Light splitting device, beam combining device, detection device, laser radar and terminal

Abstract

A light splitting device, a beam combining device, a detection device, a laser radar and a terminal are applied to the technical field of detection. Each of the light splitting device and the beam combining device comprises a third surface, a functional surface, a first reflecting surface, a fourth surface, a second reflecting surface and a fifth surface. The fourth surface is perpendicular to the functional light splitting surface to form a first right angle, and the third surface and the first reflecting surface are opposite to the first right angle. The fifth surface is also perpendicular to the functional surface to form a second right angle, and the second reflecting surface is opposite to the second right angle. The functional surface is used for light splitting and / or beam combining. In the application, the optical paths of beam splitting and beam combining of the functional surface are similar and even symmetrical, so that the light beams after beam splitting share a receiving surface and are equal in optical path, and / or beam combining under the condition that two light beams share a transmitting surface and are equal in optical path is easy to realize. And additional optical elements do not need to be additionally arranged, so that miniaturization development of equipment is facilitated.

Description

Technical Field

[0001] This application relates to the field of detection technologies, and in particular to a beam splitting device, a beam combining device, a detection device, a lidar, and a terminal. Background Art

[0002] A device with beam splitting ability (i.e., a beam splitting device) can separate a beam of light to obtain multiple output beams, which can improve the integration of optical devices and the quality of services. For example, in security devices, a beam splitting lens is used to separate visible light and infrared light for separate imaging. Compared with the method of using two sets of lenses for separate imaging, the former can simplify the overall structure of the machine and reduce costs while achieving two imaging methods.

[0003] However, the paths of the two beams separated by the current beam splitting devices often have non-coplanar receiving ends. If the receiving surfaces of the two beams to be separated need to be coplanar, an additional module needs to be installed outside the beam splitting device, and the final structure is relatively complex, affecting the overall volume of the device. Especially for imaging beams, the receiving surfaces of the two beams separated from the imaging beam are often independent of each other, which makes the receiving devices of these two beams need to be set on different circuit boards, and the installation and adjustment are difficult.

[0004] In addition, in some scenarios where two beams of light need to be combined, it is difficult to combine the two input beams when their emission surfaces are coplanar. Therefore, in the scenario of independent beam combination at the emission end, there are also problems such as difficult installation and adjustment and complex optical path structure. Summary of the Invention

[0005] This application provides a beam splitting device, a beam combining device, a detection device, a lidar, and a terminal. The beam splitting device of this application can make the receiving surfaces of the two output beams after beam splitting of the same beam coplanar and have the same optical path, and this application does not require additional optical elements, which helps the miniaturization development of the device. In the beam combining device provided by this application, the paths passed by the two beams before beam combination are similar, so that two beams with coplanar emission surfaces can be combined into one beam and have the same optical path, and no additional optical elements are required, which helps the miniaturization development of the device.

[0006] In a first aspect, this application provides a beam splitting device, including an incident surface, a beam splitting surface, a first reflection surface, a first emission surface, a second reflection surface, and a second emission surface. The first emission surface and the beam splitting surface form a first right angle, and both the incident surface and the first reflection surface are opposite to the first right angle. The second emission surface and the beam splitting surface form a second right angle, and the second reflection surface is opposite to the second right angle. Among them, the beam splitting surface is used for reflecting and transmitting the incident beam of light, the first reflection surface is used for reflecting the beam reflected by the beam splitting surface, and the second reflection surface is used for reflecting the beam transmitted by the beam splitting surface.

[0007] In this application, by designing the structures of the incident surface, the beam splitting surface, and the two reflection surfaces of the beam splitting device, the light beams reflected and transmitted by the beam splitting surface both pass through one reflection by the reflection surface, making the propagation paths of the two light beams split by the beam splitting surface similar or even symmetrical, which is conducive to making the receiving surfaces of the two light beams after beam splitting coplanar, and can make the optical paths of the two light beams for beam splitting the same.

[0008] When this application is applied to a receiving system, the received light beam can obtain two output light beams with coplanar receiving surfaces after passing through the beam splitting device, and the optical paths of these two light beams are equal. Therefore, the two receiving devices corresponding to the two output light beams can be integrated into one module, for example, installed on the same circuit board, which can reduce the difficulty of the manufacturing process, greatly reduce the complexity of alignment and adjustment, and save time costs.

[0009] Of course, this application can also be applied to a transmitting system. At this time, one light beam emitted by the transmitting device can obtain two sub-light beams with equal optical paths through the beam splitting device of this application, improving the number of transmitted lines.

[0010] In a possible implementation manner of the first aspect, the included angle between the first reflection surface and the first output surface is the second angle β, and the included angle between the second reflection surface and the second output surface is the third angle γ. The second angle β and the third angle γ satisfy: β = γ.

[0011] In the above implementation manner, the second angle β and the third angle γ are the same. And because the angles between the light beam reflected by the beam splitting surface and the light beam transmitted by the beam splitting surface and the beam splitting surface are the same, the propagation paths of the reflected light beam and the transmitted light beam are similar or even symmetrical. On the basis of the similar optical paths, by adjusting the incident angle of the light beam incident on the beam splitting surface in specific applications, it is possible to make the receiving surfaces of the two light beams after beam splitting coplanar and the optical paths the same. Therefore, the above implementation manner can make the receiving surfaces of the two light beams after beam splitting coplanar and the optical paths the same, and no additional components need to be installed.

[0012] In a possible implementation manner of the first aspect, the included angle between the incident surface and the beam splitting surface is the first angle α, and the included angle between the first reflection surface and the first output surface is the second angle β. The first angle α and the second angle β satisfy:

[0013] 90° + α = 2β.

[0014] In this implementation manner, due to the angular relationship between the first angle α and the second angle β, when the light beam perpendicular to the incident surface propagates to the beam splitting surface, the light beam reflected by the beam splitting surface and the light beam transmitted by the beam splitting surface have similar paths. Combining the fact that the aforementioned second angle β and the third angle γ are equal, it can be known that the receiving surfaces of the reflected light beam and the transmitted light beam after the beam splitting surface splits the light are coplanar and the optical paths are the same.

[0015] The light beam is incident perpendicular to the incident surface, which can reduce the light beam loss and avoid the occurrence of stray light, improving the effectiveness of the received signal. The above-described embodiment can achieve that the light beam perpendicular to the incident surface has the same optical path and the same imaging plane for the two output light beams after passing through the beam splitting device.

[0016] In a possible embodiment of the first aspect, the beam splitting device is a prism. Further, the beam splitting device includes two beam splitting prisms, which are referred to as the first prism and the second prism for convenience of description. Among them, the first prism includes an incident surface, a first surface, a first reflection surface, and a first exit surface. The second prism includes a second surface, a second reflection surface, and a second exit surface. Among them, the first surface and the second surface are attached to form a beam splitting surface. On the one hand, the surface of the prism is easy to fix and form, and the angular relationship between the surfaces is also stable, improving the manufacturing efficiency and the reliability of the beam splitting device. On the other hand, it is formed by attaching two separate beam splitting prisms, which can reduce the manufacturing difficulty of the beam splitting device and reduce the cost.

[0017] In another possible embodiment of the first aspect, the beam splitting device is formed by attaching the first prism and the second prism together through the beam splitting surface. The integrally provided beam splitting device is small in volume and high in stability, which can improve the reliability of the beam splitting device and has better application effects even in some environments with bumps and large temperature changes (such as vehicle-mounted environments and flight environments).

[0018] In another possible embodiment of the first aspect, the beam splitting surface is used to divide the first light beam entering from the incident surface into a second light beam and a third light beam. The second light beam is a reflected light beam, and the third light beam is a transmitted light beam. The first reflection surface is used to reflect the second light beam to the first exit surface, and the second reflection surface is used to reflect the third light beam to the second exit surface. The receiving surfaces of the second light beam exiting from the first exit surface and the third light beam exiting from the second exit surface are coplanar. In addition, the optical paths of the second light beam exiting from the first exit surface and the third light beam exiting from the second exit surface are the same.

[0019] Further, the transmission path of the second light beam and the transmission path of the third light beam are axisymmetric with respect to the beam splitting surface.

[0020] The above-described embodiment provides an optical path design. The first light beam enters from the incident surface, and the second light beam obtained by beam splitting through the beam splitting surface propagates to the first reflection surface, while the third light beam propagates to the second reflection surface. After the first reflection surface and the second reflection surface reflect the second light beam and the third light beam respectively, the receiving surfaces of the second light beam and the third light beam exiting from the exit surface are coplanar and have the same optical path.

[0021] Optionally, the first light beam is a light beam from the object space, and the second and third light beams are used to obtain the detection result of the object space. Since the second and third light beams are obtained by splitting the same light beam and the imaging surfaces can be the same, the detection results obtained based on the second and third light beams can be highly matched. When the detection results need to be fused, the fusion effect can be improved and the detection performance can be enhanced.

[0022] In another possible implementation manner of the first aspect, the principal optical axis of the first light beam is perpendicular to the incident surface. The light beam is perpendicularly incident on the incident surface, which can reduce the light beam loss and avoid the occurrence of stray light, and improve the effectiveness of the received signal.

[0023] In another possible implementation manner of the first aspect, the incident surface is coplanar with the first reflection surface or the incident surface is parallel to the first reflection surface. Through the foregoing structural design, the two light beams after splitting are imaged on the same receiving surface. And the incident surface and the first reflection surface being coplanar or parallel simplifies the overall structure of the light splitting device and is easy to process and form.

[0024] In some solutions, the first angle α and the second angle β satisfy: 90° + α = 2β. At this time, the first angle α is 30° and the second angle β is 60°.

[0025] In another possible implementation manner of the first aspect, the minimum incident angle of the light beam reflected by the light splitting surface on the first reflection surface is greater than or equal to the total reflection angle of the first reflection surface. In the above implementation manner, the light beam satisfies the total reflection condition on the first reflection surface, so that the first reflection surface does not need to be coated with a reflection film, which simplifies the production process of the light splitting device. In some solutions, the first reflection surface does not need to be coated, so that there can be an overlap between the light beam that generates a reflection phenomenon on the first reflection surface and the light beam incident from the incident surface, making the structure of the light splitting device more compact and contributing to the miniaturization development of the device.

[0026] In another possible implementation manner of the first aspect, the minimum incident angle of the light beam transmitted through the light splitting surface on the second reflection surface is greater than or equal to the total reflection angle of the second reflection surface. In the above implementation manner, the light beam satisfies the total reflection condition on the second reflection surface, so that the second reflection surface does not need to be coated with a reflection film, which simplifies the production process of the light splitting device.

[0027] In another possible implementation manner of the first aspect, the first reflection surface is coated with a reflection film. Through coating reflection, the reflection of the light beam does not need to meet the total reflection angle condition, and the requirement for the field of view angle of the light beam incident on the light splitting device is lower, and a larger field of view angle can be supported. In addition, when the light beam reaches the light splitting device after passing through the imaging lens, when the first reflection surface uses coating reflection, the aperture number of the imaging lens can be larger, which can reduce the design requirements for the detection device and increase the applicable scenarios of the light splitting device.

[0028] In yet another possible implementation of the first aspect, the second reflecting surface is coated with a reflective film. In this way, the requirement for the field of view angle of the light beam incident on the beam splitting device is lower, and a larger aperture number and field of view angle can be supported.

[0029] In yet another possible implementation of the first aspect, a beam splitting film is provided on the first surface, and / or a beam splitting film is provided on the second surface. Optionally, the beam splitting film is coated on the surface by evaporation.

[0030] In yet another possible implementation of the first aspect, the beam splitting film includes one or more of a wavelength beam splitting film, a light intensity beam splitting film (or energy beam splitting film), and a polarization beam splitting film, etc.

