Receiving module, radar, terminal and vehicle terminal

Abstract

The invention discloses a receiving module, a radar, a terminal and a vehicle end, and relates to the technical field of laser radars. Wherein the receiving module comprises an optical element and a detector, and the receiving module is used for receiving a linear light beam extending along a first direction. The optical element is used for astigmatism of the first light beam in the second direction and / or field curvature of the first light beam. The detector receives the light beams passing through the optical element through the plurality of monitoring areas, and the detector is located at a target focal plane of the optical element. According to the invention, the dynamic range of imaging can be ensured through the diffusion of the first light beam in the second direction by astigmatism and the diffusion of the edge view field light beam by field curvature. According to the optical element provided by the invention, the detector is arranged at the target focal plane of the optical element, and the configuration of the pixels on the detector is combined, so that the receiving module has a high-resolution receiving capability, and therefore, the optical element provided by the invention does not need a complicated manufacturing process, is simple in structure and low in manufacturing cost, and can realize the low-cost design of a high-resolution laser radar.

Description

Technical Field

[0001] This application relates to the technical field of lidar, and in particular to a receiving module, a radar, a terminal, and a vehicle end. Background Art

[0002] A lidar, also known as an optical radar, is short for a light detection and ranging (Lidar) system. The lidar uses light as the detection medium, and realizes the detection of targets by using the emission and reception of laser light. For example, distance measurement, speed measurement, or azimuth angle measurement, etc.

[0003] The scanning methods of lidar include one-dimensional scanning and two-dimensional scanning. Among them, the one-dimensional scanning method can be based on diffractive optical elements (DOE) to improve the detection resolution of the region of interest (ROI). The two-dimensional scanning method requires controlling the scanning mirror to perform non-uniform motion in two dimensions to achieve high-resolution detection of the ROI.

[0004] Since the manufacturing process of the above DOE is difficult and the temperature reliability is low, and the control logic of the above two-dimensional scanning method is complex, it is an urgent problem to be solved at present to achieve high-resolution reception of lidar in a low-cost and simple control logic manner. Summary of the Invention

[0005] This application provides a receiving module, a radar, a terminal, and a vehicle end, which relates to the technical field of lidar. The receiving module is based on a line spot one-dimensional scanning architecture to achieve high-resolution reception of lidar.

[0006] In a first aspect, this application provides a receiving module, which includes: an optical element and a detector. Among them, the receiving module is used to receive a linear beam (the first beam) extending along a first direction. The optical element is used to astigmatize the first beam in a second direction and / or field curve the first beam. The detector receives the beam passing through the optical element through a plurality of monitoring regions, and the plurality of monitoring regions include different pixel shapes, and the detector is located at the target focal plane of the optical element. Further, the first direction and the second direction are perpendicular to each other.

[0007] The receiving module provided by this application is used to receive a linear light beam (referred to as the first light beam for short) extending in the first direction, so that the receiving module can be applied to a one-dimensional scanning architecture of a line spot. The optical element astigmates the first light beam in the second direction, enabling the first light beam to spread in the second direction. The optical element performs field curvature on the first light beam, enabling the first light beam to spread in the first direction and the second direction. It can be understood that the diffusion intensity of astigmatism on the first light beam is proportional to the distance of the light spot from the optical axis. For example, the light spot near the optical axis (central field of view) is least affected by astigmatism, and the light spot in the edge field of view is most affected by astigmatism. The diffusion intensity of field curvature on the first light beam is proportional to the distance of the light spot from the optical axis. For example, the light spot near the optical axis is basically not affected by field curvature. For another example, the light spot located in the edge field of view is affected by field curvature and will spread widely in the first direction and the second direction. It can be seen that the diffusion intensity of the optical element on the first light beam at different positions is also different. Correspondingly, the detector receives the light beam passing through the optical element through multiple monitoring areas, and the multiple monitoring areas include different pixel shapes, enabling the detector to accurately receive the light beam passing through the optical element and use it for subsequent imaging.

[0008] Combined with the fact that the detector is located at the target focal plane of the optical element, it can be known that the light spot near the optical axis in the first direction will not spread. Also, because the linear light beam of the detector extends in the first direction, the receiving module has the ability of high-resolution reception. Further, the above optical element is used to perform astigmatism and / or field curvature on the line light beam, so that the optical element does not require complex manufacturing processes, has a simple structure, and low manufacturing costs.

[0009] In summary, the receiving module provided by this application utilizes the one-dimensional scanning structure of the line spot, can achieve high-resolution reception of lidar, and realize the low-cost design of high-resolution lidar. In addition, since the receiving module provided by this application is based on the one-dimensional scanning structure of the line spot and the receiving module does not require complex optical elements, the receiving module provided by this application is also conducive to the miniaturization design of high-resolution lidar.

[0010] In a possible implementation manner, the above multiple monitoring areas include a first monitoring area and a second monitoring area. In the first direction, the length of the pixels in the first monitoring area is less than the length of the pixels in the second monitoring area.

[0011] In the implementation manner of this application, in the first direction, the length of the pixels in the first monitoring area is less than the length of the pixels in the second monitoring area, making the pixel density of the first monitoring area in the first direction greater than that of the second monitoring area, so that the resolution of the imaging corresponding to the first monitoring area is higher than that of the second monitoring area.

[0012] Optionally, the first monitoring area is, for example, a monitoring area through which the optical axis of the optical element passes, or a monitoring area including the central field of view. The second monitoring area is, for example, a monitoring area farther from the optical axis of the optical element, or a monitoring area including the peripheral field of view.

[0013] Optionally, the first monitoring area is, for example, an ROI area, and the second monitoring area is, for example, other monitoring areas other than the ROI area among multiple monitoring areas. In the first direction, the pixel length of the ROI area is less than the pixel length of other monitoring areas, enabling the imaging corresponding to the ROI area to have high imaging resolution.

[0014] Optionally, in the first direction, the length of the light spot received by the first monitoring area is less than the length of the light spot received by the second monitoring area.

[0015] In another possible implementation, in the first direction, the length of the pixels in the first monitoring area is greater than the length of the pixels in the second monitoring area.

[0016] In the above implementation, in the second direction, the pixel length of the first monitoring area is greater than the pixel length of the second monitoring area, which is used to ensure the dynamic range of the imaging corresponding to the first monitoring area.

[0017] Optionally, the first monitoring area is, for example, an ROI area, and the second monitoring area is, for example, other monitoring areas other than the ROI area among multiple monitoring areas. In the second direction, the pixel length of the ROI area is greater than the pixel length of other monitoring areas, which can ensure the dynamic range of the imaging corresponding to the ROI area.

[0018] Optionally, in the second direction, the length of the light spot received by the first monitoring area is greater than the length of the light spot received by the second monitoring area.

[0019] In another possible implementation, the areas of the pixels in the first monitoring area and the second monitoring area are equal.

[0020] In the embodiments of the present application, the areas of the pixels in the first monitoring area and the second monitoring area are equal, which can enable the areas (quantities) of the light beams received by the pixels in different monitoring areas to be equal, thereby ensuring that the dynamic ranges of the imaging corresponding to different monitoring areas are the same, and further facilitating subsequent processing of the imaging (such as stitching, fusion, encoding, etc. operations).

[0021] In another possible implementation, in the second direction, the length of the pixels in the first monitoring area is equal to the length of the pixels in the second monitoring area.

[0022] In an embodiment of the present application, in the second direction, the pixel length of the first monitoring area is equal to the length of the pixels in the second monitoring area, so that the imaging corresponding to the first monitoring area and the second monitoring area has a high dynamic range.

[0023] Optionally, in the second direction, the length of the light spot received by the first monitoring area is equal to the length of the light spot received by the second monitoring area.

[0024] In another possible embodiment, for the pixels in the first monitoring area, the length a in the first direction and the length b in the second direction satisfy the following relationship: b = L * a, where L is greater than or equal to 2.

[0025] In an embodiment of the present application, for the pixels in the first monitoring area, the length a in the first direction and the length b in the second direction satisfy the following relationship: b = L * a, where L is greater than or equal to 2. This enables the pixels in the first monitoring area to receive a linearly polarized light beam that is widely diffused in the second direction. For example, the pixels in the first monitoring area can receive a linearly polarized light beam that has been affected by astigmatism, a cylindrical lens, or a microlens array. The linearly polarized light beam extends in the first direction, and the astigmatism, cylindrical lens, or microlens array is used to diffuse the linearly polarized light beam in the second direction.

[0026] Optionally, L is equal to 4, that is, b = 4a.

[0027] Optionally, for the pixels in the second monitoring area, the length c in the first direction and the length d in the second direction satisfy the following relationship: c = d.

[0028] Optionally, the areas of the pixels in the first monitoring area and the second monitoring area are equal. That is, a × b = c × d.

[0029] In another possible embodiment, the multiple monitoring areas include a third monitoring area, and the third monitoring area is covered by an occluder.

[0030] In an embodiment of the present application, the multiple monitoring areas include a first monitoring area, a second monitoring area, and a third monitoring area. The third monitoring area is covered by an occluder, which can block the light beam from being received by the third monitoring area, thereby reducing the interference light beam and avoiding introducing background noise into the first monitoring area and the second monitoring area.

[0031] Optionally, the third monitoring area is blocked by means such as screen printing, coating, electroplating, or dispensing to prevent the light beam from being received by the third monitoring area.

[0032] Optionally, the third monitoring area does not overlap with the first monitoring area and the second monitoring area.

[0033] In another possible implementation, the above optical element is used to astigmatize the first light beam in the second direction, and the above optical element is used to perform field curvature on the first light beam.

[0034] In the embodiments of the present application, the optical element can perform astigmatism and field curvature on the first light beam. Among them, the astigmatism of the light beam is perpendicular to the direction (the first direction) in which the first light beam extends in the diffusion direction (the second direction) of the light beam, and can cause the light beam near the optical axis of the optical element to have a large range of diffusion in the second direction. The field curvature is proportional to the distance of the light beam from the optical axis in terms of the diffusion intensity of the light beam. In addition, the diffusion effect of the field curvature on the light beam is omnidirectional (the first direction and the second direction). Combining the above descriptions, the first light beam is affected by astigmatism and field curvature and presents the following rules: 1. The light beam near the optical axis of the optical element is mainly affected by astigmatism and has a large range of diffusion in the second direction. 2. As the distance between the light beam and the optical axis of the optical element increases, the light beam is continuously affected by field curvature and astigmatism, so the light beam will be diffused to a certain extent in both the first direction and the second direction.

[0035] Optionally, by controlling the attributes of astigmatism and field curvature, it is possible to make the diffusion degree of the light beam near the optical axis of the optical element in the second direction greater than that of other light beams (in this case, the detector can be located between the meridional focal plane and the sagittal focal plane).

[0036] Optionally, the receiving module provided by the embodiments of the present application is based on a one-dimensional scanning architecture of a line spot, and realizes high resolution of the receiving module through attributes such as astigmatism and field curvature of the optical element. It can be seen that the receiving module does not require expensive optical devices and complex control logic, and can effectively control the production cost and volume of the receiving module.

