refractive surface, and the light beam generates reflection or total reflection when passing through the first reflective surface 2036. Alternatively, the first reflective surface 2036 is implemented by coating a reflective film.

[0211] Not limited to the aforementioned design, in another possible design, the first emitting module and the second emitting module are located in the focal plane of the lens. Alternatively, the second emitting module includes a light emitting surface, and the light emitting surface of the second emitting module is located in the focal plane of the lens.

[0212] The transmitting module is set on the focal plane, and the light beam it emits has good collimation when passing through the lens, which can improve the maximum detection distance of the detection device and ensure the long-range measurement capability.

[0213] Not limited to the aforementioned design, in another possible design, the first transmitting module and the second transmitting module are out of focus with respect to the focal plane of the lens.

[0214] For example, there is defocus between the light-emitting surface of the first emitting module and the light-emitting surface of the second emitting module and the focal plane of the lens.

[0215] In the above embodiment, defocusing the first emitting module can enhance the diffusion effect of the light beam emitted by the first emitting module, expand the field of view, and reduce the blind spot.

[0216] Not limited to the aforementioned design, in another possible design, the second transmitting module is closer to the lens than the focal plane, that is, the distance between the first transmitting module and the lens is less than the focal length. The transmitting device may also include a second light shaping module, which is used to converge the light beam emitted by the second transmitting module. In this case, the converging effect of the second light shaping module can compensate for the defocus of the second transmitting module.

[0217] Please refer to Figure 18, which is a schematic diagram of the structure of another transmitting device provided in an embodiment of the present application. Transmitting device 180 further includes a second light shaping module 1801, which is located between the second transmitting module 202 and the lens. Second light shaping module 1801 is used to process the second light beam to produce a second shaped light beam; the divergence angle of the second shaped light beam is smaller than the divergence angle of the second light beam.

[0218] The second light shaping module is used to converge the second light beam, ensuring the collimation of the light beam emitted by the second transmitting module and improving the range finding capability. As one possible example, the second shaped light beam can be considered to be emitted by an equivalent light source 1802, which is closer to the focal plane than the second transmitting module 202. Therefore, the second light shaping module 1801 can improve the collimation of the light beam emitted by the second transmitting module 202 after passing through the lens.

[0219] In another possible embodiment, the distance between the second transmitting module and the lens is greater than the focal length. The transmitting device may further include a second light shaping module, which is configured to diverge the light beam emitted by the second transmitting module. In this case, the divergence of the second light shaping module can compensate for the defocus of the second transmitting module.

[0220] Not limited to the aforementioned design, in another possible design, the first and second transmitting modules are configured to time-share the emission of light beams, with the emission times of the first and second light beams being different. This arrangement staggers the emission times of the first and second light beams, minimizing interference when the first and second light beams are used to detect targets within their respective fields of view.

[0221] Please refer to Figure 19, which is a schematic diagram of a possible detection range provided by an embodiment of the present application. It can be seen that the overlapping area between the transmitting field of view of the first transmitting module and the receiving field of view is overlapping area 1; the overlapping area between the transmitting field of view of the second transmitting module and the receiving field of view is overlapping area 2. There is overlap between overlapping area 1 and overlapping area 2. When the two perform detection in time-sharing mode, overlapping area 1 and overlapping area 2 are isolated by time-sharing, reducing interference and increasing the effective proportion of the signal received by the detection device.

[0222] Optionally, when the first light beam and the second light beam are respectively suitable for short-range detection and long-range detection, blind spot detection of the near field of view is also achieved without affecting the long-range detection capability, thereby enhancing the detection performance of the detection device.

[0223] As an example of time-sharing lighting, the first emission module is used to emit a first light beam in a first time period, and the second emission module is used to emit a second light beam in a second time period, and the first time period and the second time period do not overlap.

[0224] Please refer to Figure 20, which is a schematic diagram of a light-emitting timing provided by an embodiment of the present application. As shown in Figure 20, within a detection period T, the first light beam is _1 The second beam is emitted during the period T _2 The time period is emitted. _1 Time period and T _2 The time periods do not overlap. Of course, the light-emitting timing shown in FIG20 is an exemplary description based on the periodic light-emitting timing. The present application is also applicable to non-periodic light-emitting or periodic light-emitting with other time length patterns. For example, the duration of the T_1 time period may be different from the duration of the T_2 time period, such as: the duration of the T_1 time period may be greater than the duration of the T_2 time period, or the duration of the T_1 time period may be less than the duration of the T_2 time period. For example, after experiencing multiple T_1 time periods and multiple T_2 time periods, the first emission module and the second emission module may pause for a period of time and then resume emitting light.

