An optical module, a transmitting module, a detecting device and a terminal device

Abstract

An optical module, a transmitting module, a detection device and a terminal device. The optical module can be applied to a laser radar, and can be applied to the fields of automatic driving, intelligent driving, auxiliary driving or surveying and mapping. The optical module comprises a collimating assembly and a homogenizing assembly. The collimating assembly is used for collimating a light beam, and the homogenizing assembly is used for homogenizing the light beam from the collimating assembly. The collimating assembly is perpendicular to the main optical axis of the optical module, and the included angle between the homogenizing assembly and the main optical axis of the optical module is alpha, and theta is less than or equal to alpha and less than or equal to 90 degrees. By tilting the homogenizing assembly, the size of the light beam emitted by the homogenizing assembly and projected onto the light transmission area of the window can be reduced, thereby the size of the transmitting module with a tilted window can be reduced, and the stray risk of the laser radar with a tilted window can be reduced.

Description

Technical Field

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

[0002] With the development of science and technology, intelligent terminals such as intelligent transportation equipment, smart home devices, robots, and vehicles are gradually entering people's daily lives. Because lidar can sense the surrounding environment and identify and track moving targets, as well as recognize stationary targets such as lane lines and signs, and can also be combined with navigation devices and map data for route planning, lidar is increasingly being applied to intelligent terminals and playing an increasingly important role.

[0003] Based on the different application requirements of lidar, there are currently different beam shaping requirements for the light beam emitted by the light source in lidar. LiDAR beam shaping, also known as beam shaping, refers to shaping the light beam emitted by the light source into an output beam with a specific energy density distribution. However, the output beam of current mainstream lidar has a large light-transmitting area. The larger the light-transmitting area, the larger the volume occupied by the transmitting module, and the higher the spurious risk between the transmitting and receiving modules. This poses a challenge to achieving miniaturized design and high detection quality of lidar.

[0004] In summary, reducing the light transmission area of ​​the emitted beam from a lidar system is a pressing technical problem that needs to be solved. Summary of the Invention

[0005] This application provides an optical module, a transmitting module, a detection device, and a terminal device for reducing the light transmission area of ​​the emitted beam from a lidar.

[0006] In a first aspect, this application provides an optical module, which includes a collimating component and a homogenizing component. The collimating component is used to collimate a light beam, and the homogenizing component is used to homogenize the light beam from the collimating component. The collimating component is perpendicular to the principal optical axis of the optical module, and the angle between the homogenizing component and the principal optical axis of the optical module is α, where θ≤α<90°.

[0007] In the above scheme, by configuring the light-diffusing component in the optical module to tilt, when the optical module is applied in a scene with a tilted window, the light-diffusing component can be placed in accordance with the principle of the tilt direction of the window. In this way, the distance between the light-diffusing component and the window can be brought closer as the light-diffusing component tilts a little more in the direction of the window tilt. As a result, the light beam emitted by the light-diffusing component can be projected onto the window after a shorter distance, and the light-transmitting area formed on the window can be smaller. This helps to reduce the size of the transmitting module with the tilted window and reduce the stray risk of the lidar with the tilted window.

[0008] In one possible implementation, θ is the angle between the viewport and the principal optical axis of the optical module. Thus, by controlling the tilt angle of the light-diffusing component to not exceed the tilt angle of the viewport, the light-diffusing component can be placed within a range where the distance from the viewport can be reduced.

[0009] In one possible implementation, the angle between the homogenizing component and the principal optical axis of the optical module is equal to the angle between the viewport and the principal optical axis of the optical module, and the homogenizing component is parallel to the viewport. Thus, by maintaining the same tilt angle between the homogenizing component and the viewport, the homogenizing component can theoretically be brought infinitely close to the viewport, thereby minimizing the light transmission area formed on the viewport by the beam emitted from the homogenizing component.

[0010] In one possible implementation, the area of ​​the light-transmitting region on the window emitting the beam from the homogenizing component is smaller than a first area. Alternatively, the distance between the homogenizing component and the window is smaller than a first distance. Thus, by tilting the homogenizing component while reducing the distance between it and the window, the area of ​​the light-transmitting region projected onto the window by the beam emitted from the homogenizing component can be reduced.

[0011] In one possible implementation, the window can be a lidar window or a windshield. This allows the optical module to be used in various application scenarios, both with and without a window.

[0012] In this application, there are several possibilities for the arrangement of the light-diffusing component and the viewport, such as:

[0013] In one possible implementation, the light-diffusing component and the viewport can be set separately, which facilitates the separate fabrication of the light-diffusing component and the viewport.

[0014] In another possible implementation, the light-diffusing component can be fixed to the window, for example, the light-diffusing component can be pasted on the window, so that the distance between the light-diffusing component and the window can be minimized.

[0015] In another possible implementation, the light-diffusing component and the window can be designed as a single unit. For example, one side of the glass can be made into a window and the other side into a light-diffusing component. This way, a component that integrates both window and light-diffusing functions can be produced in one step, avoiding assembly problems between components.

[0016] In one possible implementation, the light-diffusing component is a microlens array. This allows for the utilization of the microlens array's advantages of small unit size, high integration, high precision, and ease of fabrication, thereby improving the performance of the optical module.

[0017] In a further possible implementation, the beam emitted by the homogenizing component diverges from the incident beam in a first direction, where the first direction is the projection of the array direction of the homogenizing component onto a first plane, which is a plane perpendicular to the principal optical axis of the optical module. In this way, the homogenizing component can adjust the divergence angle of the beam.

[0018] In a further possible implementation, the beam emitted by the homogenizing component is deflected in a second direction compared to the incident beam, and this second direction is a direction perpendicular to the first direction on the first plane. In this way, the homogenizing component can form a non-linear emitted beam pattern in angular space.

[0019] In one possible implementation, the microlens array comprises K cylindrical lenses arranged in an array, the array orientation being any direction on a plane perpendicular to the normal of the microlens array. Thus, the K cylindrical lenses can be used to homogenize the light beam.