[0037] In another possible implementation, the optical element is used to perform field curvature on the first light beam. A microlens array is arranged on the above first monitoring area, and the microlens array is used to diffuse the light beam passing through the above optical element in the second direction.

[0038] In the embodiments of the present application, the optical element is used to perform field curvature on the first light beam, which can make the diffusion intensity of the light beam continuously increase as the distance between the light beam and the main optical axis of the optical element increases, so as to ensure the dynamic range of imaging corresponding to other monitoring areas (monitoring areas other than the first monitoring area). In addition, when the optical element performs field curvature on the first light beam, it can also ensure that the light beam received by the first monitoring area is less diffused in the first direction, so as to ensure that the imaging corresponding to the first monitoring area has high resolution. In the embodiments of the present application, a microlens array is arranged on the first monitoring area, which can diffuse the above light beam passing through the optical element in the second direction. Specifically, the microlens array diffuses the light beam received by the first monitoring area in the second direction, so as to ensure the dynamic range of imaging corresponding to the first monitoring area.

[0039] Optionally, by controlling the properties of the microlens array and the field curvature, it is possible to make the degree of divergence of the light beam received by the first monitoring area in the second direction greater than that of the light beams received by other monitoring areas.

[0040] Optionally, the receiving module provided by the embodiment of the present application is based on a one-dimensional scanning architecture of a line spot, and high resolution of the receiving module is achieved through the field curvature of the optical element and the microlens array. It can be seen that the receiving module does not require expensive optical devices and complex control logics, and can effectively control the production cost and volume of the receiving module.

[0041] In another possible embodiment, the optical element is used to perform field curvature on the first light beam. The above receiving module further includes a cylindrical lens, which is disposed between the optical element and the detector, and the cylindrical lens is used to diverge the light beam passing through the above optical element in the second direction.

[0042] In the embodiment of the present application, the optical element is used to perform field curvature on the first light beam, which can make the divergence intensity of the light beam continuously increase as the distance between the light beam and the optical axis of the optical element increases, so as to ensure the dynamic range of the corresponding imaging of other monitoring areas (monitoring areas other than the first monitoring area). In addition, the optical element performing field curvature on the first light beam can also ensure that the light beam received by the first monitoring area is less diverged in the first direction, so as to ensure that the imaging corresponding to the first monitoring area has high resolution. In the embodiment of the present application, a cylindrical lens is disposed between the optical element and the detector, which can diverge the above light beam passing through the optical element in the second direction, so that the light beam received by the first monitoring area is diverged in the second direction, thereby ensuring the dynamic range of the imaging corresponding to the first monitoring area.

[0043] Optionally, disposing a cylindrical lens between the optical element and the detector can also make the light beam received by the second monitoring area diverge in the second direction, thereby improving the dynamic range of the imaging corresponding to the second monitoring area.

[0044] Optionally, the receiving module provided by the embodiment of the present application is based on a one-dimensional scanning architecture of a line spot, and high resolution of the receiving module is achieved through the field curvature of the optical element and the cylindrical lens array. It can be seen that the receiving module does not require expensive optical devices and complex control logics, and can effectively control the production cost and volume of the receiving module.

[0045] In another possible embodiment, the above first direction depends on the target focal plane.

[0046] In the embodiment of the present application, the first direction depends on the target focal plane, so that the extending direction of the first light beam can be adjusted based on the target focal plane, which is convenient for the flexible design of the transmitting module.

[0047] Optionally, the target focal plane is the meridional focal plane or the sagittal focal plane.

[0048] Optionally, when the optical element is astigmatic-free, the target focal plane is the optimal focal plane.

[0049] Optionally, when the target focal plane is the meridional focal plane, the first direction is the vertical direction (the direction perpendicular to the horizon), and the second direction is the horizontal direction (the direction parallel to the horizon).

[0050] Optionally, when the target focal plane is the sagittal focal plane, the first direction is the horizontal direction and the second direction is the vertical direction.

[0051] Optionally, when the target focal plane is the optimal focal plane, the first direction can be any direction, for example, the horizontal direction or the vertical direction. The second direction only needs to be perpendicular to the first direction. For example, if the first direction is the vertical direction, the second direction is the horizontal direction. If the first direction is the horizontal direction, the second direction is the vertical direction.

[0052] In another possible implementation, the number of detection units in a pixel depends on the area of the detection unit, and the detection unit is the smallest unit for the detector to receive light beams.

[0053] In the embodiments of the present application, the number of detection units in a pixel depends on the area of the detection unit. For example, the number of detection units in a pixel is proportional to the area of the detection unit. For another example, pixels with the same area include an equal number of detection units.

[0054] In another possible implementation, the detection unit includes one or more of the following: single-photon avalanche diode (SPAD), silicon photomultiplier (SiPM), multi-pixel photon counter (MPPC), semiconductor avalanche photodiode (APD), or p-i-n diode.

[0055] In another possible implementation, the above cylindrical lens can be integrated and adjusted with the optical element.

[0056] In another possible implementation, the above micro-cylindrical lens array can be imprinted on a cover glass (CG).

[0057] In another possible implementation, the above micro-cylindrical lens array can be integrated and packaged with the detector using micro-nano technology.

[0058] In a second aspect, the present application provides a detection device, which includes a transmitting module and a receiving module. Among them, the transmitting module is used to emit a linear light beam, and the receiving module is used to receive the linear light beam emitted by an object. The receiving module includes the receiving module shown in the first aspect and any possible implementation thereof.

[0059] In the embodiments of the present application, the transmitting module is used to emit a linear light beam and perform one-dimensional scanning on the object to be detected, without complex control logic. Combining the above first aspect and any possible embodiment thereof enables high-resolution reception of the detection device and realizes the low-cost design of the detection device. In addition, since the receiving module provided in the present application is based on a one-dimensional scanning structure of a line-shaped light spot and the receiving module does not require complex optical elements, it is also beneficial to realize the miniaturized design of the detection device.

[0060] In a possible embodiment, the receiving module includes an optical element and a detector. When the detector is located in the meridional focal plane of the optical element, the linear light beam emitted by the transmitting module extends in the vertical direction. When the detector is located in the sagittal focal plane of the optical element, the linear light beam emitted by the transmitting module extends in the horizontal direction. When the optical element is astigmatic-free, the linear light beam emitted by the transmitting module can extend in any direction. For example, the linear light beam emitted by the transmitting module extends in the horizontal direction or the vertical direction.

[0061] In a third aspect, an embodiment of the present application provides a radar or a radar system, which includes the receiving module shown in the above first aspect or any possible embodiment of the above first aspect, or includes the detection device shown in the above second aspect.

[0062] In a fourth aspect, an embodiment of the present application provides a terminal device, which includes the receiving module shown in the above first aspect or any possible embodiment of the above first aspect, or includes the detection device shown in the above second aspect, or includes the radar or the radar system shown in the above third aspect.

[0063] In a fifth aspect, an embodiment of the present application provides a vehicle end, which includes the receiving module shown in the above first aspect or any possible embodiment of the above first aspect, or includes the detection device shown in the above second aspect, or includes the radar or the radar system shown in the above third aspect, or includes the terminal device shown in the above fourth aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] The following briefly introduces the drawings required for the description of the embodiments.

[0065] Figure 1 is a schematic diagram of an application scenario of a detection device provided by an embodiment of the present application;

[0066] Figure 2 is a schematic diagram of the structure of a detection device provided by an embodiment of the present application;

[0067] Figure 3 is a schematic diagram of a line-scanning and line-receiving scanning method provided by an embodiment of the present application;

[0068] Figure 4 It is a schematic diagram of a coaxial architecture provided by an embodiment of the present application;

[0069] Figure 5 It is a schematic diagram of an off-axis architecture provided by an embodiment of the present application;

[0070] Figure 6A It is a schematic diagram of a meridian plane and a sagittal plane provided by an embodiment of the present application;

[0071] Figure 6B It is a schematic diagram of astigmatism provided by an embodiment of the present application;

[0072] Figure 6C It is a schematic diagram of the imaging law of astigmatism provided by an embodiment of the present application;

[0073] Figure 6D It is a schematic diagram of field curvature provided by an embodiment of the present application;

[0074] Figure 7 It is a schematic diagram of a receiving module provided by an embodiment of the present application;

[0075] Figure 8 It is a schematic diagram of phase difference interference provided by an embodiment of the present application;

[0076] Figure 9 It is a schematic diagram of a detector configuration provided by an embodiment of the present application;

[0077] Figure 10 It is a schematic diagram of another detector configuration provided by an embodiment of the present application;

[0078] Figure 11A It is a schematic diagram of a top view of a receiving module provided by an embodiment of the present application;

[0079] Figure 11B It is a schematic diagram of a target light spot provided by an embodiment of the present application;

[0080] Figure 11C It is a schematic diagram of another target light spot provided by an embodiment of the present application;

[0081] Figure 12 It is a schematic diagram of a side view of a micro-lens array and a detector package provided by an embodiment of the present application;

[0082] Figure 13 It is a schematic diagram of another detector configuration provided by an embodiment of the present application;

[0083] Figure 14 It is a schematic diagram of another detector configuration provided by an embodiment of the present application;

[0084] Figure 15It is a schematic top view of another receiving module provided by an embodiment of the present application;

[0085] Figure 16 It is a schematic diagram of a detector configuration provided by an embodiment of the present application;

[0086] Figure 17 It is a schematic diagram of another detector configuration provided by an embodiment of the present application. Detailed implementation manners

[0087] In order to make the objectives, technical solutions, and advantages of the present application clearer, the embodiments of the present application will be described below in conjunction with the accompanying drawings in the embodiments of the present application.

[0088] Terms such as "first" and "second" in the specification, claims, and drawings of the present application are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device, etc. that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products, or devices, etc.

[0089] The "embodiments" mentioned herein mean that the specific features, structures, or characteristics described in connection with the embodiments can be included in at least one embodiment of the present application. The phrase appears in various places in the specification and does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art can explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0090] It should be understood that in the present application, "at least one (item)" means one or more, "a plurality" means two or more, "at least two (items)" means two or three or more, and "and / or" is used to describe the association relationship of associated objects, indicating that three relationships can exist. For example, "A and / or B" can mean: only A exists, only B exists, and both A and B exist at the same time. Among them, A and B can be singular or plural. The character " / " generally means that the associated objects before and after are in an "or" relationship. "At least one (one) of the following" or similar expressions refer to any combination of these items, including any combination of single items (ones) or plural items (ones). For example, at least one (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.

[0091] The following is an explanation of some terms in this application. It should be noted that these explanations are for the convenience of those skilled in the art and are not intended to limit the scope of protection required by this application.

[0092] (1) Pixel.

[0093] In this article, a pixel is the basic unit of an image (including point cloud and image) and is also used to indicate a sampling. In the field of computer vision, the information of a pixel is usually obtained from the output of one or more photoelectric conversion units. Therefore, a pixel is also used to represent a photoelectric conversion unit or a group of photoelectric conversion units in a light receiver. In the art, a pixel is commonly used to refer to one or more photoelectric conversion units (also known as detection units, or simply units, cells). Further, in the case of including multiple units, the multiple units within a pixel can be arranged in an array. Exemplarily, in an array detector, a pixel includes A rows and B columns of detection units, where A is an integer and A≥1, and B is a positive number and B≥1.