[0031] In yet another possible implementation of the first aspect, the wavelength of the light beam reflected by the beam splitting surface is different from the wavelength of the light beam transmitted through the beam splitting surface. Further, the optical path of the light beam reflected by the beam splitting surface in the beam splitting device is the same as the optical path of the light beam transmitted through the beam splitting surface in the beam splitting device. The same optical path helps to achieve the same imaging surface for the reflected beam and the transmitted beam. Especially for a detection device, the same imaging surface helps to register the detection results obtained based on the reflected beam and the transmitted beam, improving the resolution of the detection device.

[0032] For example, in some solutions, the beam splitting surface has different reflectivities and transmittances for lights of different wavelengths. For example, in the wavelength range less than 750 nanometers (nm), the transmittance is relatively low, and in the wavelength range greater than 800 nm, the transmittance is relatively high. That is, most of the light signals with wavelengths less than 750 nm are reflected when passing through the beam splitting surface, and most of the light signals with wavelengths greater than 800 nm are transmitted when passing through the beam splitting surface.

[0033] In yet another possible implementation of the first aspect, the longer the wavelength, the shorter the corresponding optical path at the same distance. In some solutions, through optical path design and / or prism material design, the paths or times traveled by the reflected light and the transmitted light in the prism are different. For example, the path traveled by the long wave is designed to be longer, so that the two beams of light can be imaged on the same surface.

[0034] For the convenience of description, in the following examples, the beam splitting surface is used to reflect the light beam of the first wavelength and transmit the light beam of the second wavelength, and the intersection point of the main optical axis (or main ray) of the light beam incident on the beam splitting surface and the beam splitting surface is the beam splitting center.

[0035] In yet another possible implementation of the first aspect, the magnitude relationship between the first distance and the second distance is the same as the magnitude relationship between the first wavelength and the second wavelength, where the first distance is the distance from the beam splitting center to the first exit surface, and the second distance is the distance from the beam splitting center to the second exit surface. In this implementation, if the first wavelength is greater than the second wavelength, then the distance between the beam splitting center and the first exit surface is greater than the distance between the beam splitting center and the second exit surface, and the first exit surface "extends" a part relative to the second exit surface, such that the long wave needs to travel a longer distance in the beam splitting device, which helps to achieve the same optical path for the reflected beam and the transmitted beam. Conversely, if the first wavelength is less than the second wavelength, then the distance between the beam splitting center and the first exit surface is less than the distance between the beam splitting center and the second exit surface, and the second exit surface "extends" a part relative to the first exit surface.

[0036] In yet another possible implementation of the first aspect, the magnitude relationship between the third distance and the fourth distance is the same as the magnitude relationship between the first wavelength and the second wavelength, where the third distance is the distance from the beam splitting center to the first reflection surface, and the fourth distance is the distance from the beam splitting center to the second reflection surface. In this implementation, if the first wavelength is greater than the second wavelength, then the distance between the beam splitting center and the first reflection surface is greater than the distance between the beam splitting center and the second reflection surface, and the first reflection surface protrudes more outward relative to the second reflection surface, such that the long wave needs to travel a longer path in the beam splitting device, which helps to achieve the same optical path for the reflected beam and the transmitted beam. Conversely, if the first wavelength is less than the second wavelength, then the distance between the beam splitting center and the first reflection surface is less than the distance between the beam splitting center and the second reflection surface, and the second reflection surface protrudes more outward relative to the first reflection surface.

[0037] In yet another possible implementation of the first aspect, the magnitude relationship between the refractive index of the first prism and the refractive index of the second prism is opposite to the magnitude relationship between the first wavelength and the second wavelength. In this implementation, the first prism and the second prism are made of materials with different refractive indices. If the first wavelength is greater than the second wavelength, then the refractive index of the first prism is less than the refractive index of the second prism, such that the long wave travels for a shorter time in the first prism, which helps to achieve the same optical path for the reflected beam and the transmitted beam. Conversely, if the first wavelength is less than the second wavelength, then the refractive index of the first prism is greater than the refractive index of the second prism, and the long wave travels for a shorter time in the second prism.

[0038] In a second aspect, the present application provides a beam combining device, which includes a first prism and a second prism. The first prism includes a first incident surface, a first surface, a first reflection surface, and an exit surface. The first surface and the first incident surface are perpendicular to each other to form a first right angle, and the first reflection surface and the exit surface are opposite to the first right angle. The second prism includes a second incident surface, a second surface, and a second reflection surface. The second surface and the second incident surface are perpendicular to each other to form a second right angle, and the second reflection surface is opposite to the second right angle. The first surface and the second surface are attached to form a beam combining surface, and the beam combining surface is used to reflect the light beam reflected by the first reflection surface and transmit the light beam reflected by the second reflection surface to obtain a combined light beam, and the combined light beam exits from the exit surface.

[0039] In the embodiments of the present application, both incident light beams are reflected by a reflection surface once, so that the propagation paths of the two light beams entering the beam combining surface are similar, or even symmetric, which is easy to realize the beam combining of the two light beams in the case of a common emission surface, and the optical paths of the two light beams after beam combining can be equal, so as to meet the property requirements of the combined light beam in various cases.

[0040] In a possible implementation manner of the second aspect, the included angle between the first reflection surface and the first incident surface is a second angle β, and the included angle between the second reflection surface and the second incident surface is a third angle γ. The second angle β and the third angle γ satisfy: β = γ.

[0041] In the embodiments of the present application, since the angle between the first reflection surface and the beam splitting surface is the same as the angle between the second reflection surface and the beam splitting surface, the propagation paths of the two input light beams are similar, or even symmetric. On the basis of similar optical paths, by adjusting the incident angle of the light beam in specific applications, the optical paths of the two light beams after beam combining can be made to coincide and have equal optical paths.

[0042] In a possible implementation manner of the second aspect, the included angle between the exit surface and the beam combining surface is a first angle α, and the included angle between the first reflection surface and the first incident surface is a second angle β. The first angle α and the second angle β satisfy:

[0043] 90° + α = 2β.

[0044] In this implementation manner, due to the angular relationship between the first angle α and the second angle β, the combined light beam can be perpendicular to the exit surface. The light beam exits perpendicular to the exit surface, which can reduce the light beam loss and avoid the appearance of stray light, and improve the effectiveness of the received signal. In short, the above implementation manner can realize that two incident light beams pass through the beam combining device to obtain a combined light beam, and the combined light beam is perpendicular to the exit surface.

[0045] In a possible implementation manner of the second aspect, the first prism and the second prism are attached to each other as a whole through the beam combining surface.

[0046] In yet another possible implementation of the second aspect, the first reflecting surface is configured to reflect a first light beam towards the beam combining surface. The first light beam enters the first prism through the first incident surface. The second reflecting surface is configured to reflect a second light beam towards the beam combining surface. The second light beam enters the second prism through the second incident surface. The emitting surfaces of the first light beam incident on the first incident surface and the second light beam incident on the second incident surface are coplanar (or parallel). The beam combining surface is configured to reflect the first light beam that has passed through the first reflecting surface and transmit the second light beam that has passed through the second reflecting surface to obtain a combined light beam. The optical axes of the first light beam and the second light beam after passing through the beam combining surface coincide.

[0047] In yet another possible implementation of the second aspect, the combined light beam is perpendicular to the exit surface.

[0048] In yet another possible implementation of the second aspect, the exit surface is coplanar with or parallel to the first reflecting surface. The first angle is 30° and the second angle is 60°.

[0049] In yet another possible implementation of the second aspect, the minimum incident angle of the light beam incident on the first reflecting surface through the first incident surface is greater than or equal to the total reflection angle of the first reflecting surface.

[0050] In yet another possible implementation of the second aspect, the first reflecting surface is coated with a reflective film.

[0051] In yet another possible implementation of the second aspect, the minimum incident angle of the light beam incident on the second reflecting surface through the second incident surface is greater than or equal to the total reflection angle of the second reflecting surface.

[0052] In yet another possible implementation of the second aspect, the second reflecting surface is coated with a reflective film.

[0053] In yet another possible implementation of the second aspect, a beam splitting film is provided on the first surface and / or the second surface.

[0054] In yet another possible implementation of the second aspect, the beam splitting film includes one or more of a wavelength beam splitting film, an intensity beam splitting film, and a polarization beam splitting film.

[0055] In yet another possible implementation of the second aspect, the wavelength of the light beam incident on the first incident surface is different from the wavelength of the light beam incident on the second incident surface.

[0056] In the above implementation, the present application can combine two composite light beams of different wavelengths to meet the detection requirements in various scenarios.

[0057] In yet another possible implementation of the second aspect, the wavelength of the light beam incident on the first incident surface is the same as the optical path of the light beam incident on the second incident surface in the beam combining device.

[0058] In yet another possible implementation of the second aspect, the wavelength of the light beam incident on the first incident surface is the first wavelength, and the wavelength of the light beam incident on the second incident surface is the second wavelength. The magnitude relationship between the first distance and the second distance is the same as the magnitude relationship between the first wavelength and the second wavelength. Here, the first distance is the distance from the beam combining center to the first incident surface, the second distance is the distance from the beam combining center to the second incident surface, and the beam combining center is the intersection point of the principal optical axis of the light beam incident on the beam combining surface and the beam combining surface.

[0059] In yet another possible implementation of the second aspect, the wavelength of the light beam incident on the first incident surface is the first wavelength, and the wavelength of the light beam incident on the second incident surface is the second wavelength. The magnitude relationship between the third distance and the fourth distance is the same as the magnitude relationship between the first wavelength and the second wavelength. Here, the third distance is the distance from the beam combining center to the first reflection surface, the fourth distance is the distance from the beam combining center to the second reflection surface, and the beam combining center is the intersection point of the optical axis in the light beam incident on the beam combining surface and the beam combining surface.

[0060] In yet another possible implementation of the second aspect, the wavelength of the light beam incident on the first incident surface is the first wavelength, and the wavelength of the light beam incident on the second incident surface is the second wavelength. The magnitude relationship between the refractive index of the first prism and the refractive index of the second prism is opposite to the magnitude relationship between the first wavelength and the second wavelength.

[0061] In a third aspect, the present application provides a detection device, including a first receiving device, a second receiving device, and the beam splitting device described in any item of the first aspect. The beam splitting device is used to split the first light beam into a second light beam and a third light beam, and the receiving surfaces of the second light beam and the third light beam are coplanar. Here, the first receiving device is used to receive the first light beam, the second receiving device is used to receive the second light beam, and the photosensitive surfaces of the first receiving device and the second receiving device are coplanar.

[0062] Of course, the two receiving surfaces may not be absolutely coplanar. For example, in some cases, the photosensitive surfaces of the two receiving devices are parallel to each other.

[0063] In a possible implementation of the third aspect, the first receiving device and the second receiving device are used to obtain a detection result. The detection result includes one or more pieces of information such as an image, a point cloud, time of flight (TOF) information, the distance, position, angle, reflectivity, or color of the target, etc. In the above implementation, the first light beam and the second light beam are obtained by splitting the same light beam, and the photosensitive surfaces of the first receiving device and the second receiving device are coplanar or parallel, so that the detection result obtained by the first receiving device is highly registered with the detection result obtained by the second receiving device, which can reduce the complexity of the detection structure fusion and improve the resolution of the detection device.

[0064] In still another possible implementation manner of the third aspect, the first receiving device and the second receiving device are mounted on the same circuit board. In this way, the two receiving devices share the same circuit board, which is easy to manufacture, assemble, and adjust.

[0065] In still another possible implementation manner of the third aspect, the first receiving device and the second receiving device belong to a detector, such as a single-photon avalanche diode (SPAD) array detector.