[0225] It should be noted that the vertical axis of Figure 20 is used to illustrate whether there is a light beam at a certain time, and there is no strict restriction on the variable itself. For example, the variables represented by the coordinates can be whether the transmitting module is powered on, the level of the transmitting module, the power of the signal light emitted by the transmitting module, etc.

[0226] As a possible implementation, in the second time period, the second emission module may emit a fifth light beam, and the maximum detection distance of the fifth light beam is different from the maximum detection distance of the second light beam.

[0227] For example, if the maximum detection range of the first beam is less than that of the second beam, the maximum detection range of the fifth beam is also less than that of the second beam. This configuration allows the fifth beam to be suitable for close-range detection within the first time period. This allows for a wider range of close-range detection within the first time period, further enhancing the close-range detection capabilities of the detection device. Optionally, the fifth beam has the same ranging capability as the first beam.

[0228] Please refer to Figure 21, which is another schematic diagram of a light-emitting timing provided by an embodiment of the present application. As shown in Figure 21, in a detection period T, the first emission module is in the period T _1 The first light beam is emitted in the time period, and the second emission module is in the period T _1 The fifth light beam is emitted during the time period, and the second emission module is in the period T _2 The second light beam is emitted during the time period, wherein: the farthest detection distance of the first light beam is less than the farthest detection distance of the second light beam, and the farthest detection distance of the fifth light beam is also less than the farthest detection distance of the second light beam. _1 During the time period T, the light beams emitted by the first emission module and the second emission module can be regarded as light beams for close-range detection. _2 During this time period, the beam emitted by the second transmitting module can be considered the beam used for long-range detection. This arrangement not only achieves temporal isolation between long-range and short-range detection, but also enables short-range detection over a wider range, further improving detection efficiency and enhancing the detection device's short-range detection capabilities, thus enhancing detection performance.

[0229] It should be noted that the vertical axis "power" in Figure 21 is a schematic diagram to illustrate the farthest detection distance of the light beam within a time period. The power can also be replaced by the current of the transmitting module, the energy density of the light beam, the farthest detection distance of the light beam, etc.

[0230] The above describes some possible designs of the embodiments of the present application. During the specific implementation process, the above multiple designs can also be combined. The following examples are illustrative examples of the embodiments obtained by combining some of the designs. It should be understood that for modules and logic not explained in the following embodiments, reference can be made to the descriptions in the above designs. In addition, the following multiple embodiments can also be combined.

[0231] Please refer to Figure 22, which is a schematic diagram of the structure of another possible transmitting device provided in an embodiment of the present application. Transmitting device 220 includes a circuit board (or light source circuit board), a first light shaping module, and a collimating lens group, and optionally includes a light homogenizing component or a reflector. The light homogenizing component includes, but is not limited to, a microlens array, a light homogenizing plate, a light homogenizing sheet, or a diffuser.

[0232] The circuit board is provided with a first transmitting module and a second transmitting module. The distribution of the first transmitting module and the second transmitting module on the xy plane is shown in area 2201. The first transmitting module and the second transmitting module share a collimating lens assembly, which reduces the overall size of the transmitting device and improves the integration level.

[0233] The first emission module and the second emission module each include a plurality of lasers, which are represented by rectangular frames. For example, the lasers included in the first emission module and the second emission module are VCSELs, and the emission direction is away from the circuit board.

[0234] Optionally, the first transmitting module and the second transmitting module are arranged side by side, and there is a gap between the first transmitting module and the second transmitting module in the x direction.

[0235] Further optionally, the multiple lasers included in the first emission module have gaps in the y direction. The multiple lasers included in the second emission module have gaps in the y direction. Here, the gaps between the lasers in the first emission module and the gaps between the lasers in the second emission module are the same as each other. In specific implementations, the gaps between the lasers may be different.

[0236] In the transmitting device 230 , the first light shaping module is used to shape the light beam from the first transmitting module (ie, the first light beam) to expand the FOV corresponding to the light beam emitted by the first transmitting module.