[0094] (2) Pixel configuration.

[0095] The direction defined by a row of detection units can be called the horizontal direction of the detector, and the direction defined by a column of detection units can be called the vertical direction of the detector. In this application, the configuration of a pixel is to combine A rows and B columns of detection units into one pixel. For example, a pixel is composed of 3 rows and 12 columns of detection units, or a pixel is composed of 6 rows and 6 columns of detection units.

[0096] (3) Pixel shape.

[0097] The pixel shape can be represented by pixel length and pixel width. Among them, the pixel length represents the length of the pixel in the horizontal direction, and the pixel width represents the length of the pixel in the vertical direction. It should be noted that the following introduces this application by taking the case where the types of detection units in the detector are the same and the detection units are evenly distributed in the detector as an example. Therefore, the shape of a pixel depends on the configuration of the pixel. For example, for a pixel composed of A rows and B columns of detection units, the shape is also approximately a rectangle with a length of B and a width of A. There are some scenarios where the detector includes different types of detection units and the detection units are non-uniformly distributed in the detector. Combining the following description and the common knowledge in the art, this scenario still falls within the protection scope of this application.

[0098] (4) Detection area (also known as field of view), which represents the maximum observable range. The detection area includes the detection area in the horizontal direction and the detection area in the vertical direction, usually expressed in angles. For example, the detection area can be expressed in the format of A×B, where A represents the detection area in the horizontal direction and B represents the detection area in the vertical direction. Specifically, the detection area is 120°×60°. The detection area can be further divided into the region of interest (ROI) and the non-ROI area. Among them, the ROI area is generally located at the center position of the detection area (also known as the central field of view), and the non-ROI area is located at the edge position of the detection area (also known as the edge field of view).

[0099] (5) ROI refers to the area that needs to be processed or concerned within the detection area, which is represented in the shape of a square, circle, ellipse, or irregular polygon. Generally, the detection target is included in the region of interest.

[0100] (6) Light spot refers to the bright spot formed by the light beam, and also refers to the energy density (or intensity, power) distribution of the light beam. In the embodiments of the present application, the light spot can be regarded as the projection of the light beam on a certain surface.

[0101] (7) Point cloud, that is, the aggregation or set of points. Here, the points (also called target points, data points) are usually used to indicate the characteristics of the target. Exemplarily, the points indicate one or more of position (such as one-dimensional, two-dimensional or three-dimensional coordinate positions), distance, angle, reflection intensity, color information, etc.

[0102] The explanations of the above terms can be applied in the following text.

[0103] The detection device uses the signal as the detection medium and realizes the detection of the detection area by emitting a signal to the detection area (i.e., the object space) and receiving the echo of the signal. For example, distance measurement, speed measurement, or azimuth angle measurement, etc. A transmitting module and a receiving module are set in the detection device. The transmitting module is used to emit signals, and the receiving module is used to receive signals. Here, the signals include light, such as laser. In the case of using light for detection, an optical system will be set in the detection device to process the light beam. Here, the processing includes one or more of beam splitting, filtering, focusing, diverging, refracting, filtering, reflecting, or scanning, etc.

[0104] With the development of intelligence, the requirements for the detection accuracy of detection devices by equipment are getting higher and higher. Some solutions achieve high-density scanning of the ROI through two-dimensional non-uniform scanning, thereby increasing the point cloud density of the ROI, and then achieving high-resolution detection of the ROI. However, the two-dimensional non-uniform scanning method has a complex structure, high cost, low reliability, and also limits the aperture of the scanning mirror, thus affecting the long-distance detection performance of the detection device. Some other solutions form high-density dot matrix illumination of the ROI through the cascading of DOE, thereby achieving high-resolution detection of the ROI. However, the existing DOE process is not mature, resulting in high cost of DOE, low temperature reliability, and far lower diffraction efficiency than the light transmittance of refractive optical elements, thus affecting the stability and long-distance detection performance of the detection device. It can be seen that neither two-dimensional non-uniform scanning nor DOE cascading is conducive to the low-cost design of high-resolution lidar.

[0105] Therefore, the present application provides a receiving module, a radar, a terminal, and a vehicle end, relating to the technical field of lidar, which can achieve high-resolution reception of lidar and realize the low-cost design of high-resolution lidar.

[0106] First, an application scenario of the detection device provided by the present application will be introduced below. Figure 1 An application scenario schematic diagram of a detection device is exemplarily shown. In this example, the detection device 10 is installed on a vehicle, so it is also called an in-vehicle detection device. In addition, the detection device 10 also includes an on-board detection device installed on a ship, and an airborne detection device installed on a machine, etc. In one possible example, as Figure 1 shown, the detection device 10 can emit a detection signal. After the detection signal irradiates an object in front of the vehicle and is reflected, the reflected echo signal can be received by the detection device 10, and then the detection device 10 can detect the obstacle information in front of the vehicle based on the echo signal, such as the size, speed, and distance of the obstacle, etc., so as to use the obstacle information to realize the driving function of the vehicle, including but not limited to automatic assumption or assisted driving, etc.

[0107] Combined with Figure 2 , the detection device 10 will be introduced in detail. As Figure 2As shown, the detection device 10 includes a transmitting module 100, a receiving module 200, and a processing unit 300. The transmitting module 100 includes an excitation source (or a laser driver), a laser 101, and a transmitting optical system 102. The excitation source drives the laser 101 to emit a detection signal, such as a laser beam (or a laser pulse), and the laser beam (or the laser pulse) is emitted outward through the transmitting optical system 102. The receiving module 200 includes a receiving optical system 202 and a detector 201. After the detection signal emitted from the detection device 10 encounters a target object, an echo signal that is reflected / scattered is formed through the interaction with the target object. After the echo signal is collected by the receiving optical system 202, it is received by the detector 201, which converts the optical signal into an electrical signal and transmits the electrical signal to the processing unit 300 after analog front-end processing. The processing unit 300 processes the received signal to obtain information such as the distance, speed, and azimuth angle of the target object. In addition, information such as the surface morphology and physical properties of the target can be obtained to establish an object model. The detector 201 is usually a photodetector that converts the received optical signal into an electrical signal, and this electrical signal is usually an analog signal, while the processing unit 300 is usually used to process digital signals, such as a digital signal processor (DSP). Therefore, the analog electrical signal is converted into a digital signal by an analog-to-digital converter (ADC) and provided to the processing unit 300. In addition, the electrical signal can also be amplified, and after the amplified electrical signal is converted into a digital signal by the analog-to-digital converter, it is provided to the processing unit 300. The processing unit 300 includes a signal processing circuit for processing the digital signal to obtain information such as the distance, speed, and azimuth angle of the target object and further establish an object model. The detection device 10 also includes a control circuit, such as a control part for controlling the excitation source and a control part for controlling the scanning drive circuit 402. These two control parts can be integrated or independently set. In addition, the signal processing circuit and the control circuit can also be integrated or independently set.

[0108] In addition, in one implementation, the transmitting module 100 may further include a laser modulator and a beam controller. The laser beam emitted by the laser 101 passes through the beam controller, and the beam controller controls the direction and number of lines of the emitted laser beam under the control of the laser modulator. The laser beam emitted from the beam controller is emitted outward through the transmitting optical system 102.

[0109] In one implementation, the laser 101 may include one or more of the following light sources: vertical cavity surface emitting laser (VCSEL), photonic crystal surface emitting semiconductor lasers (PCSEL), edge emitting laser (EEL), laser diode (LD), distributed feedback LD (DFB-LD), Grating coupledsampling reflection LD (GCSR-LD), or micro opto electromechanical system LD (MOEMS-LD), etc.

[0110] In one implementation, the detector 201 may include, but is not limited to, single-photon avalanche diode (SPAD), Silicon photomultiplier (SiPM), multi-pixel photon counter (MPPC), avalanche photodetector (APD), or "positive-intrinsic-negative" (PIN) type diode (or P-type semiconductor - impurity - N-type semiconductor diode), etc. In the case where the detector includes multiple detection units, the multiple detection units may be arranged in an array to form an array detector. For example, the receiving module includes a SPAD array detector. The detector 201 may also be an image sensor, including one or more of the following photosensitive elements: complementary metal oxide semiconductor (CMOS), charge-coupled device (CCD), Live MOS, etc. For example, the image sensor includes a CMOS image sensor (CIS), and the CIS is used to convert an optical image into an electrical signal. In some scenarios, the detector and the image sensor may be collectively referred to as an optical receiving chip.

[0111] In one implementation, the transmitting optical system 102 and the receiving optical system 202 refer to systems composed of optical elements, which include but are not limited to: lenses, filters, polarizers, mirrors, beam splitters, prisms, window plates, and diffusers, etc.

[0112] In addition, the detection device 10 may further include a scanning unit 400. Under the action of the scanning unit 400, the detection signal emitted by the transmitting module 100 realizes the scanning of the detection signal on a plane to generate real-time planar graph information. The scanning unit 400 mainly includes a scanning mechanism 401 and a scanning drive circuit 402. The scanning drive circuit 402 is used to drive the scanning mechanism 401 to operate. Under the action of the scanning mechanism 401, the detection signal realizes the change from "line" to "plane", or realizes the change from "point" to "line" and then to "plane".

[0113] Optionally, the scanning mechanism 401 may include one or more of a one-dimensional galvanometer mirror, a one-dimensional polygon mirror, a micro-electro-mechanical system (MEMS) galvanometer mirror, or a metal galvanometer mirror, etc. In some solutions, the scanning mechanism 401 may include one or more reflecting surfaces. The reflecting surface may be installed on the main body of the scanning module in the form of a patch, or the reflecting surface of the scanning mechanism 401 and the body of the scanning mechanism 401 may also be integrated. Optionally, the scanning method of the scanning mechanism 401 may be one-dimensional scanning.

[0114] In a possible implementation manner, the transmitting module 100 and the receiving module 200 may scan an object by adopting a line-scanning and line-receiving scanning method (also known as a line-beam one-dimensional scanning architecture). For example, the detection signal emitted by the laser 101 is transmitted through the transmitting optical system 102 and then appears as a line-shaped light spot on the YOX plane. After being adjusted by the scanning unit 400, this line-shaped light spot will scan a linear area corresponding to a vertical field of view FOV1 on the object each time (i.e., Figure 2The horizontal line filling area on the object shown in the figure). Moreover, the control circuit can control the laser 101 to repeatedly emit multiple detection signals in the form of pulsed laser to detect the same linear area on the object. The number of detection signals can be exemplarily set to a value between 10 and 500. After scanning a linear area with multiple detection signals, the scanning unit 400 will control the multiple detection signals emitted by the emission optical system 102 subsequently to move along the positive direction of the X axis shown in the figure to the next linear area (also known as the scanning direction of the detection signals), until after scanning the entire area corresponding to the horizontal field of view FOV2, it is determined that the detection area has been traversed. Correspondingly, the line beam emitted by the emission optical system 102 remains a line beam after being reflected by the object. This line beam is fed back to the receiving optical system 202 through the scanning unit 400, is transmitted and focused to the detection unit of the detector 201 in the receiving optical system 202. The detector 201 converts the signal received by the detection unit into an electrical signal and sends it to the processing unit 300. Then, after the processing unit 300 generates the point cloud data corresponding to each linear area, a frame of image is generated by combining the point cloud data of each linear area. It should be noted that the Z axis is parallel to the optical axis of the detection device 10.