[0066] In still another possible implementation manner of the third aspect, the first receiving device and the second receiving device belong to an image sensor. Optionally, the first receiving device is a visible light sensor, and the second receiving device is a single-channel sensor. Or optionally, the second receiving device is a visible light sensor, and the first receiving device is a single-channel sensor.

[0067] In still another possible implementation manner of the third aspect, the first receiving device is a detector, and the second receiving device belongs to an image sensor. Or, the second receiving device is a detector, and the first receiving device belongs to an image sensor.

[0068] In still another possible implementation manner of the third aspect, the detection device further includes an imaging lens. The first light beam from the object space is incident on the beam splitting device after passing through the imaging lens.

[0069] In a possible implementation manner of the third aspect, the detection device further includes a filtering module. The filtering module is disposed between the imaging lens and the first receiving device, or between the imaging lens and the second receiving device. After filtering by the filtering module, the effectiveness of the optical signal received by the receiving device is improved, which helps to improve the detection accuracy of the detection device.

[0070] In a fourth aspect, the present application provides a detection device, which includes a first transmitting device, a second transmitting device, and the beam combining device described in any item of the second aspect. The first transmitting device is configured to transmit a first light beam, the second transmitting device is configured to transmit a second light beam, and the emission surfaces of the first light beam and the second light beam are coplanar. The beam combining device is configured to combine the first light beam and the second light beam to obtain a combined light beam, and the combined light beam is used to detect the object space.

[0071] Optionally, the light emitting surface of the first transmitting device and the light emitting surface of the second transmitting device are coplanar. Wherein, the light emitting surface of the first transmitting device is the emission surface of the first light beam. Similarly, the light emitting surface of the second transmitting device is the emission surface of the second light beam. Of course, the light emitting surfaces of the two transmitting devices may not be absolutely coplanar. In some solutions, the light emitting surfaces of the two receiving devices are parallel to each other.

[0072] In a possible implementation of the fourth aspect, the properties of the light beams emitted by the first transmitting device and the second transmitting device are different. For example, their wavelengths, powers, and / or polarization directions are different. For instance, the first light beam emitted by the first transmitting device is a light beam with a first wavelength, while the second light beam emitted by the second transmitting device is a light beam with a second wavelength.

[0073] In another possible implementation of the fourth aspect, the detection device further includes an optical lens, and the combined light beam exits through the optical lens.

[0074] In a fifth aspect, the present application provides a lidar, including the beam splitting device described in the first aspect. Optionally, the lidar further includes a laser and a detector. The laser is used to emit detection light into the object space. The light beam incident on the beam splitting device includes the echo of the detection light, and this light beam is used to obtain information about the target in the object space. The detector is used to receive the light beam after passing through the beam splitting device to obtain relevant information about the target in the object space.

[0075] In a sixth aspect, the present application provides a lidar, including the beam splitting device described in the second aspect. Optionally, the lidar further includes a laser and a detector. The laser is used to emit at least two beams of detection light into the object space. The at least two beams of detection light are incident on the beam combining device to obtain a combined light beam, and this combined light beam is used to detect the object space. The detector is used to receive the echo of the combined light beam to obtain relevant information about the target in the object space.

[0076] In a seventh aspect, the present application provides a lidar, where the lidar includes a laser and the detection device described in the third aspect. The laser is used to generate an emission light beam, and the emission light beam is used to detect the object space. The detection device is used to receive the first light beam, and the first light beam includes the echo of the emission light beam.

[0077] In an eighth aspect, the present application provides a lidar, where the lidar includes a detector and the detection device described in the third aspect. The detector is used to receive the return signal from the object space, and the return signal includes the echo of the combined light beam emitted by the detection device.

[0078] In a ninth aspect, the present application provides a terminal, including the beam splitting device described in any item of the first aspect, or including the detection device described in any item of the second aspect, or including the lidar described in the third aspect. Optionally, the terminal includes intelligent terminals or transportation means such as vehicles, robots, drones, or ships.

[0079] For the beneficial effects of some solutions in the second, third, fifth, sixth, seventh, and ninth aspects of the present application, reference can be made to the beneficial effects of the technical solutions in the first aspect. For the beneficial effects of some solutions in the fourth, sixth, and eighth aspects of the present application, reference can be made to the beneficial effects of the solutions in the second aspect. Brief Description of the Drawings

[0080] The drawings required for the description of the embodiments will be briefly introduced below.

[0081] Figure 1 are schematic structural diagrams of two kinds of beam splitting devices;

[0082] Figure 2 is a schematic three-dimensional structure diagram of an optical device provided by an embodiment of the present application;

[0083] Figure 3 is Figure 2 a schematic cross-sectional structure diagram of the optical device shown in FIG. along line A-A;

[0084] Figure 4A is Figure 3 a possible optical path diagram of the optical device shown in FIG.

[0085] Figure 4B is Figure 2 a possible optical path diagram of the optical device shown in FIG.

[0086] Figure 5A is Figure 3 a possible optical path diagram of the optical device shown in FIG.

[0087] Figure 5B is Figure 2 a possible optical path diagram of the optical device shown in FIG.

[0088] Figure 6 is a schematic structure diagram of another optical device provided by an embodiment of the present application;

[0089] Figure 7 is a schematic diagram of the transmittance of a beam splitting surface of the present application for beams of different wavelengths;

[0090] Figure 8 is a schematic three-dimensional structure diagram of another optical device provided by an embodiment of the present application;

[0091] Figure 9A is a Figure 8 schematic cross-sectional structure and optical path diagram of the optical device shown in FIG. along line B-B;

[0092] Figure 9B is another Figure 8 schematic cross-sectional structure and optical path diagram of the optical device shown in FIG. along line B-B;

[0093] Figure 10A is a schematic structure and optical path diagram of another optical device provided by an embodiment of the present application;

[0094] Figure 10BIt is a structural and optical path schematic diagram of another optical device provided by an embodiment of the present application;

[0095] Figure 11A It is a structural and optical path schematic diagram of another optical device provided by an embodiment of the present application;

[0096] Figure 11B It is a structural and optical path schematic diagram of another optical device provided by an embodiment of the present application;

[0097] Figure 12A It is a structural and optical path schematic diagram of another optical device provided by an embodiment of the present application;

[0098] Figure 12B It is a structural and optical path schematic diagram of another optical device provided by an embodiment of the present application;

[0099] Figure 13A It is a structural and optical path schematic diagram of another optical device provided by an embodiment of the present application;

[0100] Figure 13B It is a structural and optical path schematic diagram of another optical device provided by an embodiment of the present application;

[0101] Figure 14 It is a structural schematic diagram of another optical device provided by an embodiment of the present application;

[0102] Figure 15 It is a three-dimensional structural schematic diagram of another optical device provided by an embodiment of the present application;

[0103] Figure 16 is Figure 15 A cross-sectional structural schematic diagram of the optical device shown in the figure cut along the C-C line;

[0104] Figure 17 It is a three-dimensional structural schematic diagram of another optical device provided by an embodiment of the present application;

[0105] Figure 18A It is a structural and optical path schematic diagram of another optical device provided by an embodiment of the present application;

[0106] Figure 18B It is a structural and optical path schematic diagram of another optical device provided by an embodiment of the present application;

[0107] Figure 19 It is a structural schematic diagram of a detection device provided by an embodiment of the present application;

[0108] Figure 20 It is an optical path schematic diagram of a beam receiving process provided by an embodiment of the present application;

[0109] Figure 21It is a schematic structural diagram of a detection device provided by an embodiment of the present application;

[0110] Figure 22 It is a schematic optical path diagram of a light beam receiving process provided by an embodiment of the present application;

[0111] Figure 23 It is a schematic optical path diagram of a transmitting module provided by an embodiment of the present application;

[0112] Figure 24 It is a schematic structural diagram of a detection device provided by an embodiment of the present application. Detailed implementation manners

[0113] A beam splitting device refers to a device that can split a light beam into multiple light beams. Please refer to Figure 1 , Figure 1 The beam splitting device shown in (a) of [] can split a light beam into a first output light beam in the horizontal direction and a second output light beam in the vertical direction. The first output light beam and the second output light beam are respectively received by a first receiving device and a second receiving device. Since the imaging surfaces of the first received light beam and the second received light beam are located in different planes, the first receiving device and the second receiving device need to be arranged in different circuit boards, which makes the equipment assembly and adjustment difficult. The length and width of the equipment are also affected by the two receiving devices and need to be set relatively large, resulting in a relatively large overall volume.

[0114] In some solutions, the equipment can use a folding mirror to fold one of the output light beams, so as to obtain two parallel light beams. As Figure 1 shown in (b) of [], the folding mirror can fold the second output light beam into a parallel light beam. However, due to the different receiving surfaces of the first output light beam and the second output light beam, it is difficult to couple the first receiving device and the second receiving device, and it is difficult to match the imaging effect of the second output light beam with the imaging effect of the first received light beam.

[0115] A beam combining device refers to a device that can combine multiple light beams into one beam. Currently, in some scenarios where two light beams need to be combined, it is difficult to combine the two input light beams when their emitting surfaces are coplanar.

[0116] In view of this, the present application provides a beam splitting device, a beam combining device, a detection device, a lidar and a terminal. By designing the structure of the beam splitting device, the paths passed by the two light beams after separation are similar, which is easy to achieve equal optical paths for the two light beams after beam splitting, so that the receiving surfaces of the two light beams are coplanar. Moreover, the present application does not require additional optical elements to be installed, which helps the miniaturization development of the equipment. When the present application is applied to the light beam receiving scenario, the imaging surfaces of the two output light beams can be located in the same plane, which enables the two receiving devices corresponding to the two output light beams to be integrated into one module, greatly reducing the assembly and adjustment difficulty.

[0117] The structure of the present application can also be applied to the beam combining scenario. At this time, the paths of the two light beams before beam combining are similar or even symmetrical, which is easy to achieve beam combining of the two light beams on the common emission surface and can meet the requirements for the properties of the combined light beam in various situations. When the beam combining device is applied to the light beam emission scenario, it can combine the two light beams emitted by the two emission modules with the same light output surface into one output light beam, which enables the two emission modules to be installed on the same circuit board, greatly reducing the alignment difficulty.

[0118] The beam splitting device and the beam combining device provided by the present application will be introduced below.

[0119] An optical device provided by an embodiment of the present application can be used as a beam splitting device and / or a beam combining device. Combining Figure 2 and Figure 3 , the optical device 100 includes a functional surface 10, a third surface 11, a first reflecting surface 12, a fourth surface 13, a second reflecting surface 21, and a fifth surface 22. Among them, the fourth surface 13 is perpendicular to the functional surface 10, and the formed angle is called the first right angle (such as Figure 3 denoted as θ1), and the third surface 11 and the first reflecting surface 12 are opposite to the first right angle θ1. The fifth surface 22 is also perpendicular to the functional surface 10, and the formed angle between the two is called the second right angle (such as Figure 3 denoted as θ2), and the second reflecting surface 21 is opposite to the second right angle θ2. The functional surface 10 is used for beam splitting and / or beam combining.

[0120] As a schematic illustration of a beam splitting scenario, the light beam incident on the functional surface 10 from the third surface 11 is split into two light beams by the functional surface 10, that is, the functional surface 10 reflects and transmits the light beam incident from the third surface 11 to obtain a reflected light beam and a transmitted light beam. In this case, the optical device 100 can be called a beam splitting device, the functional surface 10 can be called a beam splitting surface, and the third surface 11 can be called an incident surface. Further, the first reflecting surface 12 is used to reflect the light beam reflected by the functional surface 10 and exit from the fourth surface 13, and the second reflecting surface 21 is used to reflect the light beam transmitted by the functional surface 10 and exit from the fifth surface 22. In this way, in the optical device 100, the light beams reflected and transmitted by the functional surface 10 both pass through one reflection by the reflecting surface, making the paths of the two light beams split by the functional surface 10 similar or even the same. On this basis, by designing the angular relationship between the surfaces in the optical device 100, it is possible to make the receiving surfaces of the two light beams after beam splitting the same and have equal optical paths.