[0237] Please refer to Figure 23, which is a schematic diagram of the emission optical path of another possible emission device provided by an embodiment of the present application. The first light shaping module is an optical plate. The thickness of the optical plate M alters the optical path of the second light beam. This is equivalent to defocusing the first emission module from the focal plane of the collimating lens assembly. This defocusing causes the second light beam to disperse, thereby reducing the gap between the second shaped light beam and the first light beam in angular space.

[0238] Figure 24 shows a schematic diagram of the beam energy distribution in angular space, provided by an embodiment of the present application. The solid line represents the case without the first light shaping module, while the dashed line represents the case with the first light shaping module. After processing by the first light shaping module, the second beam is diffused, spreading outward. This expands the field of view (FOV) corresponding to the second beam, reduces blind spots, and improves field of view continuity.

[0239] Please refer to Figure 25, which is a schematic diagram of the emission light path of another possible emission device provided in an embodiment of the present application. Among them, the first light shaping module is an optical plate. Part of the second light beam is reflected by the side wall of the optical plate close to the second emission module, causing the distance between the equivalent light source and the collimating lens group to change (for example, forming defocus), and the equivalent light source is closer to the second emission module than the first emission module. This setting can make the first light beam and the second light beam have a smaller angular gap after passing through the lens, reducing the blind spot of the field of view and improving the continuity of the field of view.

[0240] Figure 26 shows a schematic diagram of beam energy distribution in angular space, provided by an embodiment of the present application. The solid line represents the absence of the first light shaping module, while the dashed line represents the presence of the first light shaping module. After processing by the first light shaping module, the equivalent gap between the first and second beams is reduced. After collimation by the collimating lens assembly, the gap in the angular space between the outgoing beams is reduced or even eliminated.

[0241] Please refer to Figure 27, which is a schematic diagram of the emission light path of another possible emission device provided in an embodiment of the present application. Among them, the first light shaping module is an optical plate. Part of the second light beam is reflected at the side wall of the optical plate away from the second emission module, causing the distance between the equivalent light source and the collimating lens group to change (for example, forming defocus), and the edge of the equivalent light source is extended in the direction away from the second emission module, that is: the virtual image of the light source corresponding to the first shaped light beam is further widened in the positive x direction, thereby expanding the equivalent light-emitting surface of the first light beam, so that the first emission module has a larger FOV and improves the detection efficiency.

[0242] Please refer to Figure 28, which is a schematic diagram of the emission light path of another possible emission device provided in an embodiment of the present application. Among them, the first light shaping module is an optical plate. Part of the second light beam is reflected on the side walls on both sides of the optical plate, and the side walls on both sides are the side walls close to the first emission module and the side walls away from the second emission module, and the first shaped light beam is emitted. The distance between the equivalent light source corresponding to the first shaped light beam and the collimating lens group changes (for example, forming defocus), and the edge of the equivalent light source extends away from the surroundings, thereby expanding the equivalent light-emitting surface of the first light beam, so that the first emission module has a larger FOV and improves the detection efficiency.

[0243] As a possible implementation, within a period T, the first transmitting module emits the first light beam during T1, the second transmitting module emits the fifth light beam during T1, and the second transmitting module emits the second light beam during T2. The first and fifth light beams are used for close-range detection, while the second light beam is used for long-range detection. This illumination method can expand the field of view for close-range detection, improve detection efficiency, and enhance detection performance.

[0244] Optionally, in the aforementioned embodiment, the cross-section of the first light-shaping module is polygonal, so the description is based on the sidewall distal to the first emission module and the sidewall proximal to the second emission module. In some scenarios, the optical plate may be cylindrical, in which case the sidewall distal to the first emission module and the sidewall proximal to the second emission module may be the same sidewall (e.g., a cylindrical sidewall). For another example, in some scenarios, the cross-section of the optical plate may be hexagonal or octagonal, in which case the sidewall distal to the second emission module and the sidewall proximal to the second emission module may each be multiple sidewalls.

[0245] It should be understood that the embodiment shown in Figure 22 can also be combined with one or more of the aforementioned designs, or combined with one or more of the embodiments below, and this application will not go into details about the combination.

[0246] Please refer to Figure 29, which is a schematic diagram of the structure of another possible transmitting device provided in an embodiment of the present application. Transmitting device 290 includes a circuit board (or light source circuit board), a first light shaping module, and a collimating lens assembly. Optionally, it may also include a light homogenizing component or a reflector. The light homogenizing component may be implemented using a microlens array.