[0020] In a further possible implementation, the front and rear surfaces of any cylindrical lens are offset by a first distance along the direction of the array arrangement, and the radii of curvature of the front and rear surfaces are different. The front surface of the cylindrical lens faces the collimating component, and the rear surface faces the viewing window. In this way, the emitted light after diffusion from the microlens array can be evenly distributed relative to the principal optical axis of the optical module, alleviating the trailing phenomenon of the emitted light shape.

[0021] In one possible implementation, the microlens array includes N×M sublenses, each sublens having a planar front surface and a spherical, aspherical, or hyperboloidal rear surface. The front surface of the sublens faces the collimating assembly, and the rear surface faces the viewing window. Thus, beam homogenization can be achieved using N×M sublenses.

[0022] In one possible implementation, the collimation component includes one or more of a spherical mirror, a cylindrical mirror, and an aspherical mirror, which can focus the diverging beam emitted by the light source component into a collimated beam.

[0023] Secondly, this application provides a transmitting module, including a light source assembly and an optical module as described in any of the first aspects above. The light source assembly is used to emit a light beam; the optical module is used to collimate and homogenize the light beam.

[0024] In one possible implementation, the launch module may also include a window.

[0025] Thirdly, this application provides a detection device, including a receiving module and the transmitting module described in the second aspect above; the receiving module is used to receive an echo signal, the echo signal being a signal obtained after the collimated and homogenized beam is reflected by a target in the detection area.

[0026] In one possible implementation, the detection device may further include a scanning module for reflecting a beam of light from the homogenizing component to the detection area.

[0027] Fourthly, this application provides a terminal device, including a control device and the detection device described in the third aspect above; the control device is used to control the detection device to detect a detection area.

[0028] The technical effects that can be achieved by any of the second to fourth aspects mentioned above can be referred to the description of the beneficial effects in the first aspect mentioned above, and will not be repeated here. Attached Figure Description

[0029] Figure 1a A schematic diagram of a lens provided in this application;

[0030] Figure 1b Another schematic diagram of a lens provided in this application;

[0031] Figure 1c A schematic diagram of the main optical axis provided in this application;

[0032] Figure 1d A schematic diagram of a beam divergence angle provided in this application;

[0033] Figure 2a A schematic diagram illustrating a possible application scenario provided in this application;

[0034] Figure 2b A schematic diagram illustrating a possible structure of a window provided in this application;

[0035] Figure 3a This is a schematic diagram of the component arrangement of a transmitting module;

[0036] Figure 3b A schematic diagram of the light-transmitting area of ​​a transmitting module on different windows;

[0037] Figure 3c A schematic diagram of the light-transmitting area of ​​another type of transmitting module on different windows;

[0038] Figure 4a This application provides a schematic diagram of the structure of an optical module;

[0039] Figure 4b A schematic diagram of another optical module provided in this application;

[0040] Figure 5 A schematic diagram illustrating the arrangement of a light-diffusing component and a viewing window provided in this application;

[0041] Figure 6 This application provides a schematic diagram of the specific structure of an optical module.

[0042] Figure 7 A schematic diagram of the emitted light pattern of a light-uniforming component provided in this application;

[0043] Figure 8 A schematic diagram showing the specific structure of another optical module provided in this application;

[0044] Figure 9 A schematic diagram of the emitted light pattern of another light-monopolating component provided in this application;

[0045] Figure 10 This application provides a schematic diagram of the structural design of a cylindrical lens;

[0046] Figure 11 A schematic diagram showing the specific structure of another optical module provided in this application;

[0047] Figure 12 A schematic diagram of the emitted light pattern of another light-monopolating component provided in this application;

[0048] Figure 13 This application provides a schematic diagram of the structure of a transmitting module;

[0049] Figure 14 This is a schematic diagram of the structure of a detection device provided in this application. Detailed Implementation

[0050] The embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0051] The following provides explanations for some of the terms used in this application. It should be noted that these explanations are for the convenience of those skilled in the art and do not constitute a limitation on the scope of protection claimed in this application.

[0052] I. Lens

[0053] A lens is a transparent optical device that focuses or defocuses a beam of light. The light beam enters from one side of the lens and exits from the other. Lenses with convex surfaces can transform a collimated beam into a converging beam, or a diverging beam into a collimated beam. For example: [See also...] Figure 1a A collimated beam enters from the left side of a convex lens and exits from the right side, becoming a converging beam and focusing at focal point F1. In this case, the convex lens acts as a focusing lens. Alternatively, a diverging beam enters from the right side of a convex lens and exits from the left side, becoming a collimated beam. In this case, the convex lens acts as a collimating lens. A concave lens can transform a collimated or converging beam into a diverging beam. For example: Please refer to... Figure 1bA collimated beam enters from the left side of a concave lens and exits from the right side, transforming into a diverging beam; in this case, the concave lens acts as a defocusing lens. Alternatively, a converging beam enters from the right side of a concave lens and exits from the left side, transforming into a collimated beam; in this case, the concave lens acts as a collimating lens.

[0054] II. Main Axis

[0055] The principal axis is the straight line passing through the centers of the two spherical surfaces of the lens; it is also called the principal axis. Please refer to [link to relevant documentation]. Figure 1c The focal point of the lens (e.g., the front focal point of a convex lens, see [reference]). Figure 1a For the focal point F1 in the image, or the object-side focal point of a concave lens, refer to [reference needed]. Figure 1b The focal plane (F2) that is perpendicular to the principal optical axis is called the first focal plane, also known as the front focal plane or the object focal plane.

[0056] III. Beam divergence angle

[0057] The beam divergence angle (u) measures the speed at which a beam diverges outward from the beam waist. (See also: [link to relevant documentation]). Figure 1d The beam waist refers to the point where the beam radius (used to measure the lateral spread of the beam) is smallest in the direction of beam propagation, such as the location of the lens shown in the diagram. The beam radius at this point of minimum radius is also called the beam waist radius.

[0058] IV. Beam collimation and beam homogenization

[0059] Beam collimation refers to the process of transforming a diverging beam into a collimated beam, such as a parallel beam.

[0060] Beam homogenization refers to the process of homogenizing the energy of a light beam, transforming it into a light spot with a uniform distribution of energy or intensity.