[0121] As a schematic diagram of a beam combining scenario, the light beam incident on the functional surface 10 by the first reflecting surface 12 is reflected by the functional surface 10, while the light beam incident on the functional surface 10 by the second reflecting surface 21 is transmitted by the functional surface 10, so that the light beam from the first reflecting surface 12 and the light beam from the second reflecting surface 21 can be combined into one light beam (called a combined light beam), and the combined light beam can be emitted from the third surface 11. In this case, the optical device 100 can be called a beam combining device, and the functional surface 10 can be called a beam combining surface. In this way, in the optical device 100, both incident light beams are reflected by the reflecting surface once, so that the propagation paths of the two light beams entering the beam combining surface are similar or even symmetrical. On this basis, by designing the angular relationship between the surfaces and the relationship between the incident angles, the main optical axes of the two light beams can be made to coincide after the beam combining, which can meet the property requirements of the combined light beam in various situations.

[0122] Further, combined with Figure 2 The fourth surface 13 and the fifth surface 22 are two side surfaces of the optical device 100. The functional surface 10 is located inside the optical device 100, or part of the functional surface 10 is located inside the optical device 100. The first reflective surface 12 and the second reflective surface 21 are also side surfaces of the optical device 100. Figure 3 The first reflective surface 12 and the second reflective surface 21 are opposite to the first right angle θ1 and the second right angle θ2, respectively, and are located on either side of the functional surface 10. Furthermore, one side edge of the third surface 11 is connected to an edge of the first reflective surface 12, while the other side edge of the third surface 11 is connected to the functional surface 10, and the other side edge of the first reflective surface 12 is connected to the fourth surface 13. Similarly, one side edge of the second reflective surface 21 is connected to the fifth surface 22.

[0123] Optionally, the fourth surface 13 and the fifth surface 22 are both perpendicular to the functional surface 10, that is, the fourth surface 13 and the fifth surface 22 are parallel or coplanar. In some embodiments, the angle between the fourth surface 13 and the functional surface 10 is the same as the angle between the fifth surface 22 and the functional surface 10.

[0124] In a possible embodiment, the included angle between the first reflective surface 12 and the fourth surface 13 is a second angle (eg Figure 3 The included angle between the second reflecting surface 21 and the fifth surface 22 is a third angle (e.g. Figure 3 The second angle β and the third angle γ satisfy: β = γ.

[0125] Combine Figure 3It is not difficult to see that in the case of β = γ, since the fourth surface 13 and the fifth surface 22 are both perpendicular to the functional surface 10, the angle between the first reflecting surface 12 and the functional surface 10 is equal to the angle between the second reflecting surface 21 and the functional surface 10. In the scenario where the functional surface 10 is used for beam splitting, the angles between the reflected beam and the transmitted beam from the functional surface 10 and the functional surface 10 are the same. By designing the angles between the first reflecting surface 12 and the second reflecting surface 21 and the functional surface 10 to be the same, the propagation paths of the reflected beam and the transmitted beam can be made similar. On the basis of similar optical paths, by adjusting the incident angle of the beam on the functional surface, equal optical path and coplanar receiving surfaces can be achieved between the two split beams. Similarly, in the scenario where the functional surface is used for beam combining, the angles between the first reflecting surface 12 and the second reflecting surface 21 and the functional surface 10 are the same, so that two beams with coplanar emitting surfaces are reflected by the first reflecting surface 12 and the second reflecting surface 21 respectively, and can be combined into one beam after passing through the functional surface 10.

[0126] The following combines Figure 4A to introduce the optical path diagram of an optical device 100 in a beam splitting scenario.

[0127] Please refer to Figure 4A , Figure 4A which is Figure 3 a possible optical path diagram of the optical device shown. Among them, after the beam 1 is incident on the optical device 100 from the third surface 11, it propagates to the functional surface 10. Among them, the intersection point of the principal optical axis of the beam 1 and the third surface 11 is denoted as point G, and the intersection point of the principal optical axis of the beam 1 and the functional surface 10 is denoted as point O (or beam splitting center). The functional surface divides the beam 1 into beam 2 and beam 3, where beam 2 is the reflected beam and beam 3 is the transmitted beam. Beam 2 propagates to the first reflecting surface 12 and is reflected by the first reflecting surface 12 to the fourth surface 13. The intersection point of the principal optical axis of beam 2 and the first reflecting surface 12 is point K, and the intersection point with the fourth surface 13 is point M. And beam 3 propagates to the second reflecting surface 21 and is reflected by the second reflecting surface 21 to the fifth surface 22. The intersection point of the principal optical axis of beam 3 and the second reflecting surface 21 is point L, and the intersection point with the fifth surface is point N. For the convenience of description, another point H coplanar with points G, K, and M on the functional surface is defined, and its position is as Figure 4A shown. In the Figure 4A optical device 100 described above, the third surface 11 can be used to introduce the beam 1 into the optical device 100, that is, the third surface 11 can be used as the incident surface. And the split beams 2 and 3 exit from the fourth surface 13 and the fifth surface 22 respectively. At this time, the fourth surface 13 and the fifth surface 22 can be used as the exit surfaces.

[0128] In a possible example, JO is the normal of the functional surface 10, and the incident angle of the beam 1 on the functional surface 10 is ∠GOJ, as Figure 4A denoted as KI is the normal line of the first reflecting surface 12, and the incident angle of the light beam 2 on the first reflecting surface is ∠OKI. Combining Figure 4A , the angle of ∠OKM is 2β, and the angle of ∠HOK is Under the condition of satisfying , the light beam 2 emitted from the fourth surface 13 is parallel to the functional surface 10. Similarly, since the optical paths of the light beams reflected and transmitted by the functional surface 10 are similar, when β = γ, the light beam 3 emitted along the fifth surface 22 is also parallel to the functional surface 10, and thus parallel to the light beam 2 emitted along the fourth surface 13.

[0129] In other words, in the optical device 100, the angle between the first reflecting surface 12 and the functional surface 10 is equal to the angle between the second reflecting surface 21 and the functional surface 10. Thus, if the incident angle of the light beam 1 on the functional surface 10 satisfies , it is possible to achieve that the paths of the reflected light beam and the transmitted light beam are similar, and after passing through the first reflecting surface 12 and the second reflecting surface 21 respectively, the imaging surfaces of the reflected light beam and the transmitted light beam are coplanar and the optical paths are the same. Combining Figure 4A and Figure 4B , the optical device 100 can make the transmission paths of the light beams 2 and 3 after beam splitting similar (even symmetric) with respect to the functional surface 10. Through the beam splitting method of the embodiments of the present application, there is no need to install additional components to make the sub-beams of the beam splitting have equal optical paths and the receiving surfaces be coplanar, which simplifies the structure of the optical device. When the optical device is applied to an optical receiving system, the two receiving devices corresponding to the two output light beams can be integrated into one module, for example, installed on the same circuit board, which can reduce the difficulty of the manufacturing process, greatly reduce the complexity of the installation and adjustment, and save time costs.

[0130] It should be understood that the foregoing parallelism, similarity, and symmetry are relative. In specific implementations, it may not be absolutely parallel, similar, or symmetric due to manufacturing errors and process levels. In addition, the angular relationships in the present application can be varied. For example, 90° + α = 2β can also be varied to: Or 2β - α = 90°, etc. These varied angular relationships also fall within the protection scope of the present application.

[0131] In another possible example, the light beam 1 is incident perpendicular to the third surface 11. The angle between the third surface 11 and the functional surface 10 (such as Figure 3 represented as α) is the first angle. Combining Figure 4A , the angle of ∠OKM is 2β, and the angle of ∠HOK is Since the light beam 1 is perpendicular to the third surface, thus Therefore, when 90° + α = 2β is satisfied, for the light beam 1 incident perpendicularly to the third surface 11, the light beam 2 exiting along the fourth surface 13 is parallel to the functional surface 10. Since the light beams reflected and transmitted by the functional surface 10 are similar, when β = γ, the light beam 3 exiting along the fifth surface 22 is also parallel to the functional surface 10, and thus parallel to the light beam 2 exiting along the fourth surface 13.

[0132] As a possible implementation, the first angle α and the second angle β satisfy:

[0133] 90° + α = 2β.

[0134] In this implementation, due to the angular relationship between the first angle α and the second angle β, when the light beam perpendicular to the third surface propagates to the functional surface and is split by the functional surface into a reflected light beam and a transmitted light beam, since the reflected light beam and the transmitted light beam are similar (even symmetric) after being separated along the functional surface. Combining the equality of the aforementioned second angle β and the third angle γ, the paths of the reflected light beam and the transmitted light beam after splitting by the functional surface are similar, which is conducive to realizing equal optical paths for the two split light beams, thereby making the receiving surfaces of the two light beams coplanar.

[0135] In the above example, the light beam is incident perpendicularly to the third surface 11, which can reduce light beam loss and avoid the occurrence of stray light, improving the effectiveness of the received signal. For example, when a part of the light beam 1 is reflected by the third surface 11, the stray light can propagate in the opposite direction of the propagation direction of the light beam 1 away from the optical device 100, reducing the possibility of the stray light being reflected by surrounding components and entering the receiving optical path.

[0136] In some of the above implementations, for the case where the light beam 1 is not incident perpendicularly to the third surface 11, the two output light beams may also have equal optical paths and coplanar receiving surfaces. For example, when the second angle β and the incident angle of the light beam on the functional surface satisfy in this case, there is no need to limit α and β to satisfy 90° + α = 2β. Of course, these implementations are also applicable to the case where α and β satisfy 90° + α = 2β.

[0137] Next, in combination with Figure 5A introduce an optical path diagram of the optical device 100 in a beam combining scenario.

[0138] Please refer to Figure 5A , Figure 5A which is Figure 3Another possible optical path diagram of the optical device shown. The light beam 4 and the light beam 5 are incident from the fourth surface 13 and the fifth surface 22 respectively. The light beam 4 is reflected by the first reflecting surface 12 and reaches the functional surface 10, while the light beam 5 is reflected by the second reflecting surface 21 and reaches the functional surface 10. The functional surface 10 can be used to reflect the light beam 4 and transmit the light beam 5. After passing through the functional surface 10, the light beam 4 and the light beam 5 are combined to obtain the light beam 6 (i.e., the combined light beam). Combining Figure 5A and Figure 5B , the optical device 100 can combine the light beam 4 and the light beam 5 incident on the optical device 100, and the combined light beam exits from the third surface 11. At this time, the fourth surface 13 and the fifth surface 22 can be used to introduce the light beam into the optical device 100, that is, the fourth surface 13 and the fifth surface 22 can be called the incident surfaces, and the third surface 11 can be called the exit surface.

[0139] In Figure 5A , the intersection point of the principal optical axis of the light beam 6 and the functional surface 10 is denoted as point O (or the beam combining center). Among them, the light beam 6 can be regarded as the reverse light beam of the light beam 1, and the light beam 4 and the light beam 5 can be regarded as the reverse light beams of the light beam 1 and the light beam 2. Therefore, Figure 5A The partial point positions and angular relationships shown can be referred to the foregoing introduction of Figure 4A .

[0140] In a possible example, JO is the normal of the functional surface 10, and the incident angle of the light beam 4 on the functional surface 10 is ∠JOK, as Figure 5A denoted as The incident angle of the light beam 4 on the first reflecting surface is ∠IKM. Combining Figure 5A , the angle of ∠OKM is 2β, and the angle of ∠HOK is In the case of satisfying , for the light beam 4 incident perpendicular to the fourth surface 13 and the light beam 5 incident perpendicular to the fifth surface 22, after passing through the functional surface 10, the optical axes of the two light beams are parallel, or even coincide. In the case of coincidence, the light beam 4 and the light beam 5 are combined into one light beam, that is, Figure 5A the light beam 6 shown.