[0247] The circuit board is provided with a first transmitting module and a second transmitting module. The distribution of the first transmitting module and the second transmitting module on the xy plane is shown in area 2901. The first transmitting module and the second transmitting module share a collimating lens assembly, which reduces the overall size of the transmitting device and improves the integration level.

[0248] The first and second emitting modules are arranged side by side, each containing a long, rectangular laser. The lasers are represented by rectangular boxes. For example, the lasers are VCSELs, emitting light away from the circuit board. A gap exists between the first and second emitting modules in the x-direction.

[0249] In transmitting device 290, the first light shaping module is used to shape the light beam from the first transmitting module (i.e., the first light beam) to expand the field of view (FOV) of the light beam emitted by the first transmitting module. The upper and lower surfaces of the first light shaping module are parallel planes, and the sidewalls are planar and coated with a reflective film. The first light beam is incident on the lower surface of the first light shaping module. Part of the light beam is reflected by the sidewalls and reaches the upper surface, while part of the light beam is not reflected by the sidewalls and propagates directly to the upper surface. The light beam emitted from the upper surface of the first light shaping module is the shaped first light beam and is referred to as the first shaped beam for ease of distinction.

[0250] Please refer to Figure 30, which is a schematic diagram of the emission light path of another possible emission device provided in an embodiment of the present application. Among them, there is an angle θ (θ < 90°) between the side wall (close to the second emission module) and the lower surface of the first light shaping module, which increases the energy of the light beam reflected by the side wall and simultaneously increases the incident angle of the reflected light beam. It not only changes the distance between the equivalent light source of the second shaped light beam and the lens (for example, it achieves defocusing of the equivalent light source), but also increases the energy of the refracted light signal, thereby reducing the gap between the second shaped light beam and the first light beam in the angular space. The energy distribution of the light beam emitted by the emission device shown in Figure 30 in the angular space is similar to that of Figure 26. After being processed by the first light shaping module, the second light beam is diffused, causing the light beam to spread outward, and the gap between the first light beam and the second light beam is reduced. After being collimated by the collimating lens group, the gap between the outgoing light beam in the angular space is reduced or even eliminated.

[0251] Please refer to Figure 31, which is a schematic diagram of the emission light path of another possible emission device provided in an embodiment of the present application. In which, a reflective film is coated on the side wall of the first light shaping module away from the second emission module, and the side wall is at an angle θ (θ < 90°) with the lower surface of the first light shaping module. Part of the light beam in the first light beam is reflected on the side wall of the first light shaping module away from the second emission module, so that the distance between the equivalent light source corresponding to the second shaped light beam and the collimating lens group changes (for example, defocusing is formed), and the edge of the equivalent light source is extended in the direction away from the second emission module, that is: the virtual image of the light source corresponding to the first shaped light beam is further widened in the positive x direction, thereby expanding the equivalent light-emitting surface of the first light beam, so that the first emission module has a larger FOV, thereby improving the detection efficiency.

[0252] Please refer to Figure 32, which is a schematic diagram of the emission light path of another possible emission device provided in an embodiment of the present application. The sidewalls of the first light shaping module are coated with a reflective film, and the sidewalls are respectively at angles θ1 and θ2 with the lower surface of the first light shaping module, where θ1 < 90° and θ2 < 90°. Optionally, θ1 = θ2.

[0253] Part of the first light beam is reflected off the sidewalls of the first light shaping module (e.g., the sidewalls near the first emitting module and the sidewalls away from the second emitting module), resulting in a first shaped light beam. The distance between the equivalent light source corresponding to the first shaped light beam and the collimating lens assembly changes (e.g., causing defocus), and the edge of the equivalent light source extends away from the surrounding area, thereby expanding the equivalent luminous surface of the first light beam. This results in a larger field of view (FOV) for the first emitting module and improved detection efficiency.

[0254] As a possible implementation, within a period T, the first transmitting module emits the first light beam during T1, the second transmitting module emits the fifth light beam during T1, and the second transmitting module emits the second light beam during T2. The first and fifth light beams are used for close-range detection, while the second light beam is used for long-range detection. This illumination method can expand the field of view for close-range detection, improve detection efficiency, and enhance detection performance.