[0061] V. Light Spot

[0062] A light spot typically refers to the energy density (or intensity) distribution formed by a beam of light in angular space. The energy density distribution of a light spot can have a shape that is low at both ends and high in the middle (or a "convex" or "convex" shaped pattern). For example, the energy density distribution can exhibit a normal distribution or a similar normal distribution. Alternatively, the energy density of a light spot can also be uniformly distributed.

[0063] VI. Light-passing area

[0064] The light-transmitting area refers to the area covered by the light beam projected onto the surface of the viewport; it is used to measure the area of ​​the light spot formed by the light beam on the viewport surface. In some scenarios, the light-transmitting area is also called the light spot projection area or the viewport projection area.

[0065] The preceding text introduced some of the terms used in this application. The following text introduces the possible application scenarios of this application.

[0066] In one possible implementation, the optical module can be integrated into the transmitting module, which in turn can be integrated into the detection device, which can be mounted on a vehicle. The detection device could be, for example, a lidar unit. See also... Figure 2a The illustration exemplifies one possible application scenario of this application. In this scenario, the detection device is installed at the front of a vehicle. It is understood that the detection device can also be installed in other locations on the vehicle, such as in any one or more of the four directions (front, rear, left, and right), to capture information about the vehicle's surrounding environment.

[0067] In some scenarios, the detection device may include a viewing window, typically located on the outermost layer of the device. This window protects the internal components from external environmental influences while also participating in optical imaging. See also... Figure 2b Most viewing windows are designed as 360° visible windows, but some are designed with a tilted shape to match the vehicle's body shape and enhance its aesthetics. Alternatively, some detection devices do not have a viewing window; these are usually installed inside the vehicle, such as behind the windshield. In this case, the windshield acts as a viewing window, protecting the detection device. The windshield is the vehicle's windshield, and the detection device can be placed behind the windshield in any one or more directions (front, rear, left, right).

[0068] In one possible application scenario, the detection device works as follows: It emits a light beam into the detection area. If a target exists within the detection area, the target can reflect the received light beam back to the detection device (the reflected beam can be called an echo signal). The detection device then determines the target's association information based on the echo signal. Specifically, the detection device can acquire the vehicle's latitude and longitude, speed, and orientation in real time or periodically, or association information (e.g., target distance, target speed, and / or target attitude) of targets within a certain range (e.g., other vehicles, pedestrians, or obstacles). Further, optionally, the detection device can send this acquired information to the vehicle's control device, enabling the control device to perform path planning based on this information. For example, latitude and longitude can be used to determine the vehicle's position, speed and orientation can be used to determine the vehicle's future direction and destination, or the distance to surrounding objects can be used to determine the number and density of obstacles around the vehicle. Further, optionally, it can be combined with the functions of an advanced driving assistance system (ADAS) to achieve assisted driving or autonomous driving.

[0069] It should be understood that the above application scenarios are merely examples, and the optical module provided in this application can also be applied to other possible scenarios, not limited to those listed above. For example, the optical module can also be integrated into vehicle lights, which, in addition to providing illumination, can also implement an adaptive high beam (ADB) system, project complex graphics such as text or traffic signs, or project video images, thereby enhancing driver assistance and entertainment functions. Furthermore, the optical module can also be integrated into lighting fixtures and installed on a stage as stage lighting. Additionally, a detection device integrating the optical module provided in this application can be installed on a drone as an airborne detection device. Finally, a detection device integrating the optical module provided in this application can also be installed on a roadside unit (RSU) as a roadside traffic detection device; please refer to the above. Figure 2a This enables intelligent vehicle-road cooperative communication, among other things. For example, a detection device integrating the optical module provided in this application can also be installed on an automated guided vehicle (AGV). An AGV refers to a transport vehicle equipped with electromagnetic or optical automatic navigation devices, capable of traveling along a predetermined navigation path, and possessing safety protection and various transfer functions. These are just a few examples. It should be noted that the application scenarios described in this application are for the purpose of more clearly illustrating the technical solution of this application and do not constitute a limitation on the technical solution provided in this application.

[0070] The aforementioned application scenarios can be applied to fields such as autonomous driving, autonomous driving, assisted driving, intelligent driving, connected vehicles, security monitoring, biomedicine, or surveying and mapping (such as 3D mapping).

[0071] As described in the background art, the emitted beam of existing lidar has a large light-transmitting area, which is determined by the placement of components in the lidar transmitting module. For example, please refer to... Figure 3a The emitting module may include a light source assembly, a collimation assembly, and a beam homogenizing assembly. Following the existing component arrangement, the light source assembly is located at the focal plane of the collimation assembly, and the beam homogenizing assembly is parallel to the collimation assembly and perpendicular to the principal optical axis L0 of the emitting module. Please refer to [link to relevant documentation]. Figure 3b and Figure 3c It shows a schematic diagram of the light-transmitting area of ​​the emitting module in different shaped windows using this placement. Figure 3b and Figure 3c Taking a microlens array as an example, where the light-diffusing component is a microlens array. Figure 3b In the example shown, the array direction of the homogenizing component is along the y-axis direction. The light beam emitted by the light source component is collimated by the collimating component and then enters the homogenizing component. After being expanded and diverged in the y-axis direction, it exits the homogenizing component and is projected onto the viewing window, forming a teardrop-shaped light spot. Figure 3c In the example shown, the array direction of the homogenizing component is along the x-axis direction shown in the figure. The light beam emitted by the light source component is collimated by the collimating component and then enters the homogenizing component. After being expanded and diverged in the x-axis direction, it exits from the homogenizing component and is projected onto the viewing window, forming a cloud-like light spot.

[0072] Please see Figure 3b (A) and Figure 3c In scenario (A), a vertical viewport is used, meaning the viewport, collimating component, and homogenizing component are all perpendicular to the principal optical axis L0. In this scenario, because the viewport and homogenizing component are parallel, they can be placed as close as possible. This allows the beam emitted from the homogenizing component to travel a shorter distance before reaching the viewport, resulting in a smaller light spot on the viewport. In other words, the area of ​​the light-transmitting region on the viewport is smaller. However, please refer to... Figure 3b (B) and Figure 3cIn scenario (B), a tilted window is used, meaning the collimating and homogenizing components are perpendicular to the principal optical axis L0, but the window itself is not. In this scenario, because the window and homogenizing components are not parallel, they need to be placed at a certain distance. The greater this distance, the longer the beam emitted by the homogenizing component needs to travel to reach the window, resulting in a larger light spot on the window. In other words, when a lidar uses a tilted window, the "waist" position is far from the window due to architectural limitations, leading to a larger light-transmitting area on the window where the beam emitted by the homogenizing component is projected. This larger light-transmitting area can have some adverse effects on the lidar, such as:

[0073] First, the window needs to cover the entire light-transmitting area when it is designed. If the light-transmitting area is large, the size of the window also needs to be designed to be large. This will obviously increase the size of the transmitting module containing the window, which is not conducive to the miniaturization design of the lidar.