[0115] It should be understood that Figure 2 The beam adjusted by the scanning unit 400 shown in the figure is a line beam parallel to the Y axis, which is just a possible design. The embodiments of the present application do not specifically limit the form of the beam presentation. For example, in some other designs, the line beam adjusted by the scanning unit 400 can also be parallel to the X axis, and each time it is used to scan the linear area corresponding to a horizontal field of view FOV2 on the object, and moves along the positive or negative direction of the Y axis shown in the figure until the entire area corresponding to the vertical field of view FOV1 is scanned. Or, in some other designs, the line beam adjusted by the scanning unit 400 can also be an inclined line beam that forms a certain angle with both the X axis and the Y axis, and can move along the positive or negative direction of the X axis shown in the figure, the positive or negative direction of the Y axis, or other directions on the XOY plane until the entire area corresponding to the vertical field of view FOV1 and the entire horizontal field of view FOV2 is scanned. Or, in some designs, some optical lenses can also be provided at special positions of the emission optical system 102, so that the pulsed laser emitted by the laser 101 is converted into a misaligned beam or other special-shaped beams after the action of these optical lenses to adapt to more detection scenarios.

[0116] See Figure 3 , Figure 3 is a schematic diagram of a line-scanning and line-receiving scanning method provided by the present application. The surface of the object can be divided into N regions ( Figure 3(the diagonal / horizontal line filled area on the object shown in (a) of), where N is an integer greater than or equal to 1. The detection signal sequentially scans the N regions. For example, the scanning order of the detection signal is sequentially region 1, region 2, …, region N - 1, region N (the numbers / letters in the figure represent the serial numbers of the regions). Optionally, the number of scans of the detection signal for one region can be set. For example, the detection signal can be set to scan one region 300 times and then scan the next region. Correspondingly, for each scan of the detection signal for any one region, the echo signal will form a target light spot at the same position of the detector 201. For example, the target light spots will all be located as shown in Figure 3 (b) of. The detector 201 uses the detection unit as the smallest receiving unit of the target light spot, converts the target light spot into an electrical signal, and uses it for subsequent processing, such as sending the electrical signal to the processing unit 300. Exemplarily, multiple detection units are arranged in an array to form a pixel. For example, Figure 3 (b) shows that the detection units in the pixel are arranged in a 3×3 form. It should be noted that for the arrangement manner of the detection units in the pixel, more examples will be given in combination with specific implementation manners hereinafter, and the 3×3 arrangement manner should not be regarded as a limitation of the present application. Figure 3 The pixels covered by the target light spot in can also be arranged in the form of 8×2, that is, including two pixels in the X direction and eight pixels in the Y direction. Figure 3 In, the target light spot covers two columns of pixels. In a specific implementation, the target light spot can cover one column of pixels or multiple columns of pixels, and the present application does not make a limitation in this regard. It should be noted that the shape of the target light spot depends on one or more of the shape of the detection signal and the receiving optical system 202, which will be specifically described hereinafter and will not be elaborated here for the time being.

[0117] It should be understood that Figure 3 (the detection signal shown in) extends along the Y-axis direction (the detection signal is parallel to the Y-axis), which is just a possible design. In a specific implementation process, the detection signal can also extend along the X-axis direction, or the extension direction of the detection signal forms a certain angle with the X-axis / Y-axis, and the present application does not make a limitation in this regard.

[0118] It should be noted that the above detection device 10 can be a lidar. The present application does not make a specific limitation on the type of lidar, and it can be one of a mechanical lidar, a liquid lidar, a pure solid-state lidar, or a hybrid solid-state lidar (also known as a semi-solid-state lidar).

[0119] When the detection device 10 is a lidar, the detection signal can also be referred to as a laser beam (or simply a light beam for short). When the detection device 10 scans an object in a line-scanning and line-receiving scanning mode, the detection signal can also be referred to as a line light beam. Lasers can be classified into point lasers and line lasers according to the shape of the laser. The point laser requires the emitted light beam to be a collimated light beam, so that the light spot formed at a long distance is a point, thereby defining the collimation direction of the emitted light beam. The line light beam requires the emitted light beam to be a collimated light beam in the first direction and a divergent light beam in the second direction, so that the light spot formed at a long distance is a line. The first direction can also be referred to as the collimation direction, and the second direction can be referred to as the divergent direction. Among them, the divergent direction is also equivalent to the direction in which the line light beam extends, or the direction parallel to the line light beam. Combining the above Figure 2 or Figure 3 coordinate system, the vertical direction shown below can be understood as the Y direction, and the parallel direction can be understood as the X direction.

[0120] In a possible design, the transmitting module 100 and the receiving module 200 in the detection device 10 can be coaxially designed or off-axis designed. Among them, the coaxial design refers to an optical path architecture in which the main optical axes of the transmitting module 100 and the receiving module 200 coincide, and the off-axis design refers to an optical path architecture in which the main optical axes of the transmitting module 100 and the receiving module 200 do not coincide.

[0121] See Figure 4 , Figure 4 which is a schematic diagram of a coaxial architecture exemplarily provided in this application. Figure 4 The coaxial architecture shown realizes the coaxiality of the detection signal and the echo signal through the scanning unit 400. The detection signal is reflected to the object space through the scanning unit 400, and the echo signal is received by the receiving module 200 without passing through the scanning unit 400 (for example, passing through from both sides of the scanning unit 400). Combining the above Figure 2 , the scanning unit 400 includes a scanning drive circuit 402 and a scanning mechanism 401. Among them, the scanning mechanism 401 can include one or more of a one-dimensional galvanometer, a one-dimensional polygon mirror, a micro-electro-mechanical system (MEMS) galvanometer, or a metal galvanometer, etc. In some solutions, the scanning mechanism 401 can include one or more reflecting surfaces, and the reflecting surfaces can be mounted on the main body of the scanning module in the form of patches, or the reflecting surface of the scanning mechanism 401 and the body of the scanning mechanism 401 can also be integrated. Optionally, the scanning mode of the scanning mechanism 401 can be one-dimensional scanning.

[0122] See Figure 5 , Figure 5 which is a schematic diagram of an off-axis architecture exemplarily provided in this application. Figure 5The main optical axes of the shown transmitting module 100 and receiving module 200 do not coincide, and the optical paths of the detection signal and the echo signal are also different. In an off-axis architecture, a better effect of isolating the transmitting optical path and the receiving optical path is achieved to improve the detection performance of the detection device 10.

[0123] It can be understood that whether it is an off-axis design or a coaxial design, optical elements will have a huge impact on the final imaging quality. For example, in an ideal imaging system, the following three conditions are met:

[0124] 1. All the light rays from the same point on the object will converge to the same point on the image.

[0125] 2. If the plane formed by all the points on the object (object plane) is perpendicular to the optical axis, then the plane formed by all the points on the image (image plane) is also perpendicular to the optical axis (the image field is flat).

[0126] 3. The ratio of the image height to the object height is constant for all the points on the image plane and the object plane (given the object distance and the image distance, there is only one magnification).

[0127] However, in an actual imaging system, an ideal imaging system is usually not obtainable, or the cost of obtaining an ideal imaging system is extremely high, which is not conducive to the commercial promotion of products. Therefore, there are usually aberrations in an actual imaging system. Briefly speaking, the differences between the actual imaging and the ideal imaging can be called aberrations.

[0128] In a possible classification method, aberrations can be classified according to attributes such as color (or wavelength), position, etc.

[0129] Exemplarily, according to the relationship between aberrations and color (wavelength), they can be divided into monochromatic aberrations and chromatic aberrations.

[0130] Exemplarily, according to the relationship between aberrations and the position of the object point, monochromatic aberrations can be divided into on-axis point aberrations and off-axis point aberrations, where the "axis" refers to the main optical axis of the optical system.

[0131] Furthermore, off-axis point aberrations can be further divided into astigmatism, field curvature, coma, and distortion, etc. according to the causes of the aberrations.

[0132] Among them, astigmatism is caused by different focusing effects when the object point beams in the meridional focal plane and the sagittal focal plane are focused by optical elements. As a result, all the beams on the object point cannot be focused on the same point, resulting in the phenomenon of unclear imaging. Please refer to Figure 6A , all the light rays emitted from the object point A pass through the optical element and are all focused on the image point A1. As Figure 6AAs shown in the figure, the section passing through the object point A and the principal optical axis is called the meridional plane, and the section passing through the chief ray and perpendicular to the meridional plane is called the sagittal plane. The light beam in the above-mentioned meridional plane is called the meridional light beam, and the image formed by the meridional light beam is called the meridional image point. The image plane where the meridional image point is located is called the meridional image plane, also called the meridional focal plane. Similarly, the light beam in the sagittal plane is called the sagittal light beam, and the image formed by the sagittal light beam is called the sagittal image point. The image plane where the sagittal image point is located is called the sagittal image plane, also called the sagittal focal plane.

[0133] For the sake of convenience in description, the following settings can be made. As Figure 6B shown in the figure, the direction perpendicular to the chief ray in the meridional plane is called the Y direction, the direction perpendicular to the chief ray in the sagittal plane is called the X direction, and the direction parallel to the principal optical axis is called the Z direction. The diffusion effect of astigmatism / field curvature on the light beam can be divided into the diffusion in the Y / X direction.

[0134] Please refer to Figure 6B , Figure 6B which is a schematic diagram of astigmatism provided by an embodiment of the present application. As Figure 6B shown in the figure, the meridional image point and the sagittal image point do not coincide (or, the meridional focal plane and the sagittal focal plane do not coincide). For example, the meridional light beam is focused earlier than the sagittal light beam, and the meridional image point is closer to the optical element.

[0135] In a possible implementation, when there is astigmatism in the optical element, the spot shape corresponding to the object point will change as the image plane moves. Specifically, it includes the following five cases:

[0136] For the sake of convenience in description, the following regulations are made first. Understanding that the image plane is before XX (meridional image point / sagittal image point) means that the distance between the image plane and the optical element is less than the distance between the image plane and XX. Understanding that the image plane is after XX means that the distance between the image plane and the optical element is greater than the distance between the image plane and XX.

[0137] Case 1, the image plane is before the meridional image point. In this case, the diffusion degree of the spot corresponding to the object point in the sagittal plane is greater than that in the meridional plane. Therefore, the spot is elliptical. Specifically, the length of the elliptical spot in the X direction is greater than the length in the Y direction.

[0138] Case 2, the image plane is the meridional focal plane. In this case, the meridional light beam is focused, and the sagittal light beam is in a divergent state. Therefore, the spot corresponding to the object point only diffuses in the sagittal plane and is a straight line (line spot), and the length of the straight line is related to the degree of astigmatism. Specifically, the line spot extends in the X direction.