[0141] In another possible example, the combined light beam exits perpendicular to the third surface 11. Combining Figure 4A 's related discussion, at this time the first angle α and the second angle β satisfy:

[0142] 90° + α = 2β.

[0143] In the above example, the combined light beam exits perpendicular to the third surface 11, which can reduce the light beam loss and avoid the occurrence of stray light, and improve the effectiveness of the received signal.

[0144] The above has introduced two optical path diagrams for beam splitting and beam combining. Next, the applicable optical systems of the optical device 100 will be introduced.

[0145] In a possible implementation, the optical device 100 is applied to an optical receiving system. Taking the beam splitting scenario as an example, in combination with Figure 4A and Figure 4B , the beam 1 can include the beam from the object space, and the beams 2 and 3 are used to obtain the detection result of the object space. Since the beams 2 and 3 are obtained by splitting the same beam and the imaging surfaces can be consistent, the detection results obtained based on the beams 2 and 3 can be highly matched. When the detection results need to be fused, the fusion effect can be improved and the detection performance can be enhanced.

[0146] In another possible implementation, the optical device 100 can be applied to an optical emission system. Taking the beam combining scenario in the optical emission system as an example, in combination with Figure 5A and Figure 5B , the beam 4 can be the beam emitted by one optical emission device, and the beam 5 can be the beam emitted by another optical emission device. After being combined by the optical device 100, the beams 4 and 5 can be merged to obtain a combined beam and detect the object space. In some solutions, the optical properties of the beams 4 and 5 are different, such as different energy intensities or energy distributions, or different wavelengths, or different polarization modes, so that the combined beam is a composite beam. When this composite beam is used to detect the object space, it is beneficial to improve the detection efficiency and enhance the detection accuracy.

[0147] Taking the beam splitting scenario in the optical emission system as an example, in combination with Figure 4A and Figure 4B , the beam 1 can be the beam emitted by the optical emission device. After passing through the optical device 100, this beam can be separated into two beams and irradiated onto the object space, thereby increasing the number of lines of the emitted beam and enhancing the detection efficiency.

[0148] Next, some possible designs of the aforementioned optical device 100 will be continued to be introduced.

[0149] In some possible implementations, the optical device 100 can be used in a transceiver coaxial system. For example, the optical device 100 can perform a beam combining operation during the emission process and a beam splitting operation during the reception process.

[0150] In a possible implementation, in combination with Figure 2 , the optical device 100 is a prism. By using the prism to achieve beam splitting and reflection, it is easy to fix and form each surface, and the angular relationship between each surface is also stable, improving the manufacturing efficiency and enhancing the reliability of the optical device. Please refer to Figure 6 and Figure 4A, the optical device 100 includes two beam splitting prisms, namely the first prism 101 and the second prism 102. The first prism 101 includes a third surface 11, a first surface 14, a first reflecting surface 12, and a fourth surface 13. The second prism 102 includes a second surface 23, a second reflecting surface 21, and a fifth surface 22. Among them, the first surface 14 of the first prism 101 and the second surface 23 of the second prism 102 are joined to form a functional surface 10. By joining two separately arranged beam splitting prisms to form the optical device 100, the manufacturing difficulty can be reduced and the cost can be lowered.

[0151] Optionally, the third surface 11, the first surface 14, the first reflecting surface 12, and the fourth surface 13 are the side surfaces of the first prism 101. Combining Figure 6 , the first prism 101 further includes a first upper bottom surface 15 and a first lower bottom surface 16. Similarly, the second surface 23, the second reflecting surface 21, and the fifth surface 22 are the side surfaces of the second prism 102, and the second prism 102 further includes a second upper bottom surface 24 and a second lower bottom surface 25.

[0152] In some possible implementation manners, a beam splitting film is provided on the first surface 14, and / or a beam splitting film is provided on the second surface 23. In some examples, the beam splitting film is deposited on the surface by evaporation. Optionally, the beam splitting film includes one or more of a wavelength beam splitting film, a light intensity beam splitting film (or an energy beam splitting film), and a polarization beam splitting film, etc.

[0153] Exemplarily, the functional surface can divide the light beam into two parts with the same energy, that is, the functional surface is a semi-transmissive and semi-reflective functional surface. In some solutions, within a certain wavelength range, such as within the wavelength range of 300 nanometers (nm) to 100 micrometers (μm), the semi-transmissive and semi-reflective functional surface has the same transmittance and reflectance for light of each wavelength. It should be understood that the "same" here does not necessarily mean exactly the same. For example, the difference between the two is about 10%. Generally speaking, the splitting method with the transmitted light and the reflected light each accounting for 50% is commonly used. However, the present application is also applicable to beam splitters with other transmission ratios (reflection ratios), such as a splitting method with 40% transmission and 60% reflection.

[0154] Exemplarily again, the functional surface adopts a wavelength beam splitting design. For example, the functional surface has different reflectivities and transmittances for light of different wavelengths. Combining Figure 7 , the functional surface 10 has a lower transmittance within the wavelength range less than 650 nm and a higher transmittance within the wavelength range greater than 750 nm. That is, the optical signal with a wavelength less than 650 nm is mostly reflected when passing through this functional surface, and the optical signal with a wavelength greater than 750 nm is mostly transmitted when passing through this functional surface. It should be understood that Figure 7The curve of the transmittance shown is only an example. In specific implementations, the transmittance of the functional surface can have other designs, and there can also be other designs for which part of the light beam has high transmittance and which part of the light beam has high reflectance.

[0155] It should be noted that, therefore, in the scenario of beam combining using the aforementioned beam splitting film, for example, in some beam combining scenarios, the beam splitting film can be referred to as a beam combining film, and the relevant descriptions will not be elaborated here one by one.

[0156] In some possible implementation manners, in combination with Figure 2 and Figure 6 , the optical device 100 is formed by integrally attaching the first prism 101 and the second prism 102 through the functional surface 10. The integrally arranged optical device has a small volume and high stability, which can improve the reliability of the optical device and has better application effects even in some environments with bumps and large temperature changes (such as vehicle-mounted environments and flight environments).

[0157] Optionally, the surfaces of the first prism 101 and the second prism 102 that are attached to each other can have the same shape and further can have the same size. Of course, the present application is also applicable to the case where their shapes and sizes are different, such as the implementation manners shown in Figure 12A below.

[0158] In some possible implementation manners, the first prism 101 and the second prism 102 are spliced through a prism bonding process to obtain the optical device 100, and the prism bonding process here includes gluing, optical gluing process, etc.

[0159] In some possible implementation manners, the third surface 11 is coplanar with or parallel to the first reflection surface 12. Considering some possible situations, the first angle α and the second angle β satisfy: 90° + α = 2β. At this time, the first angle is 30° and the second angle is 60°. Exemplarily, please refer to Figure 8 , Figure 9A , Figure 9B , Figure 10A and Figure 10B , the third surface 11 is coplanar with the first reflection surface 12. Again exemplarily, please refer to Figure 11A and Figure 11B , the third surface 11 is parallel to the first reflection surface 12.

[0160] In some possible implementation manners, in the beam splitting scenario, the light beam reflected by the functional surface 10 undergoes total internal reflection on the first reflection surface 12. Please refer to Figure 9A, the first reflecting surface 12 reflects the light beam reflected by the functional surface to the fourth surface 13. Among them, total reflection (referred to as total internal reflection) is an optical phenomenon. When light rays travel from an optically denser medium to an optically less dense medium, if the incident angle is greater than the total reflection angle, the refracted light rays will all disappear, and all the incident light rays will be reflected without entering the optically less dense medium, and this phenomenon is called total reflection. For example, at the interface between an optically denser medium and an optically less dense medium, light rays with an incident angle less than the total reflection critical angle from the optically denser medium can be refracted into the optically less dense medium, while light rays with an incident angle greater than or equal to the total reflection critical angle from the optically denser medium will all be reflected back into the optically denser medium. The total reflection critical angle is related to the refractive index of the optically denser medium and the refractive index of the optically less dense medium.

[0161] In some solutions, the light rays located at the edge of the light beam have a certain angle with the main optical axis of the light beam. Correspondingly, among the light beams reflected by the functional surface, the incident angles of the light rays on the optical axis and the light rays on the edge of the light beam on the first reflecting surface 12 are different. As a possible implementation, the minimum incident angle of the light beam transmitted through the functional surface on the first reflecting surface 12 is greater than or equal to the total reflection angle (or total reflection critical angle) of the first reflecting surface 12. Among them, the minimum incident angle is the smallest angle formed by the incident angles of the light beam transmitted through the functional surface at different positions. In this way, the light beam reflected by the functional surface satisfies the total reflection condition (i.e., greater than the total reflection angle) on the first reflecting surface, so that the first reflecting surface 12 does not need to be coated with a reflective film, simplifying the production process of the optical device.

[0162] Furthermore, combined with Figure 9A , taking the beam splitting scenario as an example, when the first reflecting surface 12 is not coated with a reflective film, there may be an overlap between the light beam reflected on the first reflecting surface 12 and the light beam incident from the third surface, which helps the miniaturization development of the device.

[0163] Similarly, combined with Figure 9B , in the beam combining scenario, the light beam incident from the fourth surface 13 undergoes total reflection on the first reflecting surface 12. Furthermore, for the light beam incident from the fourth surface 13, the minimum incident angle on the first reflecting surface 12 is greater than or greater than or equal to the total reflection angle of the first reflecting surface 12.

[0164] Optionally, when the first reflecting surface 12 is not coated with a reflective film, there may be an overlap between the light beam reflected on the first reflecting surface 12 and the light beam exiting from the third surface.

[0165] In some possible implementation manners, please refer to Figure 9A, taking the splitting light scenario as an example, the transmitted light beam transmitted through the functional surface 10 undergoes total internal reflection on the second reflection surface 21. Similar to the condition of total internal reflection occurring on the first reflection surface 12 mentioned above, at this time, the minimum incident angle of the light beam transmitted through the functional surface 10 on the second reflection surface 21 is greater than or equal to the critical angle of total internal reflection of the second reflection surface 21. In this way, the light beam satisfies the condition of total internal reflection on the second reflection surface 21, so that the second reflection surface 21 does not need to be coated with a reflective film, simplifying the production process of the optical device.

[0166] Similarly, please refer to Figure 9B , for the beam combining scenario, the light beam incident from the fifth surface 22 undergoes total internal reflection on the second reflection surface 21. Similar to the condition of total internal reflection occurring on the first reflection surface 12 mentioned above, at this time, the minimum incident angle of the light beam incident from the fifth surface 22 on the second reflection surface 21 is greater than or greater than equal to the critical angle of total internal reflection of the second reflection surface 21.

[0167] Optionally, the critical angles of total internal reflection of the first reflection surface 12 and the second reflection surface 21 are different, or the same.

[0168] The above introduction has been made on the reflection effect achieved through total internal reflection on the first reflection surface 12 and the second reflection surface 21. Next, in combination with Figure 10A and Figure 10B introduce some possible implementation manners of coated reflection.

[0169] In some possible implementation manners, the first reflection surface 12 is coated with a reflective film. Optionally, the reflective film is coated on the first reflection surface by evaporation coating. Through coated reflection, the reflection of the light beam does not need to meet the critical angle condition of total internal reflection, and the requirement for the field of view angle of the light beam incident on the optical device is lower, and a larger field of view angle can be supported.