[0074] Secondly, lidar is usually configured as a transceiver unit, meaning that the transmitting module and the receiving module are located on the same side of the viewing window. If the light beam is projected onto a large area of ​​the viewing window, the probability of the beam being reflected back by the viewing window is also high. Since the receiving module is located on the same side as the transmitting module, the reflected beam may be transmitted to the receiving module. These beams will act as stray light and affect the receiving accuracy of the receiving module, bringing potential transmission and reception isolation interference to lidar.

[0075] Third, although some products can attach isolation plates to the window to reduce stray light risk, so that the beam emitted by the transmitting module can only pass through the isolation plate and will not be reflected back, the isolation plate itself has size limitations. When the light-transmitting area of ​​the window is large, the isolation plate is unlikely to completely cover the entire light-transmitting area of ​​the window, and the light-transmitting area not covered by the isolation plate will still have stray light risk. The larger the light-transmitting area of ​​the window, the more difficult it is for the lidar to handle stray light.

[0076] In view of the above problems, this application proposes an optical module that, by setting an inclined light-diffusing component, can reduce the light beam emitted by the light-diffusing component from being projected onto the light-transmitting area of ​​the inclined window.

[0077] Based on the above, the optical module proposed in this application will be described in detail below with reference to the accompanying drawings.

[0078] In the following description, "angle" does not refer to an absolute angle, and a certain degree of engineering error is permissible. Similarly, "greater than," "less than," and "equal to" do not refer to absolute size relationships, and a certain degree of engineering error is permissible.

[0079] Please see Figure 4a and Figure 4b This is a schematic diagram of an optical module provided in this application. The optical module includes a collimating component and a homogenizing component. The collimating component is used to collimate the light beam from the light source component, and the homogenizing component is used to homogenize the light beam from the collimating component. The collimating component is perpendicular to the principal optical axis L0 of the optical module, and the angle α between the homogenizing component and the principal optical axis L0 is θ ≤ α < 90°. It can be understood that the angle α between the homogenizing component and the principal optical axis L0 can be interpreted as follows: draw a perpendicular line from a point A on the principal optical axis L0 to the homogenizing component, find the foot O of the perpendicular from point A to the homogenizing component, and then connect the foot O to the point B where the perpendicular intersects the principal optical axis L0 and the homogenizing component. The angle α between this line OB and the principal optical axis L0 is the angle α between the homogenizing component and the principal optical axis L0 of the optical module.

[0080] It is understandable that θ is the angle between the viewport and the principal optical axis L0 of the optical module. The beam homogenizing component can be placed at any position within the range from a position perpendicular to the principal optical axis L0 to a position parallel to the viewport, for example, Figure 4a Taking a leftward tilted viewport as an example, the light-diffusing component can be placed at any position between P1 (perpendicular to the main optical axis L0) and P2 (parallel to the viewport) along the x-axis (as shown in the diagram), excluding P1 (perpendicular to the main optical axis L0). For example, Figure 4b Taking the viewport tilted to the right as an example, the light-diffusing component can be placed at any position between the position P1 perpendicular to the main optical axis L0 and the position P2 parallel to the viewport along the -x-axis direction shown in the figure, including the position P2 parallel to the viewport, but excluding the position P1 perpendicular to the main optical axis L0.

[0081] In one possible implementation, α = θ. This can also be understood as the angle between the homogenizing component and the principal optical axis L0 of the optical module being equal to the angle between the viewport and the principal optical axis L0 of the optical module, with the homogenizing component parallel to the viewport. Further, this can be understood as the homogenizing component being placed on... Figure 4a or Figure 4b At position P2 as shown.

[0082] In the aforementioned optical module, the beam homogenizing component is tilted in accordance with the tilt direction of the viewing window, and its tilt angle does not exceed the tilt angle of the viewing window. Thus, each time the beam homogenizing component tilts slightly towards the viewing window, the distance between the beam homogenizing component and the viewing window can be further reduced. When the tilt angle of the beam homogenizing component and the viewing window are the same, the beam homogenizing component is parallel to the viewing window, allowing them to theoretically get infinitely close. This means the beam emitted from the beam homogenizing component can be projected onto the viewing window over a shorter distance, resulting in a smaller light-transmitting area on the window. This helps reduce the size of the transmitting module with the tilted viewing window and lowers the stray risk of the lidar with the tilted viewing window. Therefore, by placing the beam homogenizing component at an angle, the problem of the "waist" (i.e., the beam homogenizing component) being far from the viewing window due to the original non-tilted beam homogenizing component architecture can be solved. In the new architecture, the "waist" position can be closer to the viewing window, thus helping to reduce the area of ​​the light-transmitting area projected onto the viewing window by the beam emitted from the beam homogenizing component.

[0083] In one possible implementation, the area of ​​the light-transmitting region on the viewing window caused by the beam emitted from the homogenizing component is smaller than a first area. This can also be understood as the distance between the homogenizing component and the viewing window being smaller than a first distance. Here, the first area can be considered as the area of ​​the light-transmitting region on the viewing window caused by the beam emitted from the homogenizing component when it is in the vertical position P1, and the first distance can be considered as the distance between the homogenizing component and the viewing window when it is in the vertical position P1. It is understandable that reducing the distance between the homogenizing component and the viewing window while rotating the homogenizing component can reduce the area of ​​the light-transmitting region on the viewing window caused by the beam emitted from the homogenizing component.