[0139] Case 3: The image plane is located behind the meridional image point and before the sagittal image point. In this case, both the meridional and sagittal beams are diverging, and the degree of divergence changes as the image plane moves. Therefore, the light spot corresponding to the object point will exhibit different shapes. For example, as the image plane moves from the meridional image point to the sagittal image point, the light spot corresponding to the object point will successively appear as an ellipse (with a greater length in the X direction than in the Y direction), a circle, and then an ellipse (with a greater length in the Y direction than in the X direction).

[0140] Case 4: The image plane is the sagittal focal plane. In this case, the sagittal beam is focused, while the meridional beam is diverging. Therefore, the light spot corresponding to the object point only spreads within the meridional plane, forming a straight line (a line spot). The length of the line is related to the degree of astigmatism. Specifically, the line spot extends in the Y direction.

[0141] Case 5: The image plane is behind the sagittal image point. In this case, the light spot corresponding to the object point diffuses more in the meridional plane than in the sagittal plane, resulting in an elliptical light spot. Specifically, the length of the elliptical light spot in the Y direction is greater than its length in the X direction.

[0142] In another possible implementation, the degree of diffusion of the sub-beams caused by astigmatism gradually increases as the distance between the sub-beams and the main optical axis increases, or the degree of diffusion of the sub-beams caused by astigmatism is proportional to the square of the field of view angle.

[0143] It's understood that a line beam reflected by an object includes multiple sub-beams reflected from the object point. Ideally, the sub-beams are imaged as a single point on the detector. However, due to phase aberration, these sub-beams appear as spots on the detector. The distance between a sub-beam and the principal optical axis can be equivalent to the distance between the object point / image point / spot and the principal optical axis.

[0144] For example, taking the above case 1 as an example, the image plane is located before the meridian image point, and the light spot corresponding to the object point is elliptical. Figure 6C , spot A is located near the principal optical axis, while spots B and C are equidistant from the principal optical axis. Spots A, B, and C are all elliptical, with lengths in the Y direction of d1, d2, and d3, respectively, where d2 = d3 > d1. This means that the degree of diffusion of the light spots in the Y direction varies, increasing with increasing distance from the principal optical axis. In the X direction, the length of spot A is d4, while the lengths of spots B and C are d5. d5 > d4, meaning that the degree of diffusion of the light spots in the X direction increases as their distance from the principal optical axis increases, and different light spots at the same distance from the principal optical axis have the same degree of diffusion in the X direction.

[0145] It should be noted that the above Figure 6BThe astigmatism shown in FIG. 1 is that the meridional beam is focused before the sagittal beam. In some implementations, there is also a case where the sagittal beam is focused before the meridional beam. Both cases are applicable to the solution provided in this application. Figure 6B The following description will be made taking the situation shown in the figure as an example.

[0146] It is understandable that if an optical element has astigmatism, it will also be accompanied by field curvature. Conversely, if an optical element has field curvature, it will not necessarily have astigmatism.

[0147] See Figure 6D , Figure 6D This is a schematic diagram of a field curvature provided in an embodiment of the present application. Figure 6D As shown in , the focal plane of the optical element is a curved surface. As the distance between the object point and the principal optical axis increases, both the meridional beam and the sagittal beam cannot be focused on the image plane and have the same degree of divergence. Therefore, the light spot corresponding to the object point near the principal optical axis can be focused into a point, while the light spot corresponding to the object point far from the principal optical axis is circular, and as the distance between the object point and the principal optical axis increases, the area of the light spot corresponding to the object point continues to increase. Figure 6D As shown in the figure, the distance d1 between spot A and the main optical axis is smaller than the distance d2 between spot B and the main optical axis, so the area of spot A is smaller than that of spot B. The distance d2 between spot B and the main optical axis is equal to the distance d3 between spot C and the main optical axis, so the area of spot B is equal to that of spot C. Spot D is located on the main optical axis, so spot D is a point spot.

[0148] It should be noted that Figure 6D In the field curvature diagram shown, the focal plane bends toward the optical element. In one possible case, the field curvature may also cause the focal plane to bend in the opposite direction of the optical element (please refer to Figure 6D Understand, not shown in the figure), in this case, the diffusion effect of field curvature on the light spot can be referred to Figure 6D , I will not go into details here.

[0149] See Figure 7 , Figure 7 This is a schematic diagram of a receiving module exemplified in this application. Figure 7 As shown, the lens module is composed of optical elements and a detector 201. The optical elements may include but are not limited to: convex lenses and concave lenses, etc., wherein the convex lens may be a biconvex lens, a plano-convex lens, a concave-convex lens, etc. The concave lens may be a biconcave lens, a plano-concave lens, a convex-concave lens, etc. Specifically, as Figure 7 The arrangement of the optical elements shown is, from left to right, a glass cover, a plano-convex lens, a biconcave lens, and two convex-concave lenses. The light beam passing through the optical elements is received by the detector 201, which converts it into an electrical signal and sends it to the processing unit for generating an image.

[0150] Optionally, when the above optical element cooperates with the detector 201 to receive the light beam and is used to convert the optical signal into an electrical signal, Figure 7 the shown optical element can be called a receiving optical system, such as the Figure 2 receiving optical system 202 shown above.

[0151] Optionally, in the above Figure 4 shown coaxial architecture, Figure 7 the optical element described above can also be used to cooperate with the laser and the excitation source of the laser to emit a detection signal. In this case, Figure 7 the shown optical element can be called a transmitting optical system, such as the Figure 2 transmitting optical system 102 shown above.

[0152] It can be understood that there will be aberrations when the optical element is used as a transmitting optical system or a receiving optical system. For example, Figure 7 the shown optical element has astigmatism and / or field curvature. Therefore, the present application exemplarily provides three design schemes for the receiving module, which utilize the astigmatism and / or field curvature of the optical element and cooperate with the specified pixel configuration to achieve high-resolution detection of the detection device, thereby enabling the design of the detection device with low cost and small volume.

[0153] Before introducing the design scheme of the receiving module, the following explanations are made first. The receiving module provided by the present application can be based on a one-dimensional scanning architecture of a line beam (such as the Figure 2 shown above) to achieve high-resolution detection under a high dynamic range. Taking the above Figure 2 as an example, in the subsequent introduction, the extending direction of the linear beam emitted by the detection device 10 will be specifically introduced in combination with the design scheme of the receiving module 200. Other implementations of the transmitting module 100 and the scanning unit 400 in the detection device 10 are not specifically limited.

[0154] In one possible implementation, the receiving module includes an optical element and a detector. Among them, the receiving module is, for example, Figure 2 the receiving module 200 shown above, and the optical element and the detector are the receiving optical system 202 and the detector 201 respectively.

[0155] The detector is located at the target focal plane of the optical element. It can be understood that when the optical element has astigmatism, the meridional focal plane and the sagittal focal plane of the optical element do not coincide, and the target focal plane can be the meridional focal plane or the sagittal focal plane. When the optical element has no astigmatism, the meridional focal plane and the sagittal focal plane of the optical element coincide. In this case, the target focal plane refers to a fixed focal plane, also known as the best focal plane.

[0156] The receiving module is used to receive a first light beam, and the first light beam is a linear light beam extending in a first direction. Taking the above Figure 3 as an example, the first direction is, for example, Figure 3 the Y direction (also known as the vertical direction) shown in Figure 3 . Optionally, the first direction can also be the X direction (also known as the horizontal direction) shown in

[0157] . This application does not limit this. In a possible implementation, the extension direction of the light beam and the target focal plane (meridional focal plane / sagittal focal plane) where the detector is located. For specific implementation, refer to the description below.

[0157] Optionally, the optical element is used to astigmatize the first light beam in a second direction. Taking the above Figure 6B as an example of Case 2 (Case 4) shown in

[0158] , the image plane is the meridional focal plane (sagittal focal plane), and the light spot corresponding to the object point only diffuses in the sagittal plane (meridional plane), presenting a straight line extending in the X direction (Y direction). This phenomenon of diffusion in the sagittal plane or meridional plane is called the optical element astigmatizing the light beam in the X direction (Y direction).

[0158] The optical element is used to field curve the first light beam. Taking the above Figure 6D as an example, field curvature will cause light spots at different positions to present different degrees of diffusion. For specific details, refer to the description in the above Figure 6D , and details will not be elaborated here.

[0159] The extension direction (first direction) of the first light beam is perpendicular to the direction of astigmatism (second direction). Taking the above Figure 6B as an example of Case 2, if astigmatism causes the light spot to diffuse in the X direction, then the extension direction of the first light beam should be the Y direction. Taking the above Figure 6B as an example of Case 4, if astigmatism causes the light spot to diffuse in the Y direction, then the extension direction of the first light beam should be the X direction. In addition, the direction of astigmatism can also form a specified angle with the X-axis / Y-axis, and the extension direction of the first light beam should still be perpendicular to the direction of astigmatism.

[0160] The detector includes multiple monitoring regions. It should be noted that the detector including multiple monitoring regions can be a conceptual division. In the specific implementation process, the region on the detector used to receive the light beam can be divided into multiple regions (equivalent to the detector including multiple monitoring regions).

[0161] The pixel shapes of multiple monitoring regions are different. Different pixel configurations can be applied to different monitoring regions to achieve different detection resolutions for different monitoring regions. For example, the area on the detector for receiving the light beam can be divided into a first monitoring region, a second monitoring region, and a third monitoring region. Among them, the pixel configuration in the first monitoring region and the second monitoring region is 6×6, and the pixel configuration in the second monitoring region is 3×12. For a more specific introduction, reference can be made to the subsequent relevant descriptions, which will not be elaborated here for the time being. Optionally, the different pixel shapes of multiple monitoring regions can also be understood as that there are at least two pixel configurations in multiple monitoring regions. For example, the detector includes 5 monitoring regions, and there are three pixel configurations among the 5 monitoring regions.

[0162] It can be understood that the detection device provided in this application is based on a one-dimensional scanning architecture of a line beam, and the scanning direction (X direction) of the line beam is perpendicular to the extending direction of the line beam. The number of pixels corresponding to a line beam in the scanning direction is related to the line beam width, sampling resolution, etc. Therefore, the number of pixels generated by the same line beam received by different monitoring regions in the scanning direction is equal. For example, the first monitoring region and the second monitoring region receive the first light beam, and the number of pixels generated in the scanning direction is N columns, where N is a positive integer. For example, N = 1, 2,..., 100, etc.

[0163] Next, by separately introducing the optical element and the detector, three design schemes of the receiving module are shown, and these three receiving modules can be applied to the Figure 2 detection device 10 shown above.

[0164] Design scheme one: The receiving module includes an optical element and a detector. Among them, the optical element has astigmatism and field curvature, and the detector includes multiple monitoring regions, where the pixel shapes in the multiple monitoring regions are different, but the pixel areas are equal.

[0165] In a possible implementation, the first direction depends on the target focal plane.

[0166] Exemplarily, when the target focal plane is the meridional focal plane, the light beam in the meridional plane in the target focal plane can be focused, and the light beam in the sagittal plane is in a divergent state. The first direction should be parallel to the meridional plane and perpendicular to the sagittal plane. Taking case 2 above Figure 6B as an example, astigmatism causes the light spot to be in a divergent state in the sagittal plane, so the first direction should be the Y direction, and the corresponding second direction is the X direction.