[0170] In some solutions, the light beam reaches the optical device after passing through the imaging lens. When the first reflection surface uses coated reflection, the aperture number of the imaging lens can be larger, which can reduce the design requirements for the detection device and increase the applicable scenarios of the optical device. Among them, the aperture number, also known as the F-number, is a parameter representing the light-gathering ability of the lens. In some solutions, it is defined as the ratio of the equivalent focal length to the optical aperture, denoted as F or f / D.

[0171] In some possible implementation manners, the second reflection surface 21 is coated with a reflective film. In this way, the requirement for the field of view angle of the light beam incident on the optical device is lower, and a larger aperture number and field of view angle can be supported.

[0172] It should be noted that the above-mentioned multiple implementation manners can be combined. For example, the first reflection surface 12 reflects through the total internal reflection effect, while the second reflection surface 21 is coated with a reflective film.

[0173] In some possible embodiments, the wavelength of the light beam reflected by the functional surface 10 is different from the wavelength of the light beam transmitted through the functional surface 10, and the optical path of the light beam reflected by the functional surface within the optical device is the same as the optical path of the light beam transmitted through the functional surface within the optical device. For example, when the optical device 100 is used in an optical receiving system, the same optical path can achieve the same imaging surface for the reflected light beam and the transmitted light beam. Especially for a detection device, the same imaging surface helps to register the detection results obtained based on the reflected light beam and the transmitted light beam, improving the resolution of the detection device.

[0174] For example, in some solutions, a wavelength splitting film (or wavelength selective splitting film) is provided on the functional surface 10, which makes the functional surface 10 have different reflectivities and transmittances for light of different wavelengths. When the splitting principle of the functional surface 10 is wavelength splitting (or wavelength combining), since the longer the wavelength, the shorter the corresponding optical path at the same distance. In some solutions, through optical path design or prism material design, the distances or times that the reflected light beam and the transmitted light beam of the functional surface 10 travel in the prism are different. For example, the path traveled by the long wavelength is designed to be longer, so as to achieve the same optical path for the two light beams. Some embodiments that can achieve the same optical path are exemplified below, and it should be understood that the embodiments below can be combined.

[0175] For ease of description, in the following examples, the functional surface 10 is used to reflect the light beam of the first wavelength and transmit the light beam of the second wavelength. It should be understood that the first wavelength and the second wavelength here are exemplary descriptions for facilitating the description of the transmittance and reflectivity characteristics of the functional surface 10 for long and short wavelengths, and should be understood in a broad sense in specific implementations. In some solutions, the first wavelength and the second wavelength can represent wavelength ranges. For example, the first wavelength is a wavelength range less than or equal to 700 nm, and the second wavelength is a wavelength range greater than 700 nm. In some solutions, the first wavelength is the central wavelength of the wavelength range reflected by the functional surface, or the second wavelength is the central wavelength of the wavelength range transmitted through the functional surface.

[0176] For convenience of description, for the beam splitting case, the intersection point of the main optical axis (or main ray) of the light beam incident on the functional surface 10 and the functional surface 10 is called the splitting center, and for the beam combining case, the intersection point of the main optical axis (or main ray) of the light beam combined by the functional surface 10 and the functional surface 10 is called the combining center. In the above definitions, the splitting center and the combining center can be interchanged. It should be understood that the splitting center (or combining center) is an exemplary definition for facilitating the description of the distance from the functional surface, and there can be other definitions in specific implementations. For example, the embodiments of the present application are equally applicable to the case where the splitting center is located at the optical axis center of the optical device 100, or the splitting center can also be any point on the functional surface 10, such as the midpoint on the functional surface 10 or the midpoint in any direction.

[0177] In a possible implementation, please refer to Figure 12A , taking the beam splitting case as an example, the distance from the beam splitting center O point to the fourth surface 13 is the first distance, for example, denoted as OR1. And the distance from the beam splitting center O point to the fifth surface 22 is the second distance, for example, denoted as OR2. The magnitude relationship between the first distance OR1 and the second distance OR2 is the same as the magnitude relationship between the first wavelength and the second wavelength. It can be understood that if the first wavelength is greater than the second wavelength, that is, the functional surface reflects long waves and transmits short waves, then the first distance OR1 is greater than the second distance OR2, and the fourth surface 13 "extends" a part relative to the fifth surface 22, so that the long wave needs to travel a longer distance in the optical device 100, which helps to make the optical paths of the reflected beam and the transmitted beam the same. On the contrary, if the first wavelength is less than the second wavelength, then the first distance OR1 is less than the second distance OR2, and the fifth surface 22 "extends" a part relative to the fourth surface 13, so that the long wave needs to travel a longer distance in the optical device 100, and the optical paths can be made the same.

[0178] Similarly, please refer to Figure 12B For the beam combining case, the magnitude relationship between the first distance OR1 and the second distance OR2 is the same as the magnitude relationship between the first wavelength and the second wavelength. If the first wavelength is greater than the second wavelength, that is, the functional surface reflects long waves and transmits short waves, in the structure as shown in Figure 12B , the long wave needs to travel a longer distance in the optical device 100, which helps to make the optical paths of the reflected beam and the transmitted beam the same. On the contrary, if the first wavelength is less than the second wavelength, then the first distance OR1 is less than the second distance OR2, and the long wave also travels a longer distance in the optical device 100, and the optical paths can be made the same.

[0179] In a possible implementation, please refer to Figure 13A , taking the beam splitting case as an example, the distance from the beam splitting center O point to the first reflecting surface 12 is the third distance, for example, denoted as OS1. And the distance from the beam splitting center O point to the second reflecting surface 21 is the fourth distance, for example, denoted as OS2. The magnitude relationship between the third distance OS1 and the fourth distance OS2 is the same as the magnitude relationship between the first wavelength and the second wavelength. It can be understood that if the first wavelength is greater than the second wavelength, that is, the functional surface reflects long waves and transmits short waves, then the third distance OS1 is greater than the fourth distance OS2, and the first reflecting surface 12 "protrudes" more in the direction away from the beam splitting center relative to the second reflecting surface 21, so that the long wave needs to travel a longer distance in the optical device 100, which helps to make the optical paths of the reflected beam and the transmitted beam the same. On the contrary, if the first wavelength is less than the second wavelength, then the third distance OS1 is less than the fourth distance OS2, so that the long wave needs to travel a longer distance in the optical device 100, and the optical paths can be made the same.

[0180] Similarly, for the beam combining case, in combination with Figure 13B, the magnitude relationship between the third distance OS1 and the fourth distance OS2 is the same as that between the first wavelength and the second wavelength. If the first wavelength is greater than the second wavelength, that is, the functional surface reflects long waves and transmits short waves. In the structure shown in Figure 13B , the long wave needs to travel a longer distance in the optical device 100, which helps to make the optical paths of the reflected light beam and the transmitted light beam the same. Conversely, if the first wavelength is less than the second wavelength, then the third distance OS1 is less than the fourth distance OS2, and the long wave also travels a longer distance in the optical device 100, enabling the optical paths to be the same.

[0181] In a possible implementation, the optical device 100 includes a first prism 101 and a second prism 102. The refractive indices of the first prism 101 and the second prism 122 are different. Further, the magnitude relationship between the refractive index of the first prism 101 and the refractive index of the second prism 102 is opposite to the magnitude relationship between the first wavelength and the second wavelength. In this way, the first prism 101 and the second prism 102 are made of materials with different refractive indices. If the first wavelength is greater than the second wavelength, then the refractive index of the first prism 101 is less than the refractive index of the second prism 102, so that the long wave travels for a shorter time in the first prism 101, which helps to make the optical paths of the reflected light beam and the transmitted light beam the same. Conversely, if the first wavelength is less than the second wavelength, then the refractive index of the first prism 101 is greater than the refractive index of the second prism 102, and the long wave will travel for a shorter time in the second prism 102.

[0182] The following gives an example of a combination. Please refer to Figure 14 , when the wavelength of the reflected light beam of the functional surface 10 is greater than the wavelength of the transmitted light beam, the fourth surface 13 protrudes compared to the fifth surface 22, and the first reflecting surface 12 is more convex than the second reflecting surface 21, so that the long wave needs to travel a longer distance in the optical device 100, enabling the optical paths of the long wave and the short wave to be the same. Of course, the present application is also applicable to other combinations of implementation manners, and will not be illustrated one by one here.

[0183] In the foregoing, some implementation manners are exemplified by taking the structure on the left and right of the functional surface 10 as being basically symmetric. In some possible implementation manners, the structure on the left and right of the functional surface 10 may be asymmetric. When the optical device 100 includes a first prism 101 and a second prism 102, the structures of the first prism 101 and the second prism 102 may be different.

[0184] Please refer to Figure 15 , Figure 15FIG. 0 is a schematic diagram of a three-dimensional structure of another optical device provided by an embodiment of the present application. The optical device 100 includes a first prism 101 and a second prism 102. The third surface 11 of the first prism 101 faces the first reflection surface 12 and the first right angle (i.e., the right angle formed by the functional surface 10 and the fourth surface 13), and the third surface 11 is edge-connected to the first reflection surface 12, and the third surface 11 is also edge-connected to the functional surface 10, and the first reflection surface 12 is edge-connected to the fourth surface 13. In the second prism, the second reflection surface 21 is edge-connected to the functional surface 10 and the fifth surface 22 respectively, and the structures of the first prism 101 and the second prism 102 are asymmetric.

[0185] Combined with Figure 16 , in some cases, when the structure of the optical device is not completely symmetric, the paths for the functional surface 10 to divide the reflected beam and the transmitted beam can be symmetric. For example, when the second angle β and the third angle γ satisfy: β = γ, and the distance from the first reflection surface 12 to the beam splitting center is the same as the distance from the second reflection surface 21 to the beam splitting center, the optical paths of the reflected beam and the transmitted beam are axisymmetric along the functional surface 10.

[0186] The foregoing Figures 2 to 16 Exemplarily introduces the optical device provided by the embodiment of the present application in the form of a prism. In some solutions, the optical device of the present application can also be implemented by arranging multiple optical elements.

[0187] Please refer to Figure 17 , Figure 18A and Figure 18B , the optical device 200 includes a beam splitter 201 (or a beam combiner), a first folding mirror 202, and a second folding mirror 203. The beam splitter 201 is used for beam splitting and / or beam combining. Combined with Figure 18A , in the beam splitting scenario, the beam splitter 201 splits the beam into a reflected beam and a transmitted beam. Combined with Figure 18B , in the beam combining scenario, the beam splitter 201 reflects the beam from the first folding mirror 202 and projects the beam from the second folding mirror 203 to obtain a combined beam.

[0188] Optionally, the beam splitter 201 is a beam splitting element with a beam splitting method such as wavelength beam splitting, energy beam splitting, or polarization beam splitting, such as a semi-transmissive semi-reflective beam splitter, a beam splitter with 40% transmission and 60% reflection, a dichroic beam splitter, or a polarization beam splitter. The reflected beam split by the beam splitter 201 is reflected by the first folding mirror 202, and the transmitted beam is reflected by the second folding mirror 203.

[0189] In a possible implementation, the angle between the reflecting surface of the first folding mirror 202 and the functional surface of the beam splitter 201 is the fourth angle, for example denoted as μ, and the angle between the reflecting surface of the second folding mirror 203 and the functional surface of the beam splitter 201 is the fifth angle, for example denoted as v. In the beam splitting scenario, the fourth angle μ is the same as the fifth angle v, so that the optical paths of the reflected beam and the transmitted beam are similar. Thus, by controlling the incident angle of the beam incident on the beam splitter 201, it is possible to make the beam reflected by the first folding mirror 202 parallel to the beam reflected by the second folding mirror 203, thereby making their receiving surfaces parallel.