[0084] In one possible implementation, the distance between the light-diffusing component and the window can be configured to be the minimum distance achievable between them given the current placement of the light-diffusing component. For example, without considering manufacturing errors, if the light-diffusing component is placed at position P2 parallel to the window, the distance between them can be configured to 0. In this way, the light emitted from the light-diffusing component can be directly projected onto the window, minimizing the light transmission area on the window.

[0085] Please see Figure 5 This example illustrates a schematic diagram of the arrangement between a light-diffusing component and a viewport provided in this application, with the light-diffusing component and viewport being parallel. For instance, the light-diffusing component and viewport can be arranged as follows: Figure 5 As shown in (A), they can be separated and placed as shown in the diagram. Figure 5 As shown in (B), a fixed setting can be made, such as attaching the light-diffusing component to the viewport, or as shown in [other settings]. Figure 5 As shown in (C), an integrated design is carried out, for example, one side of the glass substrate is made into a uniform light surface and the other side is made into a viewing window surface. Figure 5(B) or Figure 5 In the setting shown in (C), the distance between the light-diffusing component and the viewport is 0. Figure 5 In the setting shown in (A), the distance between the light-diffusing component and the viewport is greater than 0.

[0086] In one possible implementation, the window can be a lidar window or a windshield. Understandably, the lidar window is typically integrated into the transmitting module and can be separately, fixedly, or integrated with the beam-diffusing component. However, since the windshield is located on the side of the vehicle, it can only be separately or fixedly installed from the beam-diffusing component. For example, after the transmitting module is manufactured, the surface containing the beam-diffusing component can be directly adhered to the windshield, or the transmitting module can be placed at a location behind the windshield.

[0087] The following is about Figure 4a or Figure 4b Each functional component and structure shown is described in detail to provide an exemplary implementation scheme.

[0088] I. Collimation Components

[0089] For example, the collimation component can be a lens or lens group capable of focusing, such as a convex lens. A convex lens can include, but is not limited to, a spherical lens, a cylindrical lens, or an aspherical lens. A cylindrical lens can include, but is not limited to, a plano-convex cylindrical lens (or plano-convex cylindrical lens), a plano-concave cylindrical lens (or plano-concave cylindrical lens), a biconvex cylindrical lens (biconvex cylindrical lens), and a biconcave cylindrical lens (biconcave cylindrical lens), etc.

[0090] II. Light-diffusing components

[0091] For example, the light-diffusing component can be a microlens array (MLA). An MLA is an array of lenses with apertures and relief depths in the micrometer range. It not only has the basic functions of traditional lenses such as focusing and imaging, but also has the characteristics of small unit size, high integration, high precision and easy manufacturing. Using a microlens array as a light-diffusing component can improve the performance of the optical module.

[0092] In one possible implementation, the homogenizing component can perform at least two functions: first, adjusting the divergence angle of the beam from the collimating component; and second, homogenizing the beam from the collimating component. For example, taking an MLA (Multi-Layer Alignment) as the homogenizing component, the homogenizing component can extend and diverge the beam from the collimating component in a first direction, and further homogenize the beam in that first direction. It can be understood that the first direction is the projection direction of the homogenizing component's array direction onto a first plane, which is a plane perpendicular to the principal optical axis L0 of the optical module. In some examples, the homogenizing component may also perform a third function: deflecting the beam from the collimating component. For example, the homogenizing component can deflect the beam from the collimating component in a second direction, which is a direction on the first plane perpendicular to the first direction.

[0093] Understandably, when the homogenizing component is an MLA (Multi-Layer Amplifier), the array direction of the MLA can be any direction on a plane perpendicular to the normal of the MLA. In other words, the MLA can be placed in the optical module in any direction, as long as the array direction of the MLA is not parallel to the principal optical axis of the optical module.

[0094] Based on the above, the following section, in conjunction with specific hardware structures, presents possible implementations of different types of MLAs in the aforementioned optical modules, to facilitate a further understanding of the module's structure. It should be noted that, unless otherwise specified or logically conflicting, the components and structures presented in this application can be combined to form other possible optical module structures based on their inherent logical relationships. The three optical modules given below are merely examples.

[0095] In addition, for the convenience of introducing the scheme, two coordinate systems are shown in the optical module below. One is a local coordinate system composed of x', y', and z', which is used to characterize the arrangement characteristics of the microlens array itself. The other is a global coordinate system composed of x, y, and z, which is used to characterize the placement characteristics of the microlens array in the optical module. However, it should be understood that these two coordinate systems are only for the convenience of explaining the scheme and do not constitute a limitation on the actual scheme.

[0096] Implementation Plan 1

[0097] Please see Figure 6 This is a schematic diagram of the specific structure of an optical module provided in this application. In this example, the light-diffusing component is a micro-cylindrical lens array, including K cylindrical lenses arranged in an array. Any two cylindrical lenses among the K cylindrical lenses have the same shape, the same period, and the same arrangement direction. For example, Figure 6 Taking eight cylindrical lenses as an example, in the local coordinate system formed by x'y'z', the eight cylindrical lenses are arranged in an array along the y' direction, with the generatrix of each cylindrical lens along the y' direction and the conductor direction along the x' direction.

[0098] Please continue reading. Figure 6 In the global coordinate system formed by x, y, and z, the principal optical axis L0 of the optical module is parallel to the z-direction. The light source component is located on the focal plane of the collimating component, which is parallel to the xy-plane. The plane containing the viewport can be understood as the plane where the xy-plane is located after rotating it 90°-θ around the x-axis. To accommodate this tilted viewport, when assembling the micropillar lens array into the optical module, it can first be placed in the module in a direction parallel to the xy-plane, and then rotated 90°-α around the x-axis to make the tilt direction of the micropillar lens array consistent with that of the viewport. Further, optionally, α and θ are equal to allow the micropillar lens array to be as close as possible to the viewport.