[0255] Optionally, in the aforementioned embodiment, the cross-section of the first light-shaping module is polygonal, so the description is based on the sidewall distal to the first emission module and the sidewall proximal to the second emission module. In some scenarios, the optical plate may be cylindrical, in which case the sidewall distal to the first emission module and the sidewall proximal to the second emission module may be the same sidewall (e.g., a cylindrical sidewall). For another example, in some scenarios, the cross-section of the optical plate may be hexagonal or octagonal, in which case the sidewall distal to the second emission module and the sidewall proximal to the second emission module may each be multiple sidewalls.

[0256] It should be understood that the embodiment shown in Figure 29 can also be combined with one or more of the aforementioned designs, or combined with one or more of the embodiments in the previous or following text. This application will not go into details about the combination situations.

[0257] Please refer to Figure 33, which is a schematic diagram of the structure of another possible transmitter provided in an embodiment of the present application. Transmitter 330 includes a circuit board (or light source circuit board), a first light shaping module, and a collimating lens assembly. Optionally, it may include a light homogenizing component or a reflector. The light homogenizing component may be implemented using a microlens array.

[0258] The circuit board is provided with a first transmitting module and a second transmitting module. The distribution of the first transmitting module and the second transmitting module on the xy plane is shown in area 3301. The first transmitting module and the second transmitting module share a collimating lens assembly, which reduces the overall size of the transmitting device and improves the integration level.

[0259] The first emission module and the second emission module each include a plurality of lasers, which are represented by rectangular frames. For example, the lasers included in the first emission module and the second emission module are VCSELs, and the emission direction is away from the circuit board.

[0260] Optionally, the first transmitting module and the second transmitting module are arranged side by side, and there is a gap between the first transmitting module and the second transmitting module in the x direction.

[0261] Further optionally, the multiple lasers included in the first emission module have gaps in the y direction. The multiple lasers included in the second emission module have gaps in the y direction. Here, the gaps between the lasers in the first emission module and the gaps between the lasers in the second emission module are the same as each other. In specific implementations, the gaps between the lasers may be different.

[0262] In the transmitting device 330, a first light shaping module is used to shape the light beam (i.e., the first light beam) emitted from the first transmitting module to expand the FOV corresponding to the light beam emitted by the first transmitting module. The first light shaping module is composed of a pair of triangular prisms at the upper and lower ends, with a transition layer in the middle. The transition layer is filled with a low-density material or an air gap, and the refractive index of the transition layer is lower than that of the triangular prisms. The sidewalls of the first light shaping module are coated with a reflective film. When shaping the first light beam, the first light beam is incident on the lower surface of the lower triangular prism, exits through the lower triangular prism, and partially reflects off the sidewalls. The light beam that passes through the lower triangular prism, through the sidewalls and / or transition layer, is incident on the lower surface of the upper triangular prism and exits from the upper surface of the upper triangular prism, resulting in a first shaped light beam.

[0263] As a possible example, a reflective film is coated on the sidewall of the first light shaping module near the second emission module. Please refer to Figure 34, which is a schematic diagram of the emission light path of another possible emission device provided by an embodiment of the present application. In this case, a reflective film is coated on the sidewall of the first light shaping module near the second emission module. When the first light beam passes through the first light shaping module, part of the light beam is deflected near the sidewall of the second emission module, thereby increasing the field of view (FOV) corresponding to the first light beam. The intersection of the reverse extension of the path of the reflected light beam and the focal plane of the collimating lens group is close to the telescopic light source. Therefore, the equivalent light source corresponding to the reflected light beam is translated toward the second emission module. Equivalently, the "gap" between the light beam emitted by the first emission module and the light beam emitted by the second emission module is reduced. After collimation by the collimating lens group, the gap in the angular space of the outgoing light beam is reduced or even eliminated. Furthermore, through the refraction of the triangular prism, more of the light beam is deflected outward, making the energy of the edge portion of the light beam more concentrated, enhancing the energy of the reflected light beam, and allowing more light to fill the gap between the light sources. Furthermore, by using two left-right inverted triangular prisms, the deflected light beam can be partially rotated, thereby maintaining the stability of the optical path and reducing the complexity of the optical path design.

[0264] As a possible example, a reflective film is coated on the side wall of the first light shaping module away from the second emission module. For related descriptions, please refer to the above description.