[0167] Exemplarily, when the target focal plane is the sagittal focal plane, the light beam in the sagittal plane in the target focal plane can be focused, and the light beam in the meridional plane is in a divergent state. The first direction should be parallel to the sagittal plane and perpendicular to the meridional plane. Taking case 2 above Figure 6BTaking Case 4 in [reference] as an example, astigmatism causes the light spot to diverge in the meridional plane. Then the first direction is the X direction, and the corresponding second direction is the Y direction.

[0168] The above Figure 6B and Figure 6C only show the diffusion effect of astigmatism on the sub-beams. To more clearly show the combined diffusion effect of astigmatism and field curvature on the line beam, please refer to Figure 8 . Figure 8 Taking the first direction as the Y direction, the second direction as the X direction, and the detector being located in the meridional focal plane or the sagittal focal plane of the optical element as an example for an exemplary introduction. The first light beam can be, for example, a linear light beam reflected by an object. The first light beam extends along the Y direction, and the light spot formed by the receiving module receiving the first light beam should also be a light spot extending along the Y direction, as shown in the "ideal light spot" in Figure 8 . As shown in the light spot corresponding to "astigmatism" in Figure 8 , under the action of astigmatism, the light spot formed by the receiving module receiving the first light beam diffuses in the X direction. As the distance between the light spot and the principal optical axis increases, the diffusion effect of astigmatism in the X direction gradually increases. As shown in the light spot corresponding to "field curvature" in Figure 8 , under the action of field curvature, the light spot formed by the receiving module receiving the first light beam diffuses in the X direction and the Y direction. As the distance between the light spot and the principal optical axis increases, the diffusion effect of field curvature in the X direction and the Y direction gradually increases. As shown in the light spot corresponding to "field curvature + astigmatism" in Figure 8 , under the combined action of astigmatism and field curvature, the sub-beams near the principal optical axis are only affected by the diffusion effect of astigmatism in the X direction, making the light spot near the principal optical axis a line light spot extending along the X direction. As the distance between the sub-beam and the principal optical axis increases, the diffusion effect of astigmatism in the X direction increases, and the effect of field curvature in the X direction and the Y direction increases, making the light spot present an elliptical shape. As the distance between the sub-beam and the principal optical axis continues to increase, the diffusion effect of astigmatism in the X direction continues to weaken, and the effect of field curvature in the X direction and the Y direction continues to increase, making the light spot still present an elliptical shape. It should be noted that Figure 8 the shown light spot can be the result of sampling the actual light spot, used to better present the corresponding diffusion effects of astigmatism, field curvature, or astigmatism + field curvature. It can be understood that Figure 8 the shown content is used to show the diffusion effect on the first light beam when the target focal plane is the meridional focal plane. In the case where the target focal plane is the sagittal focal plane, the diffusion effect on the first light beam can refer to the relevant description in Figure 8 .

[0169] From Figure 8From the spot corresponding to "field curvature + astigmatism" in the figure, it can be known that the spots near the principal optical axis have a small degree of diffusion in the Y direction and the X direction. As the distance between the spot and the principal optical axis increases, the degree of diffusion of the spot in the X direction and the Y direction increases. Therefore, multiple monitoring areas can be set on the detector to separately receive spots at different positions. Among them, each monitoring area includes multiple pixels.

[0170] The detector includes a first monitoring area and a second monitoring area. As Figure 9 shown, the area on the detector 201 for receiving the light beam includes a first monitoring area and a second monitoring area. Among them, the first monitoring area is used to receive the light beam near the principal optical axis, and the second monitoring area is used to receive the light beam at other positions. The first monitoring area is, for example, Figure 9 the area covered by the horizontal stripes in the figure, and the second monitoring area is, for example, Figure 9 the area covered by the vertical stripes in the figure. Among them, the light beam near the principal optical axis can refer to the light beam whose degree of diffusion in the first direction is less than a preset threshold, that is, the light beam that can be better focused in the first direction. Specific details will be introduced in the following text and will not be elaborated here.

[0171] The design of the above first monitoring area and second monitoring area in terms of position can be as follows:

[0172] In a possible design scheme, the first monitoring area and the second monitoring area are connected to each other but do not overlap. For example, the first monitoring area and the second monitoring area do not include the same detection unit, that is, a detection unit belongs only to the first monitoring area or the second monitoring area.

[0173] In another possible design scheme, the arrangement direction of the first monitoring area and the second monitoring area is parallel to the extension direction of the first light beam, that is, the arrangement direction of the first monitoring area and the second monitoring area is parallel to the first direction. As Figure 9 shown, when the extension direction of the first light beam is the Y direction, the arrangement direction of the first monitoring area and the second monitoring area is parallel to the Y direction. Of course, when the extension direction of the first light beam is the X direction, the arrangement direction of the first monitoring area and the second monitoring area is parallel to the X direction.

[0174] In another possible design scheme, the principal optical axis passes through the center of the first monitoring area. Exemplarily, when the detector 201 is coupled with the optical element, the focus of the optical element is located at the center point of the first monitoring area. For example, when the target focal plane is the meridional focal plane, the focus in the meridional focal plane is located at the center point of the first monitoring area. Another example is that when the target focal plane is the sagittal focal plane, the focus in the sagittal focal plane is located at the center point of the first monitoring area.

[0175] The design of the pixels in the first monitoring area and the second monitoring area described above can be shown as follows:

[0176] In a possible design, in the first direction, the length of the pixels in the first monitoring area is less than the length of the pixels in the second monitoring area. As Figure 9 shown, in the Y direction (the first direction), the length of the pixels in the first monitoring area is 3, and the length of the pixels in the second monitoring area is 6. The smaller the length of the pixels in the first direction, the more pixels can be generated in the same length in the first direction, which can improve the imaging resolution. Therefore, Figure 9 the imaging resolution corresponding to the first monitoring area of the detector 201 shown will be higher than the imaging resolution corresponding to the second monitoring area. In addition, this application does not limit the lengths of the pixels in the first monitoring area and the second monitoring area in the first direction. For example, in the first direction, the length of the pixels in the first monitoring area can also be 1, 2, 4, 5, 6, or 7, and the length of the pixels in the second monitoring area can also be 3, 4, 5, 6, 7, or 8, etc., as long as the length of the pixels in the first monitoring area is greater than the length of the pixels in the second monitoring area in the first direction.

[0177] In another possible design, in the second direction, the length of the pixels in the first monitoring area is greater than the length of the pixels in the second monitoring area. As Figure 9 shown, in the X direction (the second direction), the length of the pixels in the first monitoring area is 12, and the length of the pixels in the second monitoring area is 6. This application also does not limit the lengths of the pixels in the first monitoring area and the second monitoring area in the second direction. For example, in the second direction, the length of the pixels in the first monitoring area can also be 6, 8, 10, 14, or 16, and the length of the pixels in the second monitoring area can also be 4, 8, 10, or 12, etc., as long as the length of the pixels in the first monitoring area is less than the length of the pixels in the second monitoring area in the second direction. By designing that the length of the pixels in the first monitoring area is greater than the length of the pixels in the second monitoring area in the second direction, it can ensure that the dynamic range of the imaging in the first monitoring area does not decrease.

[0178] In another possible design, the areas of the pixels in the first monitoring area and the second monitoring area are equal. Through this design, making the areas of the pixels in the first monitoring area and the second monitoring area equal can make the areas (quantities) of the light beams received by the pixels in different monitoring areas equal, thereby ensuring that the dynamic ranges of the corresponding imaging in different monitoring areas are the same, and facilitating subsequent processing of the imaging (such as operations like stitching, fusion, encoding, etc.). Similarly, using the above Figure 9For example, the pixel configuration in the first monitoring area can be 6×6, and the pixel configuration in the second monitoring area can be 3×12. Another example is that the pixel configuration in the first monitoring area can be 4×4, and the pixel configuration in the second monitoring area can be 2×8. Another example is that the pixel configuration in the first monitoring area can be 8×8, and the pixel configuration in the second monitoring area can be 4×16, etc.

[0179] In another possible design solution, for the pixels in the second monitoring area, the length c in the first direction and the length d in the second direction satisfy the following relationship: d = M*c, where M is greater than or equal to 1 and less than 2. As Figure 9 shown, c = d = 6. By designing the pixels in the second monitoring area to satisfy the above relationship, it is ensured that the second monitoring area can receive the light beam affected by field curvature, so as to accurately perform imaging. Optionally, when the optical element only includes field curvature, c = d can be designed.

[0180] It should be noted that Figure 9 only an exemplary design solution of the detector 201 is shown. The detector 201 may include more or fewer pixels, and each pixel can also be of different configurations. Specifically, reference can be made to the design solutions shown above. Therefore, Figure 9 should not be taken as a limitation of this application.

[0181] From Figure 9 the detector 201 shown, it can be known that the detector 201 includes a first monitoring area and a second monitoring area, and the first monitoring area and the second monitoring area occupy all the detection units in the detector 201. Combining the above Figure 6B it can be known that in the case of ideal imaging, the light spot formed by the first light beam on the detector is a line light spot, and it is not necessary to use all the detection units on the detector. In addition, due to the errors in the design of the optical element, background noise may also be introduced, interfering with the imaging result.

[0182] For this reason, the embodiment of this application also provides another design solution of the detector 201. As Figure 10 shown, the detector 201 includes a first monitoring area, a second monitoring area, and a third monitoring area. Among them, the first monitoring area and the second monitoring area are used to receive the light beam passing through the optical element. For the specific description, reference can be made to Figure 9 the first monitoring area and the second monitoring area shown, which will not be elaborated here.

[0183] The third monitoring area is covered by an occluder ( Figure 10The area covered by the diagonal line) is used to prevent the detection units in the third monitoring area from receiving stray light beams, thereby interfering with the imaging of the first monitoring area and the second monitoring area. Exemplarily, methods such as silk screening, coating, electroplating, or dispensing can be used to prevent the detection units in the third monitoring area from receiving stray light beams. Regarding the configuration of the elements in the third monitoring area, the embodiments of the present application do not make any limitations. Figure 10 As shown, it is only exemplary and should not be used as a limitation of the present application. Figure 10 For example, the configuration of the elements in the third monitoring area can be 6×6, 3×12, etc. Since the elements in the third monitoring area do not receive light beams, they can also not be configured.

[0184] In addition, the present application does not limit the number of pixels of the detector 201 receiving a line light beam in the second direction. Figure 10 As shown, the detector 201 receives a line light beam and generates 4 columns of pixels in the second direction. In a specific implementation, the detector 201 receiving a line light beam can also generate 10, 20, 50, or 90 columns of pixels in the second direction, and the present application does not make any limitations on this.

[0185] Design solution two: The receiving module includes an optical element, a detector, and a microcylindrical lens array. Among them, the optical element has field curvature, and the detector includes multiple monitoring areas, and the pixel shapes in the multiple monitoring areas are different, but the pixel areas are equal.

[0186] It should be noted that in design solution two, the aberration of the optical element does not include astigmatism, that is, the meridional focal plane and the sagittal focal plane of the optical element coincide. Therefore, the plane where the detector is located can be called the best focal plane.

[0187] In a possible design solution, the microcylindrical lens array is arranged on the detector and is used to diverge the light beam passing through the optical element in the second direction.

