Optical structural member, sensing device and terminal device

Abstract

An optical structural member, a sensing device and a terminal device are applied to the technical field of detection. The optical structural member comprises a supporting bracket, a first lens, a second lens and a light splitting assembly. The supporting bracket is provided with a first accommodating cavity and a second accommodating cavity; the second accommodating cavity comprises a third accommodating cavity and a fourth accommodating cavity which are communicated with each other; at least part of the first lens is sleeved with the first containing cavity and fixedly connected with the supporting support, at least part of the second lens is sleeved with the third containing cavity and fixedly connected with the supporting support, the light splitting assembly is arranged in the fourth containing cavity and fixedly connected with the supporting support, and the light splitting assembly can split light beams from the second lens. According to the scheme, the problems that a multi-sensor system is complex in light path, large in size and low in integration level can be solved, the reliability of the light path structure of the multi-sensor system in various complex scenes is guaranteed, and the detection performance of the system is enhanced.

Description

Technical Field

[0001] The present application is applied to the field of detection technology, and in particular relates to an optical structural component, a sensing device, and a terminal device. Background Art

[0002] Intelligent devices are increasingly demanding higher precision and reliability in their environmental perception. For example, in areas such as autonomous driving, robot navigation, and smart security, intelligent devices need to accurately perceive the surrounding environment and objects in the environment to ensure proper functioning.

[0003] Sensors that use light beams to perceive the environment offer advantages such as high precision and fine resolution, and are becoming an essential component of intelligent devices. Furthermore, the perception systems of intelligent devices are trending towards multi-sensor fusion. Integrating multiple sensor types within intelligent devices can improve data redundancy and system robustness. However, increasing the number of sensors presents a series of technical challenges. Each sensor requires a matching optomechanical structure to achieve specific optical performance, which significantly increases the overall size and weight of the perception system.

[0004] How to optimize the optomechanical design of multi-sensor systems, reduce system size and improve integration has become an urgent problem to be solved. Summary of the Invention

[0005] The present application provides an optical structure, a sensing device and a terminal device, which can solve the problems of complex optical path, large size and low integration of multi-sensor systems, ensure the reliability of the optical path structure of the multi-sensor system in various complex scenarios, and enhance the detection performance of the system.

[0006] In a first aspect, the present application provides an optical structure, comprising a support bracket, a first lens, a second lens, and a spectrometer assembly. The support bracket is provided with a first accommodating cavity and a second accommodating cavity, and the second accommodating cavity includes a third accommodating cavity and a fourth accommodating cavity that are connected. At least a portion of the first lens is sleeved within the first accommodating cavity and fixedly connected to the support bracket, at least a portion of the second lens is sleeved within the third accommodating cavity and fixedly connected to the support bracket, and the spectrometer assembly is disposed within the fourth accommodating cavity and fixedly connected to the support bracket.

[0007] The light splitting component can split the light beam from the second lens. Further, the light splitting component is coaxially arranged with the second lens.

[0008] In the above solution, the first lens, the second lens and the spectrometer are all fixedly connected to the support bracket, so that the relative positions of the multiple optical paths in the optical structure are fixed, which can improve the stability of the optical-mechanical structure. The integrated design can also reduce the risk of optical path deviation of the optical-mechanical structure in a bumpy and shaking environment.

[0009] Moreover, in the above-mentioned optical structure, the spectrometer is arranged at the rear end of the second lens. The spectrometer can split the light beam from the second lens into multiple paths, so that multiple modules can share the same lens, which can reduce the volume of the optical module and improve the integration. On the one hand, the structure of the spectrometer at the rear can reduce the duplication of optical components, and the size of the spectrometer only needs to match the spot size of the end of the lens away from the object side, which is conducive to the miniaturization design of the spectrometer. On the other hand, the rear placement of the spectrometer can enable multiple modules to share the optical characteristics of the same optical lens, ensure the spatial and temporal synchronization of multiple signals, avoid the introduction of parallax and reduce calibration errors, improve the detection accuracy of the multi-sensor system, and help enhance sensor performance.