[0265] As another possible example, the first light shaping module is coated with a reflective film on the side wall close to the second emission module and the side wall away from the second emission module. Please refer to Figure 35, which is a schematic diagram of the emission light path of another possible emission device provided in an embodiment of the present application. Part of the light beam in the first light beam is reflected on the side walls on both sides of the first light shaping module, and the first shaped light beam is emitted. The distance between the equivalent light source corresponding to the first shaped light beam and the collimating lens group changes (for example, defocusing is formed), and the edge of the equivalent light source is extended away from the surroundings, thereby expanding the equivalent light-emitting surface of the first light beam, so that the first emission module has a larger FOV and improves the detection efficiency.

[0266] As a possible implementation, within a period T, the first transmitting module emits the first light beam during T1, the second transmitting module emits the fifth light beam during T1, and the second transmitting module emits the second light beam during T2. The first and fifth light beams are used for close-range detection, while the second light beam is used for long-range detection. This illumination method can expand the field of view for close-range detection, improve detection efficiency, and enhance detection performance.

[0267] Optionally, in the aforementioned embodiment, the cross-section of the first light-shaping module is polygonal, so the description is based on the sidewall distal to the first emission module and the sidewall proximal to the second emission module. In some scenarios, the optical plate may be cylindrical, in which case the sidewall distal to the first emission module and the sidewall proximal to the second emission module may be the same sidewall (e.g., a cylindrical sidewall). For another example, in some scenarios, the cross-section of the optical plate may be hexagonal or octagonal, in which case the sidewall distal to the second emission module and the sidewall proximal to the second emission module may each be multiple sidewalls.

[0268] It should be understood that the embodiment shown in Figure 33 can also be combined with one or more of the aforementioned designs, or combined with one or more of the embodiments in the previous or following text. This application will not go into details about the combination situations.

[0269] Please refer to Figure 36, which is a schematic diagram of the structure of another possible transmitting device provided in an embodiment of the present application. The transmitting device includes a first transmitting module, a second transmitting module, a second light shaping module, and a lens. The first transmitting module and the second transmitting module are defocused from the focal plane of the lens. 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.

[0270] As one possible implementation, the second transmitting module is closer to the lens than the focal plane of the lens, that is, the distance between the first transmitting module and the lens is less than the focal length. The second light shaping module is used to converge the second light beam to produce a second shaped light beam, and the first light beam and the second shaped light beam are emitted through the lens.

[0271] As shown in Figure 18, the second light shaping module is used to converge the second light beam, thereby compensating for the defocus of the second transmitting module and improving the collimation of the second shaped light beam after passing through the lens. Since the first transmitting module is defocused, the light beam emitted by the first transmitting module can be diffused, thereby expanding the corresponding FOV of the first transmitting module.

[0272] In another possible embodiment, the second transmitting module is further away from the lens than the focal plane of the lens, that is, the distance between the second transmitting module and the lens is greater than the focal length. The second light shaping module is used to diverge the second light beam to produce a second shaped light beam, and the first light beam and the second shaped light beam are emitted through the lens. In other words, the second light shaping module is used to diverge the second light beam, thereby compensating for the defocus of the second transmitting module and improving the collimation of the second shaped light beam after passing through the lens.

[0273] It should be understood that the embodiment shown in Figure 36 can also be combined with one or more of the aforementioned designs, or combined with one or more of the following embodiments. This application will not go into details about the combination situations.

[0274] An embodiment of the present application also provides a detection device, which includes a transmitting device and a detector. The transmitting device is the transmitting device described in the aforementioned embodiments, such as one or more transmitting devices among transmitting device 20, transmitting device 20, transmitting device 70, transmitting device 90, transmitting device 100, transmitting device 110, transmitting device 130, transmitting device 150, transmitting device 180, transmitting device 220, transmitting device 290, transmitting device 330, or transmitting device 360.

[0275] Exemplarily, the first transmitting module in the transmitting device is used to transmit a first light beam, the second transmitting module in the transmitting device is used to transmit a second light beam, and the detector is used to receive an echo signal corresponding to the first light beam and an echo signal corresponding to the second light beam.

[0276] An embodiment of the present application further provides a terminal, which includes the aforementioned transmitting device and / or detecting device.

[0277] Optionally, the terminal can be an intelligent terminal or transportation tool such as a vehicle, a drone, or a robot.