[0188] Please refer to Figure 11A , Figure 11A This is a schematic top view of a receiving module provided by the embodiments of the present application. The first light beam received by the optical element extends along the Y direction (the first direction), and the microcylindrical lens array is used to diverge the first light beam in the X direction (the second direction). It can be understood that although the first light beam extends along the Y direction, the first light beam also has a certain width in the X direction, such as 1 mm or 2 mm, etc., and the present application does not make any limitations on this. Exemplarily, the microcylindrical lens array can be controlled to diverge some of the light beams passing through the optical element, or the microcylindrical lens array can be controlled to diverge all of the light beams passing through the optical element.

[0189] It should be noted that the diverging effect of the microlens array or the cylindrical lens in the following text on the light beam can be to diverge the light beam in a certain direction (the second direction). For example, for a light beam whose ideal image is a point spot, the microlens array can diverge it into a line spot. For a light beam whose ideal image is a line spot, the microlens array can diverge it into a plane spot, or a line spot with a longer length (depending on whether the diverging direction is the same as the extending direction of the line spot). Exemplarily, please refer to Figure 11B and Figure 11C . Among them, Figure 11B shows the case where the light beam received by the detector 201 does not pass through the microlens array or the cylindrical lens, and the target spot covers a column of pixels (line spot) in the X direction. Figure 11C shows the case where the light beam received by the detector 201 passes through the microlens array or the cylindrical lens, and the target spot spreads in the X direction, and the target spot covers four columns of pixels (plane spot) in the X direction.

[0190] Please refer to Figure 12 , which is a schematic side view of a microlens array and a detector package provided by an embodiment of the present application. Figure 12 It includes a microlens array, an isolation layer, and a detector 201.

[0191] Combined with Figure 11A it can be known that the microlens array is used to diverge the first light beam in the X direction. The isolation layer is used to isolate the diverging light generated by the microlens array to prevent the diverging light generated by the microlens from diverging in the Y direction, thereby interfering with other monitoring areas. It can be understood that the volume of the isolation layer is small and will not affect the normal operation of the detection unit in the detector. For example, the isolation layer can be set in the gap between two detection units, so as not to affect the light beam received by the detection unit. The material of the spacer layer can be silicon oxide, silicon nitride, metal oxide, metal nitride, etc. For example, it can be one or more of materials such as silicon dioxide, silicon nitride, aluminum oxide, aluminum nitride, hafnium oxide, zirconium oxide, zinc oxide, titanium dioxide, etc. The detector 201 can include a first monitoring area and a second monitoring area, and the specific description can refer to the above Figure 9 or Figure 10 .

[0192] In a possible design scheme, the isolation layer can be set at the junction of the first monitoring area and the second monitoring area to prevent the light beam diffused by the microlens array from being received by the second monitoring area, thereby affecting the imaging of the second monitoring area.

[0193] In a possible design scheme, the isolation layer is used to isolate the microlens array from the detector by a certain distance, so that the light beam diverged by the microlens array can be received by the detector.

[0194] In a possible design, the micro-cylindrical lens array is used to diffuse the light beam received by the first monitoring area in the second direction.

[0195] As Figure 12 shown, the micro-cylindrical lens array is placed above the first monitoring area and can diffuse the light beam received by the first monitoring area in the X direction (the second direction), causing the light spot received by the first monitoring area to expand in the X direction, thereby ensuring the dynamic range of the corresponding imaging of the first monitoring area.

[0196] To further show the position of the micro-cylindrical lens array in the detector 201, please refer to Figure 13 . Figure 13 For the first monitoring area and the second monitoring area included in Figure 9 , reference can be made to the description in the above Figure 11A and Figure 12 , which will not be elaborated here. A micro-cylindrical lens array is also provided above the first monitoring area, and this micro-cylindrical lens array is used to diffuse the light beam received by the first monitoring area in the X direction. Reference can be made to the relevant descriptions in the above

[0197] In another possible design, a part of the monitoring area of the detector 201 is covered by an occluder to reduce the influence of stray light beams on the corresponding imaging of the detector 201. Please refer to Figure 14 , Figure 14 For the first monitoring area, the second monitoring area, and the third monitoring area included in Figure 10 , reference can be made to the description in the above Figure 11A , Figure 11B , Figure 11C and Figure 12 , which will not be elaborated here. A micro-cylindrical lens array is also provided above the first monitoring area, and this micro-cylindrical lens array is used to diffuse the light beam received by the first monitoring area in the X direction. Reference can be made to the relevant descriptions in the above

[0198] In a possible implementation, to ensure that the light beam received by the first monitoring area is the light beam that has passed through the micro-cylindrical lens array, a covering (the area covered by the diagonal line in Figure 13 or Figure 14 ) needs to be set above the first monitoring area where the micro-cylindrical lens array is not provided, to prevent the light beam that has not passed through the micro-cylindrical lens array from being received by the first monitoring area. Regarding the introduction of the covering, reference can be made to the description in the above Figure 10 , which will not be elaborated here. It should be noted that the area of the first monitoring area blocked by the covering is only used to prevent the light beam passing through the optical element from being directly received by the first monitoring area. The area of the first monitoring area blocked by the covering can still receive the light beam diffused by the micro-cylindrical lens array.

[0199] In another possible implementation, the length of the microlens array is equal to that of the first monitoring area in the first direction, and the length of the microlens array is less than that of the first monitoring area in the second direction. Exemplarily, in the first direction, the microlens array overlaps with the first monitoring area, and in the second direction, the center of the microlens array coincides with the center of the first monitoring area, or, in the second direction, the microlens array is located at the center of the first monitoring area, so as to ensure that the light passing through the microlens array can be evenly diverged into the first monitoring area.

[0200] The above Figure 11A shows a side view of the microlens array and the detector package, Figure 12 shows a top view of the microlens array and the detector package. In another possible design, the microlens array can be imprinted on the cover glass (CG) of the detector. There is also a possible design that the microlens array and the detector can be integrated using micro-nano technology.

[0201] Design solution three: The receiving module includes an optical element, a detector, and a cylindrical lens. Among them, the optical element has field curvature, the detector includes a plurality of monitoring areas, and the pixel shapes in the plurality of monitoring areas are different, but the pixel areas are equal.

[0202] It should be noted that, in design solution two, the aberration of the optical element does not include astigmatism, that is, the meridional focal plane and the sagittal focal plane of the optical element coincide. Therefore, the plane where the detector is located can be called the best focal plane.

[0203] In a possible design, the cylindrical lens is arranged between the optical element and the detector and is used to diverge the light beam passing through the optical element in the second direction.

[0204] Please refer to Figure 15 , Figure 15 which is a schematic diagram of a top view of another receiving module provided by an embodiment of the present application. The first light beam received by the optical element extends along the Y direction (the first direction), and the cylindrical lens is used to diverge the first light beam in the X direction (the second direction). It can be understood that although the first light beam extends along the Y direction, the first light beam also has a certain width in the X direction, such as 1 mm or 2 mm, etc. The present application does not limit this. It should be noted that due to its large volume, the cylindrical lens usually diverges all the light beams passing through the optical element.

[0205] In a possible design, the cylindrical lens can be aligned with the optical element, that is, the cylindrical lens is arranged in the receiving optical system 202.

[0206] In another possible design, the cylindrical lens can be aligned with the detector, that is, the cylindrical lens is arranged in the detector 201.

[0207] The detector includes a fourth monitoring area and a fifth monitoring area. As Figure 16 shown, the area for receiving the light beam in the detector 201 includes a fourth monitoring area and a fifth monitoring area. Among them, the fourth monitoring area is used to receive the light beam near the principal optical axis, and the fifth monitoring area is used to receive the light beam at other positions. The fourth monitoring area is, for example, Figure 16 the area covered by the horizontal stripes in, and the fifth monitoring area is, for example, Figure 16 the area covered by the vertical stripes in.

[0208] The design of the above-mentioned fourth monitoring area and fifth monitoring area in terms of position can refer to the design of the above-mentioned first monitoring area and second monitoring area in terms of position, which will not be elaborated here.

[0209] The design of the pixels in the above-mentioned fourth monitoring area and fifth monitoring area can be as follows:

[0210] In a possible design solution, the detector 201 includes a plurality of monitoring areas, and the lengths of the pixels in the plurality of monitoring areas in the second direction are equal.

[0211] Exemplarily, Figure 16 the detector 201 shown in includes a fourth monitoring area and a fifth monitoring area. Among them, the fourth monitoring area is used to receive the light beam near the principal optical axis, and the fifth monitoring area is used to receive the light beam at other positions. The lengths of the pixels in the fourth monitoring area and the fifth monitoring area in the X direction are the same, both being 12. In addition, this application does not limit the lengths of the pixels in the fourth monitoring area and the fifth monitoring area in the second direction. For example, in the second direction, the lengths of the pixels in the fourth monitoring area and the fifth monitoring area can also be 6, 8, 10, or 14, etc., as long as the length of the pixels in the fourth monitoring area is less than or equal to the length of the pixels in the fifth monitoring area in the second direction.

[0212] Since the cylindrical lens diverges the light beam received by the detector 201 in the second direction, and in cooperation with the configuration of the pixels in the fourth monitoring area and the fifth monitoring area of the detector 201, it can ensure that the corresponding imaging in the fourth monitoring area and the fifth monitoring area has a relatively high dynamic range.

[0213] In addition, since the cylindrical lens has a diverging effect on all the light beams passing through the optical element, and the light beam far from the principal optical axis is also affected by field curvature, when configuring the pixels of the detector, the length of the fourth monitoring area in the second direction can be set to be less than or equal to the length of the fifth monitoring area in the second direction. Exemplarily, the length of the pixels in the fourth monitoring area in the second direction is 12, and the length of the pixels in the fifth monitoring area in the second direction is 14, etc.

[0214] In another possible design, in the first direction, the length of the pixels in the fourth monitoring area is less than the length of the pixels in the fifth monitoring area.

[0215] As Figure 16 shown, in the Y direction (the first direction), the length of the pixels in the fourth monitoring area is 3, and the length of the pixels in the fifth monitoring area is 6. The smaller the length of the pixels in the first direction, the more pixels can be generated in the same length in the first direction, which can improve the imaging resolution. Therefore, Figure 16 the imaging resolution corresponding to the fourth monitoring area of the detector 201 shown will be higher than the imaging resolution corresponding to the fifth monitoring area. In addition, the present application does not limit the lengths of the pixels in the fourth monitoring area and the fifth monitoring area in the first direction. For example, in the first direction, the length of the pixels in the fourth monitoring area can also be 1, 2, 4, 5, 6, or 7, and the length of the pixels in the fifth monitoring area can also be 3, 4, 5, 6, 7, or 8, etc., as long as the length of the pixels in the fourth monitoring area is greater than the length of the pixels in the fifth monitoring area in the first direction.

[0216] It should be noted that Figure 16 only an exemplary design of the detector 201 is shown. The detector 201 may include more or fewer pixels, and each pixel can also be of different configurations. Specifically, reference can be made to the design shown above. Therefore, Figure 16 should not be taken as a limitation of the present application.