[0099] From the perspective of beam transmission, the beam emitted by the light source component is collimated by the collimating component and then incident on the micropillar lens array. The micropillar lens array expands and diverges the collimated beam in the x-direction before it enters the tilted viewing window. This expansion and divergence in the x-direction can be understood as follows: assuming the divergence angle in the y-direction is a1 and the divergence angle in the x-direction is b1 when the beam enters the micropillar lens array, after expansion and divergence by the array, the divergence angle of the outgoing light in the y-direction is a2 and the divergence angle in the x-direction is b2. Then: a2 = a1, b2 > b1. Alternatively, ideally, since the incident light is collimated, the divergence angles a1 and b1 in the y and x directions can be considered 0. After expansion and divergence in the x-direction, the divergence angle b2 in the outgoing light in the x-direction can be considered to become greater than 0, while the divergence angle a2 in the y-direction can be considered to remain 0. However, under non-ideal conditions, the collimation component cannot achieve absolute collimation, and the homogenization component cannot achieve absolute homogenization. Therefore, the divergence angles a1 and b1 of the incident light in the y and x directions may actually be relatively small. After the beam expands and diverges in the x direction, the divergence angle b2 of the outgoing light in the x direction becomes larger than b1, while the divergence angle a2 in the y direction can still remain a relatively small angle. This angle may be equal to a1, or it may not be equal to a1 but is not much different from a1. Both are within the deviation range of engineering error.

[0100] Optionally, due to arc deviance, the tilted micropillar lens array can also bend light rays that would otherwise diverge in the x-direction in angular space. For example, see [link to relevant documentation]. Figure 7 As the beam expands and diverges in the x-direction, it also deflects in the opposite direction of the rotation of the micropillar lens array (i.e., the -y direction), forming an arc-shaped outgoing beam pattern.

[0101] Implementation Plan 2

[0102] Please see Figure 8This is a schematic diagram of another optical module provided in this application. The light-diffusing component in this example is the same as that in Scheme 1 above, except that the orientation of the light-diffusing component is different. Specifically, in Scheme 1 above, the microlens array is arranged along the y' direction, with the generatrix direction of each cylindrical lens along the y' direction and the conductor direction along the x' direction. In Scheme 2, the microlens array is arranged along the x' direction, with the generatrix direction of each cylindrical lens along the x' direction and the conductor direction along the y' direction.

[0103] Please continue reading. Figure 8 Considering the scenario where the optical module is designed to be installed behind the windshield, the plane containing the windshield can be understood as the plane containing the xy plane after rotating it 90° - θ around the x-axis. To accommodate this tilted windshield, when assembling the micropillar lens array into the optical module, it can first be placed in a direction parallel to the xy plane, and then rotated 90° - α around the x-axis, so that the micropillar lens array is aligned with the tilt direction of the windshield after the optical module is placed behind it. Further, optionally, α and θ are equal to ensure the micropillar lens array is as close to the windshield as possible.

[0104] From the perspective of beam transmission, the beam emitted by the light source component is collimated by the collimating component and then incident on the micropillar lens array. The micropillar lens array expands and diverges the collimated beam in the y-direction before it is incident on the tilted windshield. This beam expansion and divergence in the y-direction can be understood as follows: assuming the divergence angle in the y-direction is a1 and the divergence angle in the x-direction is b1 when the beam is incident on the micropillar lens array, after expansion and divergence by the array, the divergence angle of the outgoing light in the y-direction is a2 and the divergence angle in the x-direction is b2. Then: a2 > a1, b2 = b1. Alternatively, ideally, since the incident light is collimated, the divergence angles a1 and b1 in the y and x directions can be considered 0. After expansion and divergence in the y-direction, the divergence angle a2 in the y-direction of the outgoing light can be considered to become greater than 0, while the divergence angle b2 in the x-direction can be considered to remain 0. However, under non-ideal conditions, the collimation component cannot achieve absolute collimation, and the homogenization component cannot achieve absolute homogenization. Therefore, the divergence angles a1 and b1 of the incident light in the y and x directions may actually be relatively small. After the beam is extended and diverged in the y direction, the divergence angle a2 of the outgoing light in the y direction becomes larger than a1, while the divergence angle b2 in the x direction can still remain a relatively small angle. This angle may be equal to b1, or it may not be equal to b1 but is not much different from b1. Both are within the deviation range of engineering error.

[0105] Optionally, please refer to Figure 9Because the light beam expands and diverges in the y-direction, the emitted light pattern from the micropillar lens array is elongated in the y-direction. Although the light pattern appears as a straight line, a trailing phenomenon occurs. To solve this trailing phenomenon, in one optional implementation, please refer to... Figure 10 For any cylindrical lens in the micro-cylindrical lens array, the front and rear surfaces of the cylindrical lens are offset by a first distance dx along the array arrangement direction x', and the radius of curvature r1 of the front surface of the cylindrical lens is different from the radius of curvature r2 of the rear surface. The front surface of the cylindrical lens is the side facing the collimating component, and the rear surface is the side facing the viewing window. In other words, each cylindrical lens is designed with an eccentricity dx in the x' direction between its front and rear surfaces, and the generatrix radius of curvature r1 of the front surface cylindrical lens is not equal to the generatrix radius of curvature r2 of the rear surface cylindrical lens. Experiments have shown that this design ensures that the emitted light after diffusion from the micro-cylindrical lens array is evenly distributed relative to the principal optical axis L0 of the optical module, mitigating the trailing phenomenon.

[0106] Implementation Plan 3

[0107] Please see Figure 11 This is a schematic diagram illustrating the specific structure of another optical module provided in this application. In this example, the light-diffusing component is a microlens array, comprising N×M sub-lenses arranged in an array. The front surface of any sub-lens is a plane, and the rear surface is a rotationally symmetric curved surface, such as a sphere, aspherical surface, or hyperboloid. Optionally, in an example of an aspherical surface, the radius of curvature of the rear surface is R1, the conic coefficient is k1, and the fourth-order aspherical coefficient is a4. The front surface of the sub-lens faces the collimating component, and the rear surface faces the viewing window.

[0108] Please continue reading. Figure 11 In the global coordinate system formed by x, y, and z, the principal optical axis L0 of the optical module is parallel to the z-direction. The light source component is located on the focal plane of the collimating component, which is parallel to the xy-plane. The plane containing the viewport can be understood as the plane where the xy-plane is located after rotating it 90°-θ around the x-axis. To accommodate this tilted viewport, when assembling the microlens array into the optical module, it can first be placed in the module in a direction parallel to the xy-plane, and then rotated 90°-α around the x-axis to align the tilt direction of the microlens array with that of the viewport. Further, optionally, α and θ are equal to ensure the microlens array is as close as possible to the viewport.