[0190] Consider a possible optical path, combined with Figure 18A , the beam incident on the beam splitter 201 is beam 1, and the beam splitter 201 divides beam 1 into beam 2 and beam 3. Among them, the incident angle of beam 1 is denoted as It is not difficult to see that when the incident angle satisfies , it is possible to make the paths of beam 2 and beam 3 similar, and after passing through the first folding mirror 202 and the second folding mirror 203 respectively, beam 2 and beam 3 are parallel, and the imaging surfaces are parallel or coplanar. Of course, in some solutions, due to the certain thickness of the beam splitter 201, the optical paths of beam 2 and beam 3 may be different. In some further solutions, some additional components can be provided on the optical path of the reflected beam to make the optical paths of beam 2 and beam 3 the same, so as to achieve a coplanar receiving surface.

[0191] In a possible implementation, when the beam splitter 201 is wavelength splitting, such as reflecting light of the first wavelength and transmitting light of the second wavelength. At this time, the relationship between the distance from the first folding mirror 202 to the splitting center and the distance from the second folding mirror 203 to the splitting center is the same as the relationship between the light of the first wavelength and the light of the second wavelength. The splitting center is the intersection point of the optical axis of beam 1 and the surface of the beam splitter 201, that is Figure 18A the O point shown. See the foregoing for related descriptions.

[0192] The possible designs in the foregoing beam splitting scenario are also applicable to the beam combining scenario. For example, combined with Figure 18B , in the beam combining scenario, the fourth angle μ is the same as the fifth angle v, and the beams after passing through the beam splitter 201 are parallel, so as to facilitate integrating into one beam. Exemplarily, beam 4 and beam 5 are respectively incident on the first folding mirror 202 and the second folding mirror 203. The beam splitter 201 is used to reflect beam 4 and transmit beam 5. Since the fourth angle μ is the same as the fifth angle v, beam 4 and beam 5 after passing through the beam splitter 201 are parallel. By designing the positions where beam 4 and beam 5 are incident on the first folding mirror 202 and the second folding mirror 203, the main optical axes of beam 4 and beam 5 after passing through the beam splitter 201 are made to coincide, so as to combine into one beam.

[0193] In some solutions, the positions of the beam splitter 201, the first folding mirror 202, and the second folding mirror 203 are fixed by pre-designing a lens holder that matches them.

[0194] The detection device of the present application is provided below.

[0195] The present application further provides a detection device, including a first receiving device and a second receiving device, and further including the foregoing optical device, such as optical device 100 or optical device 200. Among them, the optical device is used to divide the first light beam into a second light beam and a third light beam, and the receiving surfaces of the second light beam and the third light beam are coplanar. Among them, the first receiving device is used to receive the first light beam, the second receiving device is used to receive the second light beam, and the receiving surface of the first receiving device is coplanar or parallel to the photosensitive surface of the second receiving device.

[0196] Taking the optical device 100 as an example for exemplary introduction below, the optical device 100 in the following text can be replaced by the optical device 200.

[0197] Please refer to Figure 19 , the detection device 300 includes a first receiving device 301, a second receiving device 302, and an optical device 100. Among them, the first receiving device 301 and the second receiving device 302 are used to obtain a detection result. The detection result includes one or more pieces of information such as an image, a point cloud, time-of-flight (TOF) information, the distance, position, angle, reflectivity, or color of the target, etc.

[0198] The optical device 100 is used to divide the first light beam into a second light beam and a third light beam. Combining Figure 20 it can be seen that the imaging surfaces of the second light beam and the third light beam emitted from the optical device 100 can be coplanar (or parallel) and have equal optical paths. Correspondingly, the receiving surface of the first receiving device 301 and the receiving surface of the second receiving device 302 are coplanar (or parallel), so that the detection result obtained by the first receiving device 301 and the detection result obtained by the second receiving device 302 are highly registered, which can reduce the complexity of the detection structure fusion and improve the resolution of the detection device.

[0199] Furthermore, the first receiving device 301 and the second receiving device 302 are installed on the same circuit board. In this way, the two receiving devices share the same circuit board, which is easy to manufacture and align.

[0200] In a possible implementation, the first receiving device 301 and the second receiving device 302 belong to a detector, or a radar detector. Exemplarily, the first receiving device 301 and the second receiving device 302 include one or more of the following detection units: single-photon avalanche diode (SPAD), Silicon photomultiplier (SiPM), multi-pixel photon counter (MPPC), avalanche photo detector (APD), or positive-intrinsic-negative (PIN) diode (or P-type semiconductor-impurity-N-type semiconductor diode), etc. In some solutions, multiple detection units can be arranged in an array to form an array detector. For example, the first receiving device 301 and the second receiving device 302 are SPAD array detectors.

[0201] In a possible implementation, the first receiving device 301 and the second receiving device 302 belong to an image sensor. For example, the first receiving device 301 and the second receiving device 302 include one or more of the following photosensitive units: complementary metal oxide semiconductor (CMOS), charge-coupled device (CCD), Live MOS, etc. For example, the first receiving device 301 includes a CMOS image sensor (CIS), and / or the second sensor includes a CIS.

[0202] In some solutions, the CIS includes one or more of a color sensor or a monosensor, etc. The color sensor is, for example, a redgreenblue sensor (RGBsensor). Among them, the monosensor can image in low-light or even dark environments, greatly improving the detection effect of the detection device in low-light conditions and improving the detection accuracy.

[0203] In some solutions, the optical device is an optical device for wavelength spectroscopy. The first receiving device 301 is an RGBsensor, and the second receiving device 302 is a monosensor. Alternatively, the second receiving device 302 is an RGBsensor, and the first receiving device is a monosensor.

[0204] In a possible implementation, the first receiving device 301 is a detector, and the second receiving device 302 belongs to an image sensor. Alternatively, the second receiving device 302 is a detector, and the first receiving device belongs to an image sensor.

[0205] In a possible implementation, the detection device 300 further includes an imaging lens 303. The light beam from the object space is incident on the optical device 100 after passing through the imaging lens 303.

[0206] In a possible implementation, the detection device 300 further includes a filtering module. The filtering module is disposed between the imaging lens 303 and the first receiving device 301, or between the imaging lens 303 and the second receiving device 302. After filtering by the filtering module, the effectiveness of the optical signal received by the receiving device is improved, which helps to improve the detection accuracy of the detection device.

[0207] This application further provides a detection device, including a first transmitting device and a second transmitting device, and further including the foregoing optical device, such as the optical device 100 or the optical device 200.

[0208] Hereinafter, taking the optical device 100 as an example, an exemplary introduction will be made. The optical device 100 in the following text can be replaced by the optical device 200.

[0209] Please refer to Figure 21 , the detection device 300 includes a first transmitting device 304, a second transmitting device 305, and an optical device 100. The first transmitting device 304 is configured to emit a first light beam, the second transmitting device 305 is configured to emit a second light beam, and the optical device 100 is configured to combine the first light beam and the second light beam to obtain a combined light beam. The combined light beam is used to detect the object space.

[0210] Optionally, the emission surfaces of the first light beam and the second light beam are coplanar or parallel.

[0211] In a possible implementation, the first transmitting device 304 includes 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.

[0212] In another possible implementation, the second transmitting device includes one or more of the following light sources: VCSEL, PCSEL, EEL, LD, DFB-LD, GCSR-LD, or MOEMS-LD, etc.

[0213] In another possible implementation, in combination with Figure 22 , the light-emitting surfaces of the first transmitting device 304 and the second transmitting device 305 are coplanar or parallel.

[0214] In another possible implementation, in combination with Figure 23 , the light-emitting surface of the first transmitting device 304 is perpendicular to the light-emitting surface of the second transmitting device 305, but by setting a folding mirror, one of the beams can be folded so that the emission surfaces of the first beam and the second beam are equivalently parallel.

[0215] In another possible implementation, the first transmitting device 304 and the second transmitting device 305 are mounted on the same circuit board. In this way, the two transmitting devices share the same circuit board, which is easy to manufacture and assemble.

[0216] In another possible implementation, the detection device 300 further includes an optical lens 306. The combined beam irradiates the object space after passing through the optical lens 306.

[0217] This application also provides a detection device, including a transmitting device and the foregoing optical device, such as optical device 100 or optical device 200.

[0218] Please refer to Figure 24, the present application also provides a detection device, including a transmitting device 307 and the aforementioned optical device, such as optical device 100 or optical device 200. Among them, the transmitting device 307 is used to generate a transmitted beam, and the transmitted beam is split by the optical device 100 into two sub-beams, and the two sub-beams are used to detect the object space. Through the optical device 100, the number of transmitted lines can be doubled, improving the detection efficiency.

[0219] The present application also provides a lidar, which includes the aforementioned optical device, such as optical device 100 or optical device 200, and this optical device is used for beam splitting. Optionally, the lidar further includes a laser and a detector. The laser is used to emit detection light into the object space. The beam incident on the optical device 100 includes the echo of the detection light, and this beam is used to obtain information about the target in the object space. The detector is used to receive the beam after passing through the optical device 100 to obtain relevant information about the target in the object space. Among them, the information of the target includes one or more of the distance, position, angle, coordinates, reflectivity, reflection intensity, color, or speed of the target, etc.

[0220] The present application also provides a lidar, which includes the aforementioned optical device, such as optical device 100 or optical device 200, and this optical device is used for beam combining. Optionally, the lidar further includes a laser and a detector. The laser is used to emit at least two beams of detection light into the object space. At least two beams of detection light are incident on the beam combining device to obtain a combined beam, and this combined beam is used to detect the object space. The detector is used to receive the echo of the combined beam to obtain relevant information about the target in the object space.

[0221] The present application also provides a lidar, which includes Figure 19 the detection device 300 shown in the figure. In some solutions, the lidar further includes a laser, and the laser is used to generate a transmitted beam, and the transmitted beam is used to detect the object space. The detection device 300 is used to receive the first beam, and the first beam includes the echo of the transmitted beam.

[0222] The present application also provides a lidar, including Figure 21 , Figure 24 the detection device 300 shown in the figure. In some solutions, the lidar further includes a detector, and the detector is used to receive the return signal from the object space, and the return signal includes the echo of the combined beam emitted by the detection device.

[0223] The embodiments of the present application also provide a terminal, and the terminal includes the aforementioned optical device, or includes the aforementioned detection device, or includes the aforementioned lidar.

[0224] Optionally, the terminal can be an intelligent terminal or transportation tool such as a vehicle, a drone, or a robot, or the terminal can also be an industrial device. It should be understood that the terminals involved in this application may include intelligent terminals or transportation tools such as vehicles, robots, drones, ships, and ships. Among them, the vehicle is a vehicle in a broad sense, which can be a transportation tool (such as a commercial vehicle, a passenger car, 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 equipment (such as a mower, a harvester, etc.), etc. For example, the robot can be an intelligent handling robot (automated guided vehicle, AGV), a walking conversational robot, a service robot, etc. Industrial equipment such as industrial robots and robotic arms. Leisure and entertainment equipment such as virtual reality (VR) equipment, mixed reality (MR) equipment, or a 4D cinema cabin, etc.

[0225] Optionally, there are many possible installation locations for the laser radar, such as on the platform of the vehicle's dashboard, or on the top of the cabin, or in one or more locations such as the head, side, or rear of the vehicle.

[0226] In the description of this application, the terms "center", "up", "down", "vertical", "horizontal", "left", "right", "inside", "outside", "side", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific direction, be constructed and operate in a specific direction, and therefore cannot be understood as limiting this application. It should be understood that the Z direction, Y direction, X direction, etc. mentioned in some embodiments of this application are based on the XYZ rectangular coordinate system as a reference to facilitate the description of the features in this solution, and do not indicate or imply that the devices or elements referred to must have a specific direction, be constructed and operate in a specific direction.