[0010] In summary, the design of the above-mentioned optical structural components can solve the problems of complex optical paths, large size, and low integration of multi-sensor systems, ensure the reliability of the optical path structure of multi-sensor systems in various complex scenarios, and enhance the detection performance of the system.

[0011] The above solution is particularly suitable for scenarios with high precision and high reliability requirements, such as vehicles, intelligent driving, drone flights, aerospace, etc.

[0012] In a possible implementation of the first aspect, the support bracket has a first opening and a second opening on the first side surface, the first opening communicating with the first accommodating cavity, and the second opening communicating with the third accommodating cavity. Optionally, the optical path of the first lens passes through the first opening, and the optical path of the second lens passes through the second opening.

[0013] In the above embodiment, an opening is provided on the same side of the support bracket to accommodate the optical paths of the two lenses, facilitating the overlap of the object-side field of view of the first lens and the object-side field of view of the second lens. In some cases, where the first lens and the second lens serve as the transmitting lens and the receiving lens, respectively, the above design can achieve alignment of the transmitting and receiving fields of view. In other cases, where both the first lens and the second lens serve as the transmitting lens or the receiving lens, the overlapping object-side fields of view of the two lenses facilitates encrypted detection of the field of view.

[0014] In addition, the connecting structure between the opening and the accommodating cavity can form a rigid support frame, and the lens and the spectrometer assembly are embedded in the bracket (including partial embedding), so that the overall vibration and impact resistance of the optical-mechanical structure is enhanced, and it can still maintain a high stability in moving scenarios with frequent vibrations and shaking. It is especially suitable for installation in vehicles, drones, robots and other means of transportation.

[0015] In another possible implementation of the first aspect, the object-side field of view of the first lens and the object-side field of view of the second lens overlap.

[0016] In some cases, the first lens includes a first lens barrel and at least one first optical element, and the at least one first optical element is disposed within and connected to the first lens barrel. In this manner, the first optical element is first integrated within the first lens and then fixed as a whole to the support bracket. After the sub-module calibration is completed, the entire lens can be installed and integrated, which can improve assembly efficiency and calibration accuracy. Furthermore, when multiple first optical elements are provided, the multiple optical elements are first fixed within the lens barrel, which increases the structural stability of the lens and prevents optical path deviation.

[0017] Optionally, at least one second optical element comprises one or more lenses selected from the group consisting of a meniscus lens, a biconvex lens, a biconcave lens, a plano-concave lens, a plano-convex lens, a plano-concave lens, a plano-convex lens, or a cylindrical lens. Such lens designs can facilitate the proper distribution of shape and optical power, thereby achieving high-quality detection performance.

[0018] In some other cases, the second lens includes a second lens barrel and at least one second optical element, and the at least one second optical element is disposed in and connected to the second lens barrel.

[0019] In another possible implementation of the first aspect, the first lens is bonded to the support bracket using an adhesive. In this implementation, the adhesive can tightly fill the small gap between the lens and the bracket, creating a uniform stress distribution and improving overall structural stability. Furthermore, the adhesive has a certain elastic modulus, which can absorb some vibration energy during impact, reducing the risk of lens displacement or loosening and narrowing the gaps that could cause optical path deviation.

[0020] In some solutions, the adhesive can also serve as a sealing material to block external moisture and dust from entering the receiving cavity and protect the internal optical components.

[0021] In another possible implementation of the first aspect, the first lens is threadedly connected to the support bracket. In this implementation, the threaded connection can provide a stronger and more rigid fixation, and is particularly suitable for securing lenses with multiple optical elements that are relatively heavy. Furthermore, the threaded connection is less affected by high and low temperature differences, and can improve structural stability in complex environments.

[0022] In another possible implementation of the first aspect, the first lens and the support bracket are connected by threads and fixed by adhesive, so as to take into account both rigid fixation and sealing performance.