[0278] In the description of this application, the terms "center", "up", "down", "vertical", "horizontal", "inside", "outside", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they should not be understood as limitations on this application.

[0279] In addition, the Cartesian coordinate system and the x, y, and z directions shown in the various embodiments of this application are illustrative designations for ease of understanding and are not intended to limit the embodiments of this application. During implementation, the placement of components, the arrangement direction, and the direction of the light beam may be designed in other ways, and the coordinate system may also use other coordinate systems such as a spherical coordinate system.

[0280] 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.

[0281] 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.

[0282] Furthermore, unless otherwise indicated, ordinal numbers such as "first" and "second" in the embodiments of this application are used to distinguish multiple objects and are not intended to limit the order, timing, priority, or importance of multiple objects. For example, the first and second transmitting modules are merely for ease of description and do not indicate differences in the lighting method, lighting order, or importance of the first and second transmitting modules.

Claims

1. A launching device, characterized in that: The transmitting device includes a first transmitting module, a second transmitting module and a first light shaping module, wherein the first transmitting module and the second transmitting module are arranged in parallel. The first emission module is used to emit a first light beam, and the second emission module is used to emit a second light beam; The first light shaping module includes an incident surface, a side wall, and an exit surface. The first light beam enters the first light shaping module from the incident surface, a portion of the first light beam is reflected by the side wall, and the first light beam is emitted from the exit surface to obtain a first shaped light beam.

2. The launch device according to claim 1, characterized in that The farthest detection distance of the first light beam is smaller than the farthest detection distance of the second light beam.

3. The launching device according to claim 1 or 2, characterized in that: The partial light beam includes a first sub-beam, and the first sub-beam is reflected by a side wall of the first light shaping module close to the second emitting module.

4. The launching device according to claim 3, characterized in that The transmitting device further comprises a lens, and the first transmitting module and the second transmitting module are arranged along a first direction; The lens is used to process the first shaped light beam to obtain a third light beam, and to process the second light beam to obtain a fourth light beam; In the first direction, the included angle between the first light beam and the second light beam is a first angle; the included angle between the third light beam and the fourth light beam is a second angle, and the second angle is smaller than the first angle.

5. The transmitting device according to any one of claims 1 to 4, characterized in that: The partial light beam includes a second sub-beam, and the second sub-beam is reflected by a side wall of the first light shaping module away from the second emitting module.

6. The launching device according to any one of claims 1 to 5, characterized in that: The partial light beam is totally reflected on the side wall of the first light shaping module. Alternatively, the sidewall of the first light shaping module is coated with a reflective film, and the partial light beam is reflected by the reflective film.

7. The transmitting device according to any one of claims 1 to 6, characterized in that: An included angle between the side wall and the incident surface is an acute angle.

8. The transmitting device according to any one of claims 1 to 7, characterized in that: The first light shaping module includes a first refractive body, a second refractive body and a first reflective surface; The first refractive body includes the incident surface and a first refractive surface, the second refractive body includes a second refractive surface and the exit surface, and the first refractive surface and the second refractive surface are spaced apart and opposite to each other; The first reflective surface is located on a side wall of the light shaping module close to the second emitting module, and the first reflective surface connects the first refractive surface and the second refractive surface; An included angle between the first reflective surface and the first refractive surface is an obtuse angle.

9. The launching device according to claim 8, characterized in that A transition layer is provided between the first refractive surface and the second refractive surface, and the refractive index of the transition layer is lower than the refractive index of the refractive body.

10. The transmitting device according to any one of claims 1 to 9, characterized in that: The distance between the second transmitting module and the lens is smaller than the focal length of the lens; The transmitting device further includes a second light shaping module, which is located between the second transmitting module and the lens. The second light shaping module is used to converge the second light beam to obtain a second shaped light beam.

11. A detection device, characterized in that: The detection device comprises a transmitting device and a detector, wherein the transmitting device is the transmitting device according to any one of claims 1 to 10; The first transmitting module in the transmitting device is used to transmit a first light beam, and the second transmitting module in the transmitting device is used to transmit a second light beam; The detector is used to receive an echo signal corresponding to the first light beam and an echo signal corresponding to the second light beam.

12. A terminal, characterized in that: The terminal includes the transmitting device according to any one of claims 1 to 11, or the detecting device according to claim 11.

13. The terminal according to claim 12, characterized in that The terminal is a vehicle, a drone or a robot.

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