[0227] In the embodiments of this application, words such as "exemplarily" or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design described in this application as "exemplary" or "for example" should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplarily" or "for example" is intended to present the relevant concepts in a concrete manner.

[0228] In the embodiments of this application, "at least one" means one or more, and "a plurality" means two or more. "At least one (item)" or its similar expression refers to any combination of these items, including any combination of single item(s) or plural item(s). For example, at least one (item) of a, b, or c can represent: a, b, c, (a and b), (a and c), (b and c), or (a and b and c), where a, b, and c can be single or multiple. "And / or" describes the association relationship of associated objects and indicates that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. Here, A and B can be singular or plural. The character " / " generally indicates that the associated objects before and after are in an "or" relationship.

[0229] Also, unless otherwise stated, the ordinal numbers such as "first" and "second" in the embodiments of this application are used to distinguish multiple objects and are not used to limit the order, time sequence, priority, or importance of multiple objects.

Claims

1. A spectroscopic device, characterized in that, It includes a first prism and a second prism. The first prism includes an incident surface, a first surface, a first reflection surface, and a first exit surface. The first surface and the first exit surface are perpendicular to each other to form a first right angle, and the first reflection surface is opposite to the incident surface and the first right angle. The second prism includes a second surface, a second reflection surface, and a second exit surface. The second surface and the second exit surface are perpendicular to each other to form a second right angle, the second reflection surface is opposite to the second right angle, and the first surface and the second surface are bonded to form a beam splitting surface. The beam splitting surface is used to reflect and transmit the incident light beam. The first reflection surface is used to reflect the light beam reflected by the beam splitting surface. The second reflection surface is used to reflect the light beam transmitted by the beam splitting surface. Wherein, the first angle, the second angle, and the third angle satisfy: the sum of the first angle and 90° is twice the second angle, and the third angle is equal to the second angle; the first angle is the included angle between the incident surface and the beam splitting surface, the second angle is the included angle between the first exit surface and the first reflection surface, and the third angle is the included angle between the second exit surface and the second reflection surface.

2. The spectroscopic device according to claim 1, characterized in that, The first prism and the second prism are bonded together through the beam splitting surface.

3. The beam splitting device according to claim 1 or 2, wherein the beam splitting surface is used to divide the first light beam entering from the incident surface into a second light beam and a third light beam. The second light beam is the reflected light beam, and the third light beam is the transmitted light beam. The first reflection surface is used to reflect the second light beam to the first exit surface. The second reflection surface is used to reflect the third light beam to the second exit surface. The main optical axis receiving surfaces of the second light beam exiting from the first exit surface and the third light beam exiting from the second exit surface are coplanar, and the transmission path of the second light beam and the transmission path of the third light beam are axisymmetric with respect to the beam splitting surface.

4. The spectroscopic device according to claim 3, characterized in that The first light beam is perpendicular to the incident surface.

5. The spectroscopic device according to any one of claims 1-4, characterized in that, The incident surface and the first reflection surface are coplanar or the incident surface and the first reflection surface are parallel, the first angle is 30°, and the second angle is 60°.

6. The spectroscopic device according to any one of claims 1-5, characterized in that, The minimum incident angle of the light beam reflected by the beam splitting surface on the first reflection surface is greater than or equal to the total reflection angle of the first reflection surface.

7. The spectroscopic device according to any one of claims 1-6, characterized in that, The minimum incident angle of the light beam transmitted through the beam splitting surface on the second reflection surface is greater than or equal to the total reflection angle of the second reflection surface.

8. The spectroscopic device according to any one of claims 1-5, characterized in that, The first reflection surface is coated with a reflective film.

9. The spectroscopic device according to claim 8, wherein, The second reflection surface is coated with a reflective film.

10. The spectroscopic device according to any one of claims 1-9, characterized in that, The first surface and / or the second surface is provided with a beam splitting film.

11. The spectroscopic device according to claim 10, wherein The beam splitting film includes one or more of a wavelength beam splitting film, an optical intensity beam splitting film, and a polarization beam splitting film.

12. The spectroscopic device according to any one of claims 1-11, characterized in that, The wavelength of the light beam reflected by the beam splitting surface is different from the wavelength of the light beam transmitted through the beam splitting surface. The optical path of the light beam reflected by the beam splitting surface in the beam splitting device is the same as the optical path of the light beam transmitted through the beam splitting surface in the beam splitting device.

13. The spectroscopic device according to any one of claims 1 to 12, characterized in that, The beam splitting surface is used to reflect the light beam of the first wavelength and transmit the light beam of the second wavelength. The size relationship between the first distance and the second distance is the same as the size relationship between the first wavelength and the second wavelength. Wherein, the first distance is the distance from the beam splitting center to the first exit surface, the second distance is the distance from the beam splitting center to the second exit surface, and the beam splitting center is the intersection point of the principal optical axis of the beam incident on the beam splitting surface and the beam splitting surface.

14. The spectroscopic device according to any one of claims 1 to 13, characterized in that, The beam splitting surface is used to reflect the beam of the first wavelength and transmit the beam of the second wavelength. The magnitude relationship between the third distance and the fourth distance is the same as the magnitude relationship between the first wavelength and the second wavelength. Wherein, the third distance is the distance from the beam splitting center to the first reflection surface, and the fourth distance is the distance from the beam splitting center to the second reflection surface. The beam splitting center is the intersection point of the optical axis in the beam incident on the beam splitting surface and the beam splitting surface.

15. The spectroscopic device according to any one of claims 1-14, characterized in that, The beam splitting surface is used to reflect the beam of the first wavelength and transmit the beam of the second wavelength. The magnitude relationship between the refractive index of the first prism and the refractive index of the second prism is opposite to the magnitude relationship between the first wavelength and the second wavelength.

16. A beam combining device, characterized in that, Comprising a first prism and a second prism. The first prism includes a first incident surface, a first surface, a first reflection surface and an exit surface. The first surface and the first incident surface are perpendicular to each other to form a first right angle, and the first reflection surface and the exit surface are opposite to the first right angle. The second prism includes a second incident surface, a second surface and a second reflection surface. The second surface and the second incident surface are perpendicular to each other to form a second right angle, and the second reflection surface is opposite to the second right angle. The first surface and the second surface are bonded to form a beam combining surface. The beam combining surface is used to reflect the beam reflected by the first reflection surface and transmit the beam reflected by the second reflection surface to obtain a combined beam, and the combined beam exits from the exit surface. Wherein, the first angle, the second angle and the third angle satisfy that the sum of the first angle and 90° is twice the second angle, and the third angle is equal to the second angle. The first angle is the included angle between the exit surface and the beam combining surface, the second angle is the included angle between the first incident surface and the first reflection surface, and the third angle is the included angle between the second incident surface and the second reflection surface.

17. The beam combining device according to claim 16, characterized in that, The first prism and the second prism are bonded together through the beam combining surface.

18. The beam combining device according to claim 16 or 17, wherein The first reflection surface is used to reflect a first beam towards the beam combining surface, and the first beam enters the first prism from the first incident surface. The second reflection surface is used to reflect a second beam towards the beam combining surface, and the second beam enters the second prism from the second incident surface. The emitting surfaces of the first beam incident on the first incident surface and the second beam incident on the second incident surface are coplanar. The beam combining surface is used to reflect the first beam passing through the first reflection surface and transmit the second beam passing through the second reflection surface to obtain a combined beam. The optical axes of the first beam and the second beam after passing through the beam combining surface coincide.

19. The beam combining device according to any one of claims 16-18, characterized in that, The combined beam is perpendicular to the exit surface.

20. The beam combining device according to any one of claims 16-19, characterized in that, The exit surface is coplanar with the first reflection surface or the exit surface is parallel to the first reflection surface, the first angle is 30°, and the second angle is 60°.

21. The beam combining device according to any one of claims 16-20, characterized in that, The minimum incident angle of the light beam incident on the first reflecting surface through the first incident surface is greater than or equal to the total reflection angle of the first reflecting surface. Alternatively, the first reflecting surface is coated with a reflective film.

22. The beam combining device according to any one of claims 16-21, characterized in that, The minimum incident angle of the light beam incident on the second reflecting surface through the second incident surface is greater than or equal to the total reflection angle of the second reflecting surface. Alternatively, the second reflecting surface is coated with a reflective film.

23. The beam combining device according to any one of claims 16-22, characterized in that, The first surface and / or the second surface is provided with a beam splitting film.

24. The beam combining device according to claim 23, wherein The beam splitting film includes one or more of a wavelength beam splitting film, a light intensity beam splitting film, and a polarization beam splitting film.

25. The beam combining device according to any one of claims 16-24, characterized in that, The wavelength of the light beam incident on the first incident surface is different from the wavelength of the light beam incident on the second incident surface. The light beams incident on the first incident surface and the second incident surface have the same optical path in the beam combining device.

26. The beam combining device according to any one of claims 16-25, characterized in that, The wavelength of the light beam incident on the first incident surface is the first wavelength, and the wavelength of the light beam incident on the second incident surface is the second wavelength. The magnitude relationship between the first distance and the second distance is the same as the magnitude relationship between the first wavelength and the second wavelength. Wherein, the first distance is the distance from the beam combining center to the first incident surface, the second distance is the distance from the beam combining center to the second incident surface, and the beam combining center is the intersection point of the principal optical axis of the light beam incident on the beam combining surface and the beam combining surface.

27. The beam combining device according to any one of claims 16-26, characterized in that, The wavelength of the light beam incident on the first incident surface is the first wavelength, and the wavelength of the light beam incident on the second incident surface is the second wavelength. The magnitude relationship between the third distance and the fourth distance is the same as the magnitude relationship between the first wavelength and the second wavelength. Wherein, the third distance is the distance from the beam combining center to the first reflecting surface, and the fourth distance is the distance from the beam combining center to the second reflecting surface. The beam combining center is the intersection point of the optical axis in the light beam incident on the beam combining surface and the beam combining surface.

28. The beam combining device according to any one of claims 16-27, characterized in that, The wavelength of the light beam incident on the first incident surface is the first wavelength, and the wavelength of the light beam incident on the second incident surface is the second wavelength. The magnitude relationship between the refractive index of the first prism and the refractive index of the second prism is opposite to the magnitude relationship between the first wavelength and the second wavelength.

29. A detection device, characterized in that, The detection device includes a first receiving device, a second receiving device, and the beam splitting device according to any one of claims 1-15. The beam splitting device is configured to split the first light beam into a second light beam and a third light beam, and the receiving surfaces of the second light beam and the third light beam are coplanar. The first receiving device is configured to receive the first light beam, the second receiving device is configured to receive the second light beam, and the photosensitive surfaces of the first receiving device and the second receiving device are coplanar.

30. A lidar, characterized in that, The lidar includes a laser and the detection device according to claim 29. The laser is configured to generate an emission light beam for detecting an object space. The detection device is configured to receive a first light beam, and the first light beam includes the echo of the emission light beam.

31. A detection device, characterized in that, The detection device includes a first transmitting device, a second transmitting device, and the beam combining device according to any one of claims 16-28. The first emission device is used to emit a first light beam, and the second emission device is used to emit a second light beam. The emission surfaces of the first light beam and the second light beam are coplanar. The beam combining device is used to combine the first light beam and the second light beam to obtain a combined light beam, and the combined light beam is used to detect the object space.

32. A lidar, characterized in that, The lidar includes a detector and the detection device according to claim 31. The detector is used to receive the return signal from the object space, and the return signal includes the echo of the combined light beam emitted by the detection device.

33. A terminal, characterized in that, The terminal includes the beam splitting device according to any one of claims 1-15, or includes the beam combining device according to any one of claims 16-28, or includes the detection device according to claim 29 or 31, or includes the lidar according to claim 30 or 32.

34. The terminal according to claim 33, wherein, The terminal is a vehicle, a robot or a drone.

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