[0023] In another possible implementation of the first aspect, the first lens includes a first section and a second section that are fixedly connected, the first section is located outside the support bracket, and the second section is located in the first accommodating cavity.

[0024] In the above embodiment, the second section is enclosed by the accommodating cavity, whose inner walls form a rigid fixed frame, enhancing the lens's impact resistance. Simultaneously, the first section is exposed outside the accommodating cavity, unconstrained by it, increasing the flexibility of the optomechanical design. Furthermore, this embodiment reduces the size and weight of the support bracket.

[0025] In some cases, a two-stage design allows the lens to be fixed and sealed at the junction of the two sections, improving structural stability. Furthermore, the exposed portion of the housing is not restricted by the inner diameter of the housing, allowing the installation of larger lenses and improving imaging performance.

[0026] In another possible implementation of the first aspect, an outer diameter of the first section is greater than an outer diameter of the second section. The first section and the second section are transitioned by a first stepped structure, the first stepped structure including a first stepped surface located outside the first lens, the first stepped surface being spaced apart and opposed to a first side surface of the support, and the first side surface of the support support being fixedly connected and sealed to the first stepped surface by a first adhesive layer.

[0027] In the above embodiment, the first section has a larger outer diameter than the second section, forming a stepped structure at the transition section. The first stepped surface serves as an axial limiter, preventing the lens from rotating or moving axially during vibration. Furthermore, the first stepped surface is axially secured to the side of the bracket via an adhesive layer, achieving a three-in-one coupling, securing, and sealing function. This sealing function prevents moisture and dust from entering the gap between the lens and bracket, thereby extending the service life of the optical structure.

[0028] In another possible implementation of the first aspect, the second lens is fixed to the support bracket by adhesive.

[0029] In another possible implementation of the first aspect, the second lens is threadedly connected to the support bracket.

[0030] In another possible implementation of the first aspect, the third accommodating cavity is provided with an internal thread, and the second lens is provided with an external thread. The internal thread and the external thread cooperate to connect to secure the second lens relative to the support bracket.

[0031] Furthermore, the internal thread is provided in the area of the third accommodating cavity near the first side surface of the support bracket. Since the threaded connection is designed in the area near the connection between the two sections, the force arm of the impact force when impacted can be reduced, thereby improving the structural stability.

[0032] In another possible implementation of the first aspect, the second lens includes a third section and a fourth section that are fixedly connected, the third section is located outside the support bracket, and the fourth section is located in the third accommodating cavity.

[0033] In another possible implementation of the first aspect, an outer diameter of the third section is greater than an outer diameter of the fourth section. The third section and the fourth section are transitioned by a second stepped structure, the second stepped structure including a second stepped surface located outside the second lens, the second stepped surface abutting against the first side surface of the support bracket to achieve a fixed position of the second lens relative to the support bracket.

[0034] In another possible implementation of the first aspect, the outer diameter of the third section is greater than the outer diameter of the fourth section. The third and fourth sections are transitioned by a second stepped structure. The second stepped structure includes a third stepped surface located outside the second lens, the third stepped surface being spaced apart and opposed to the first side surface of the support bracket. The first side surface of the support bracket and the third stepped surface form a glue groove for accommodating a first adhesive layer to secure the position of the first lens relative to the support bracket and achieve sealing. For example, the first adhesive layer can seal the gap between the third accommodating cavity and the second lens.

[0035] Furthermore, in the case where the second stepped structure includes both the third step surface and the second step surface, the third step surface and the second step surface are distributed in a step-like manner.

[0036] In another possible implementation of the first aspect, the beam splitting assembly includes a first surface and a second surface disposed opposite each other, and a third surface connected between the first and second surfaces. Along the optical axis of the second lens, the first surface is disposed opposite a light-transmitting surface of the second lens. The beam splitting assembly is configured to split a light beam incident from the first surface into a first light beam and a second light beam, with the first light beam emerging from the second surface and the second light beam emerging from the third surface.