[0109] From the perspective of beam transmission, the beam emitted by the light source component is collimated by the collimating component and then incident on the microlens array. The microlens array expands and diverges the collimated beam in both the x and y directions before it enters the tilted viewing window. This expansion and divergence in the x and y directions can be understood as follows: assuming the divergence angle in the y direction is a1 and the divergence angle in the x direction is b1 when the beam enters the microlens array, after expansion and divergence by the microlens array, the divergence angle of the outgoing light in the y direction is a2 and the divergence angle in the x direction is b2, then a2 > a1, b2 > b1. Alternatively, ideally, since the incident light is collimated, the divergence angles a1 and b1 in the y and x directions can be considered 0. After expansion and divergence in the x and y directions, the divergence angle a2 in the y direction of the outgoing light can be considered to be greater than 0, and the divergence angle b2 in the x direction can also be considered to be greater than 0. However, under non-ideal conditions, the collimation component cannot achieve absolute collimation, and the homogenization component cannot achieve absolute homogenization. Therefore, the divergence angles a1 and b1 of the incident light in the y and x directions may actually be relatively small. After the beam is extended and diverged in the y and x directions, the divergence angle a2 of the outgoing light in the y direction becomes larger than a1, and the divergence angle b2 in the x direction also becomes larger than b1.

[0110] Optionally, due to arc deviance, the tilted micropillar lens array can also bend light rays that would otherwise diverge in the x-direction in angular space. For example, see [link to relevant documentation]. Figure 12 As the light beam expands and diverges in the x-direction, it also deflects in the opposite direction of the rotation of the microlens array (i.e., the -y-direction), forming a trapezoidal exit spot.

[0111] It should be noted that the above content is only an illustrative description of some implementations of this solution on three possible microlens arrays. This solution can also be applied to other microlens arrays or other light-diffusing components that are not microlens arrays. The implementation principle is similar to the above content, and this application will not list them one by one.

[0112] Based on the structure and functional principles of the optical module described above, this application can also provide a transmitting module. Please refer to [link / reference needed]. Figure 13 The emission module may include a light source assembly and an optical module as described in any of the above embodiments.

[0113] For example, the light source component can be a point power source or an array light source. The array light source can be a one-dimensional array light source (or a linear array light source) or a two-dimensional array light source (or a planar array light source). The light source in the point light source or array light source can be, for example, including but not limited to, a laser diode (LD), a diode-pumped solid-state laser (DPSS), a fiber laser, a vertical-cavity surface-emitting laser (VCSEL), or an edge-emitting laser (EEL).

[0114] For example, the transmitting module may also include a window. The window may be made of an infrared-transmitting material, such as infrared-transmitting plastic, black glass, or infrared-transmitting acrylic. In some examples, an infrared anti-reflective coating may also be deposited on the surface of the window to further improve the transmittance of infrared light.

[0115] It is understood that the transmitting module may also include other possible structures, such as other lens groups. These other lens groups include at least one lens. The lens may be, for example, a spherical lens (e.g., a concave lens, or a convex lens), or an aspherical lens. It should be understood that there are many different types of convex and concave lenses; for example, convex lenses include biconvex lenses, plano-convex lenses, and concave-convex lenses, and concave lenses include biconcave lenses, plano-concave lenses, and concave-convex lenses. This application does not limit the types of convex and concave lenses.

[0116] Furthermore, the lens materials mentioned above can be optical materials such as glass, resin, or crystal. When the lens material is resin, it helps to reduce the weight of the transmitting module. When the lens material is glass, it helps to further improve the imaging quality of the transmitting module.

[0117] Based on the structure and functional principles of the launch module described above, this application can also provide a detection device. Please refer to [link to relevant documentation]. Figure 14 The detection device may include the transmitting module in any of the above embodiments, which will not be repeated here.

[0118] Furthermore, optionally, the aforementioned detection device may also include a receiving module; please refer to [link to relevant documentation]. Figure 14 The receiving module is used to receive echo signals, which are signals obtained after the collimated and homogenized beam is reflected by the target in the detection area.

[0119] Furthermore, optionally, the aforementioned detection device may also include a scanning module; please refer to [link to relevant documentation]. Figure 14 The scanning module is used to project (e.g., reflect) the received light beam onto the detection area.

[0120] In one possible implementation, the beam emitted by the transmitting module is distributed in a third direction, and the scanning module can scan along the fourth direction to achieve a two-dimensional scan of the detection area. For example, the third direction is perpendicular to the fourth direction. Alternatively, the beam emitted by the transmitting module is distributed in the fourth direction, and the scanning module can scan along the third direction to achieve a two-dimensional scan of the detection area. Scanning with a one-dimensional scanning module helps simplify the structure of the scanning module, reduce the complexity of the detection device, and improve scanning efficiency. Specifically, the scanning module is used to change the scanning angle of the scanning module to change the propagation direction of the beam from the transmitting module towards the detection area, thereby achieving scanning of the detection area. It should be noted that the scanning module can rotate in a continuous operation mode or in a step-by-step operation mode; this application does not limit this. In practical applications, the specific rotation mode can be preset.

[0121] For example, the scanning module can be one of the following: a polyhedral (e.g., octahedral, hexahedral, or tetrahedral) rotating mirror, a microelectromechanical system (MEMS) galvanometer mirror, or a tilting mirror. It should be noted that this application does not limit the type of scanning module; any structure capable of reflecting the light beam from the transmitting module to the detection area is acceptable.

[0122] It should be noted that the detection device in this application may also include other possible modules, such as control devices and / or windows (see [link]). Figure 14 The control device is used to control the detection device to detect the detection area. Alternatively, the control device is also used to plan the driving path based on the determined target association information, such as avoiding obstacles in the path to be traveled, or realizing autonomous driving of the vehicle. The viewing window is used to isolate the influence of the external environment on the detection system.