[0217] From Figure 16 the detector 201 shown, it can be known that the detector 201 includes a fourth monitoring area and a fifth monitoring area, and the fourth monitoring area and the fifth monitoring area occupy all the detection units in the detector 201. Combining the above Figure 6B it can be known that in the case of ideal imaging, the light spot formed by the first light beam on the detector is a line light spot, and it is not necessary to use all the detection units on the detector. In addition, due to the errors in the design of the optical elements, background noise may also be introduced, interfering with the imaging result.

[0218] Therefore, the embodiment of the present application also provides another design of the detector 201. As Figure 17 shown, the detector 201 includes a fourth monitoring area, a fifth monitoring area, and a sixth monitoring area. Among them, the fourth monitoring area and the fifth monitoring area are used to receive the light beam passing through the optical element. For specific descriptions, reference can be made to Figure 16 the fourth monitoring area and the fifth monitoring area shown therein, which will not be elaborated here.

[0219] The sixth monitoring area is covered by an occluder to prevent the detection unit in the sixth monitoring area from receiving stray light beams, thereby interfering with the imaging of the fourth and fifth monitoring areas. Exemplarily, methods such as silk screening, coating, electroplating, or dispensing can be used to prevent the detection unit in the sixth monitoring area from receiving stray light beams. Regarding the configuration of the elements in the sixth monitoring area, the embodiments of the present application do not make any limitations. Figure 17 Shown is only exemplary and should not be taken as a limitation of the present application. Figure 17 For example, the configuration of the elements in the sixth monitoring area can be 6×6, 3×12, etc. Since the elements in the sixth monitoring area do not receive light beams, they may not need to be configured either.

[0220] In addition, the present application does not limit the number of pixels of the detector 201 receiving a line light beam in the second direction either. Figure 17 The shown detector 201 receives a line light beam and generates 8 columns of pixels in the second direction. In a specific implementation, the detector 201 receiving a line light beam can also generate 1, 10, 20, 50, or 90 columns of pixels in the second direction, and the present application does not make any limitations in this regard.

[0221] Next, an exemplary introduction is made to the configuration of different monitoring areas in the first direction in the above three design schemes.

[0222] Combined with the above description, it can be known that in the first direction, the diffusion of the light beam is only affected by the field curvature, so the degree of diffusion of the light beam is related to the magnitude of the field curvature. Combining with the above, the first monitoring area or the fourth monitoring area is used to receive the light beams near the principal optical axis (the light beams with a diffusion degree less than the specified threshold in the first direction). Therefore, the number of pixels of the first monitoring area or the fourth monitoring area in the first direction depends on the field curvature of the optical element. Combining with the above Figure 6D , when the field curvature of the optical element is large, the light beam at a distance d1 from the principal optical axis is strongly interfered by the field curvature, that is, the light spot A cannot be well focused, or the focusing degree of the light spot A cannot meet the imaging requirements. In this case, the number of pixels of the first monitoring area or the fourth monitoring area in the first direction should be small, so that all the light beams received by the first monitoring area or the fourth monitoring area can be well focused to meet the user's imaging requirements. Of course, when the field curvature of the optical element is small, the light beam at a distance d1 from the principal optical axis is weakly interfered by the field curvature, that is, the light spot A can still be well focused, or the focusing degree of the light spot A can meet the imaging requirements. In this case, the number of pixels of the first monitoring area or the fourth monitoring area in the first direction should be large, so that all the light beams received by the first monitoring area or the fourth monitoring area can be well focused to meet the user's imaging requirements.

[0223] Exemplarily, the above-mentioned first monitoring area and fourth monitoring area can be used as ROI areas.

[0224] In Design Scheme 1 and Design Scheme 2, the first monitoring area in the detector 201 is used to receive the light beam near the principal optical axis of the optical element. In Design Scheme 1, the light beam near the principal optical axis is mainly affected by the astigmatism diffusion in the second direction. In Design Scheme 2, the light beam near the principal optical axis is mainly affected by the diffusion of the microlens array in the second direction. In the first direction, the light beam near the principal optical axis is less affected by the phase difference, so high-resolution imaging can be obtained. Combining with the configuration of the pixels in the first monitoring area, it can ensure that the dynamic range of the imaging corresponding to the first monitoring area does not decrease. In Design Scheme 3, the light beam passing through the optical element is diffused in the second direction by the cylindrical lens. The light beam near the principal optical axis is less affected by the phase difference in the first direction. Combining with the configuration of the pixels in the fourth monitoring area, the imaging corresponding to the fourth monitoring area has high resolution while ensuring that the dynamic range does not decrease. In addition, the above three design schemes have simple structures, do not require complex manufacturing processes for optical elements, and have low manufacturing costs. In summary, the receiving module provided in this application uses the one-dimensional scanning structure of the line spot, can achieve high-resolution reception of lidar, and realize the low-cost design of high-resolution lidar. In addition, since the receiving module provided in this application is based on the one-dimensional scanning structure of the line spot and does not require complex optical elements, the receiving module provided in this application is also conducive to realizing the miniaturization design of high-resolution lidar.

[0225] The embodiment of this application also provides a radar, which includes the aforementioned detection device 10, or the aforementioned receiving module 200, or the aforementioned detector 201. In a possible implementation, the radar is, for example, a lidar. Exemplarily, the transmitting module and the receiving module of the lidar can be coaxially designed, as shown above Figure 4 shown, or can be off-axis designed, as shown above Figure 5 shown, and this application does not make any limitations.

[0226] The embodiment of this application also provides a terminal device, which includes the aforementioned detection device 10, or includes the aforementioned receiving module 200, or the aforementioned detector 201, or includes the aforementioned lidar.

[0227] Optionally, the terminal device may be an intelligent terminal or a transportation vehicle such as a vehicle, a drone, a robot, etc., or the terminal device may also be an industrial device. It should be understood that the terminal devices involved in this application may include intelligent terminals or transportation vehicles such as vehicles, robots, drones, ships, etc. Among them, the vehicle is a vehicle in a broad sense, and can be a transportation vehicle (such as a commercial vehicle, a passenger vehicle, a motorcycle, a flying car, a train, etc.), an industrial vehicle (such as a forklift, a trailer, a tractor, etc.), an engineering vehicle (such as an excavator, a bulldozer, a crane, etc.), an agricultural device (such as a lawn mower, a harvester, etc.), etc. Again, the robot may be an automated guided vehicle (AGV), a walking conversation robot, a service robot, etc. Industrial devices such as industrial robots, robotic arms, etc. Recreational devices such as virtual reality (VR) devices, mixed reality (MR) devices, or 4D cinema cockpits, etc.

[0228] Optionally, there are various possible implementations for the installation position of the detection device. For example, it can be installed on the platform of the vehicle's dashboard, or installed at the head of the vehicle (such as Figure 1 ), or it can also be installed on the top of the cockpit, on the side of the vehicle, at the rear of the vehicle, etc.

[0229] As described above, this is only the specific implementation manner of this application, but the protection scope of this application is not limited thereto. Any person skilled in the art within the technical scope disclosed in this application can easily think of changes or substitutions, which should all be covered within the protection scope of this application. Therefore, the protection scope of this application shall be subject to the protection scope of the claims.

Claims

1. A receiving module, characterized in that, The receiving module includes: an optical element and a detector, and the detector is located at the target focal plane of the optical element; The receiving module is configured to receive a first light beam, and the first light beam is a linear light beam extending along a first direction; The optical element is configured to astigmatize the first light beam in a second direction, and / or, the optical element is configured to field curve the first light beam; the first direction is perpendicular to the second direction; The detector is configured to receive the light beam passing through the optical element, and the detector includes a plurality of monitoring regions, and pixel shapes of the plurality of monitoring regions are different.

2. The receiving module according to claim 1, wherein The plurality of monitoring regions include a first monitoring region and a second monitoring region; In the first direction, a length of pixels in the first monitoring region is less than a length of pixels in the second monitoring region.

3. The receiving module according to claim 1 or 2, characterized in that, The plurality of monitoring regions include a first monitoring region and a second monitoring region; In the second direction, a length of pixels in the first monitoring region is greater than a length of pixels in the second monitoring region.

4. The receiving module according to any one of claims 1 to 3, characterized in that, The plurality of monitoring regions include a first monitoring region and a second monitoring region; An area of pixels in the first monitoring region is equal to an area of pixels in the second monitoring region.

5. The receiving module according to claim 1 or 2, characterized in that The plurality of monitoring regions include a first monitoring region and a second monitoring region; In the second direction, a length of pixels in the first monitoring region is equal to a length of pixels in the second monitoring region.

6. The receiving module according to any one of claims 1-5, characterized in that, The plurality of monitoring regions include a first monitoring region; For pixels in the first monitoring region, a length a in the first direction and a length b in the second direction satisfy the following relationship: b = L * a, where L is greater than or equal to 2.

7. The receiving module according to any one of claims 1-6, characterized in that, The plurality of monitoring regions include a third monitoring region, and the third monitoring region is covered by an occluder.

8. The receiving module according to any one of claims 1-4, characterized in that The optical element is configured to astigmatize the first light beam in a second direction, and the optical element is configured to field curve the first light beam.

9. The receiving module according to any one of claims 2-4, characterized in that, The optical element is configured to field curve the first light beam; A microlens array is disposed on the first monitoring region, and the microlens array is configured to diffract the light beam passing through the optical element in the second direction.

10. The receiving module according to claim 5, characterized in that The optical element is configured to field curve the first light beam, and the receiving module further includes a cylindrical lens; The cylindrical lens is disposed between the optical element and the detector, and the cylindrical lens is configured to diffract the light beam passing through the optical element in the second direction.

11. The receiving module according to any one of claims 1-10, characterized in that, The first direction depends on the target focal plane.

12. The receiving module according to any one of claims 1-11, characterized in that, A number of detection units in the pixel depends on an area of the detection unit, and the detection unit is a minimum unit for the detector to receive a light beam.

13. The receiving module according to claim 12, wherein The detection unit includes one or more of the following: single photon avalanche diode SPAD, silicon photomultiplier SiPM, multi-pixel photon counter MPPC, semiconductor avalanche photodiode APD, or "p-i-n" PIN diode.

14. The receiving module according to any one of claims 1-8, characterized in that, The target focal plane is a meridional focal plane or a sagittal focal plane.

15. The receiving module according to claim 14, wherein When the target focal plane is a meridional focal plane, the first direction is a vertical direction, and the second direction is a horizontal direction; When the target focal plane is the sagittal focal plane, the first direction is the horizontal direction and the second direction is the vertical direction.

16. A detection device, characterized in that, The detection device includes a transmitting module and a receiving module; wherein, the transmitting module is configured to emit a linear light beam, and the receiving module is configured to receive the linear light beam reflected by an object; the receiving module includes the receiving module according to any one of claims 1-15.

17. A radar, characterized in that, The radar includes the receiving module according to any one of claims 1-15.

18. A terminal device, characterized in that, The terminal device includes the receiving module according to any one of claims 1-15, or the detection device according to claim 16, or the radar according to claim 17.

19. A car end, characterized in that, The vehicle end includes the receiving module according to any one of claims 1-15, or the detection device according to claim 16, or the radar according to claim 17, or the terminal device according to claim 18.

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