[0037] In the above embodiment, the beam splitting component can separate the beams into multiple light beams and provide them to multiple sensors, forming a multi-sensor common lens design. In addition, the split light beams are directed in different directions and pass through different surfaces, which can provide greater flexibility in sensor location design.

[0038] For example, the first and second light beams can be provided to a lidar sensor and an image sensor, respectively, so that the lidar sensor and the image sensor share a common viewpoint, reducing parallax and calibrating errors. Accordingly, a multi-sensor system using this spectroscopic structure can combine the advantages of lidar sensors and image sensors to improve the accuracy of environmental perception. Of course, the above embodiment also applies to the case where the first and second light beams can be provided to an image sensor and a lidar sensor, respectively.

[0039] As another example, the first light beam and the second light beam can be provided to two lidar sensors respectively, doubling the point cloud density, thereby improving the accuracy of environmental perception.

[0040] As another example, the first light beam and the second light beam can be provided to two image sensors respectively. The fusion of the detection results of the two image sensors can significantly improve the imaging clarity, thereby improving the accuracy of environmental perception.

[0041] In another possible implementation of the first aspect, the spectroscopic device operates on wavelength, and the first and second detectors have different operating wavelength ranges. This can improve signal effectiveness. For example, the first detector is an infrared light sensor, and the first light beam includes infrared light. The second detector is a visible light sensor, and the second light beam includes visible light. The reverse is also possible.

[0042] In another possible embodiment of the first aspect, the support bracket also includes a fifth accommodating chamber and a sixth accommodating chamber connected to the fourth accommodating chamber, the fifth accommodating chamber is located on the side of the fourth accommodating chamber away from the third accommodating chamber, and the sixth accommodating chamber is located on the side of the fourth accommodating chamber along the axial direction.

[0043] The optical structure also includes a first sensor disposed in the fifth accommodating cavity and a second sensor disposed in the sixth accommodating cavity. The first sensor's light-sensitive surface is disposed opposite the second surface of the spectroscopic assembly, while the second sensor's light-sensitive surface is disposed opposite the third surface of the spectroscopic assembly. Furthermore, both the first and second sensors are fixedly connected to the support bracket.

[0044] In another possible implementation of the first aspect, the second sensor is a lidar sensor, and the first sensor is an image sensor.

[0045] In the above embodiment, the first light beam is a light beam emitted from the opposite surface of the incident surface and is a straight-through light beam. The second light beam is a light beam emitted from the intersecting surface of the incident surface and is a deflected light beam. Since the defocus amount of the turning light path of the spectroscopic component is greatly affected by the displacement of the spectroscopic component, a first sensor (such as an infrared light sensor) with a larger depth of field (DOF) can be set on the turning light path of the spectroscopic component, while the defocus amount of the straight-through light path of the spectroscopic component is less affected by the displacement of the spectroscopic component, a second sensor (such as a visible light sensor) with a smaller DOF can be set on the straight-through light path of the spectroscopic component, thereby achieving high-quality imaging of the first sensor and the second sensor.

[0046] In another possible implementation of the first aspect, the first sensor is a lidar sensor, and the second sensor is an image sensor. In some solutions, the lidar sensor has high computing power and high heat dissipation pressure, and is designed to be compatible with a side heat dissipation solution.

[0047] In another possible implementation of the first aspect, the support bracket further includes a third opening and a fourth opening, the third opening communicating with the fifth accommodating chamber, and the fourth opening communicating with the sixth accommodating chamber. The support bracket further includes a first cover plate and a second cover plate, the first cover plate being fixed to the support bracket and enclosing the third opening, and the second cover plate being fixed to the support bracket and enclosing the fourth opening.

[0048] In the above embodiment, using a cover plate to seal the cavity can improve the sealing of the cavity, reduce the entry of moisture and dust into the internal light path, and prevent external stray light from leaking into the internal cavity, thereby helping to achieve high-quality imaging.

[0049] In some cases, the cover plates, such as the first cover plate, the second cover plate, and the third cover plate, can be sealed by a sealing member. The sealing member can be an adhesive, for example, by disposing adhesive at intervals between the cover plate and the opening, or by disposing adhesive around the entire cover plate to achieve a sealing fixation between the cover plate and the opening.