[0123] For example, the control device may include one or more processing units. A processing unit can be a circuit with signal (or data) processing capabilities. In one implementation, the processor can be a circuit with instruction read and execute capabilities, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a type of microprocessor), or a digital signal processor (DSP). In another implementation, the processor can implement certain functions through the logical relationships of hardware circuits. These logical relationships are fixed or reconfigurable. For example, the processor may be a hardware circuit implemented using an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field-programmable gate array (FPGA). In a reconfigurable hardware circuit, the process of the processor loading a configuration document and configuring the hardware circuit can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units. Furthermore, the processor can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), tensor processing unit (TPU), deep learning processing unit (DPU), etc. It can also be an application processor (AP), image signal processor (ISP), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. Different processing units can be independent devices or integrated into one or more processors. For example, the aforementioned detection device could be a lidar.

[0124] Based on the structure and functional principles of the detection device described above, this application can also provide a terminal device. This terminal device may include the detection device in any of the above embodiments. Exemplarily, the terminal device may be, for example, a vehicle (e.g., an unmanned vehicle, a smart car, an electric vehicle, or a digital car), a robot, surveying equipment, a drone, smart home devices (e.g., televisions, robot vacuum cleaners, smart lamps, audio systems, smart lighting systems, electrical control systems, home background music systems, home theater systems, intercom systems, or video surveillance), smart manufacturing equipment (e.g., industrial equipment), smart transportation equipment (e.g., AGVs, unmanned transport vehicles, or trucks), or smart terminals (mobile phones, computers, tablets, PDAs, desktop computers, headphones, speakers, wearable devices, in-vehicle devices, virtual reality devices, augmented reality devices, etc.).

[0125] In the various embodiments of this application, unless otherwise specified or in case of logical conflict, the terminology and / or descriptions of different embodiments are consistent and can be referenced by each other. The technical features of different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0126] In this application, "at least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple. In the textual description of this application, the character " / " generally indicates that the preceding and following related objects are in an "or" relationship. In the formulas of this application, the character " / " indicates that the preceding and following related objects are in a "division" relationship. Additionally, in this application, the term "exemplary" is used to indicate an example, illustration, or explanation. Any embodiment or design described as "example" in this application should not be construed as being more preferred or advantageous than other embodiments or designs. Alternatively, it can be understood that the use of the word "example" is intended to present concepts in a specific manner and does not constitute a limitation of this application.

[0127] It is understood that the various numerical designations used in this application are merely for descriptive convenience and are not intended to limit the scope of the embodiments of this application. The order of the process numbers described above does not imply the order of execution; the execution order of each process should be determined by its function and inherent logic. Terms such as "first," "second," and similar expressions are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion, such as including a series of steps or units. A method, system, product, or device is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to these processes, methods, products, or devices.

[0128] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. An optical module, characterized in that, It includes a collimation component and a light-uniforming component. The collimation component is perpendicular to the principal optical axis of the optical module, and the angle between the light-uniforming component and the principal optical axis of the optical module is α, where θ≤α<90°. The collimation component is used to collimate the light beam; The beam homogenizing component is used to homogenize the light beam from the collimating component; Wherein, θ is the angle between the viewing window and the principal optical axis of the optical module; The area of ​​the light transmission region on the viewing window of the light beam emitted by the light homogenizing component is smaller than the first area. The first area is the area of ​​the light transmission region on the viewing window when the light homogenizing component is in a vertical position. The vertical position refers to the position where the light homogenizing component is placed perpendicular to the main optical axis.

2. The module as described in claim 1, characterized in that, The angle between the light-diffusing component and the main optical axis of the optical module is equal to the angle between the viewport and the main optical axis of the optical module, and the light-diffusing component is parallel to the viewport.

3. The module as described in claim 1 or 2, characterized in that, The distance between the light-diffusing component and the viewing window is less than a first distance, where the first distance is the distance between the light-diffusing component and the viewing window when the component is placed in the vertical position.

4. The module as described in claim 1 or 2, characterized in that, The viewing window is either a lidar viewing window or a windshield.

5. The module as described in claim 1 or 2, characterized in that, The light-diffusing component is disposed separately from the viewing window; or... The light-diffusing component is fixed to the viewing window; or... The light-diffusing component is integrated with the viewing window.

6. The module as described in claim 1 or 2, characterized in that, The light-diffusing component is a microlens array.

7. The module as described in claim 6, characterized in that, The light beam emitted by the light homogenizing component diverges from the incident light beam in a first direction, which is the projection direction of the array direction of the light homogenizing component onto a first plane, and the first plane is a plane perpendicular to the principal optical axis of the optical module.

8. The module as described in claim 7, characterized in that, The light beam emitted by the light homogenizing component is deflected in a second direction compared to the incident light beam, and the second direction is a direction on the first plane that is perpendicular to the first direction.

9. The module as described in claim 6, characterized in that, The microlens array includes K cylindrical lenses arranged in an array, the array being arranged in any direction on a plane perpendicular to the normal of the microlens array.

10. The module as described in claim 9, characterized in that, The front and rear surfaces of any of the cylindrical lenses are offset by a second distance along the direction of the array arrangement, and the radius of curvature of the front surface is different from that of the rear surface. The front surface of the cylindrical lens is the side facing the collimating assembly, and the rear surface of the cylindrical lens is the side facing the viewing window.

11. The module as described in claim 6, characterized in that, The microlens array includes N×M sublenses, each of which has a planar front surface and a spherical, aspherical, or hyperboloidal rear surface. The front surface of the sublens is the side facing the collimating component, and the rear surface of the sublens is the side facing the viewing window.

12. The module as described in claim 1 or 2, characterized in that, The collimation assembly includes one or more of a spherical mirror, a cylindrical mirror, and an aspherical mirror.

13. A transmitting module, characterized in that, Includes a light source assembly and an optical module as described in any one of claims 1 to 12; The light source assembly is used to emit a light beam; The optical module is used to collimate and homogenize the light beam.

14. The module as described in claim 13, characterized in that, It also includes windows.

15. A detection device, characterized in that, Includes a receiving module and a transmitting module as described in claim 13 or 14; The receiving module is used to receive echo signals, which are signals obtained after the collimated and homogenized beam is reflected by the target in the detection area.

16. The apparatus as claimed in claim 15, characterized in that, The detection device also includes a scanning module; The scanning module is used to reflect the light beam from the homogenizing component to the detection area.

17. A terminal device, characterized in that, Includes a control device and a detection device as described in claim 15 or 16; The control device is used to control the detection device to detect the detection area.

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