[0050] In another possible implementation of the first aspect, at least one abutting side of the spectrometer component abuts against the inner wall surface of the fourth accommodating cavity, and at least one bonding side of the spectrometer component is bonded and fixed to the inner wall surface of the fourth accommodating cavity by an adhesive.

[0051] In the above embodiment, at least one abutting side of the spectrometer assembly abuts against the inner wall of the second accommodating cavity, enabling controllable position of the spectrometer assembly. Furthermore, at least one bonding side of the spectrometer assembly adheres to the inner wall of the second accommodating cavity, enabling controllable posture of the spectrometer assembly. This embodiment enables the spectrometer assembly to be secured within the second accommodating cavity of the optical machine bracket and allows control of its position and posture within the bracket.

[0052] In another possible embodiment of the first aspect, at least one abutting side of the spectrometer component abuts against the inner wall surface of the fourth accommodating cavity, including: a first abutting side of the spectrometer component abuts against the first inner wall surface of the fourth accommodating cavity close to the third accommodating cavity, and another abutting side of the spectrometer component abuts against the bottom surface of the fourth accommodating cavity.

[0053] In the above embodiment, the inner wall surface of the second accommodating cavity adjacent to the first accommodating cavity can be understood as the stop surface, and the bottom surface of the second accommodating cavity can be understood as the support surface. By abutting one side of the beam splitter assembly against the stop surface and the other side against the support surface, the position of the beam splitter assembly can be controlled, and in conjunction with the adhesive side of the beam splitter assembly, the position and posture of the beam splitter assembly can be more effectively fixed.

[0054] In yet another possible implementation manner of the first aspect, a position where the adhesive is bonded to the light splitting component is symmetrical with respect to the optical axis of the second lens.

[0055] In the above embodiment, the adhesive is bonded to the beam splitter assembly symmetrically about the optical axis of the second lens, facilitating an athermal design for the optical system and ensuring optimal optical performance. Furthermore, this reduces stress on the beam splitter assembly from external forces, high and low temperatures, and enhances the reliability and stability of the beam splitter assembly's bonding, thereby improving the stability and reliability of the beam splitter assembly's light transmission to the lens.

[0056] In another possible implementation of the first aspect, the light splitting assembly includes a first prism and a second prism with joined surfaces, the joined surfaces of the first prism and the second prism form a first angle with the optical axis of the second lens, and the first angle is greater than 0°.

[0057] In another possible implementation of the first aspect, the support bracket further includes a seventh accommodating cavity communicated with the first accommodating cavity. The optical structure further includes a first emitting device disposed in the seventh accommodating cavity, wherein a light-emitting surface of the first emitting device is disposed opposite to a light-transmitting surface of the first lens.

[0058] In another possible embodiment of the first aspect, the support bracket further includes a fifth opening communicating with the seventh accommodating cavity, and the support bracket further includes a third cover plate. The third cover plate is fixed to the support bracket, and the first cover plate closes the fifth opening. Furthermore, the third cover plate and the second cover plate are integrally formed.

[0059] In another possible implementation of the first aspect, the support bracket further includes at least one eighth accommodating cavity, and the optical structure further includes at least one additional lens, and the at least one additional lens is respectively arranged in the at least one eighth accommodating cavity and fixedly connected to the support bracket.

[0060] In a second aspect, the present application provides a support bracket having a first accommodating cavity and a second accommodating cavity, wherein the second accommodating cavity includes a third accommodating cavity and a fourth accommodating cavity that are interconnected. The first accommodating cavity is used to accommodate a first lens, the third accommodating cavity is used to accommodate a second lens, and the fourth accommodating cavity is used to accommodate a spectrometer. The spectrometer is used to split the light beam from the second lens.

[0061] Optionally, the first accommodating cavity is approximately cylindrical, with a single or multi-stage truncated cone structure formed in the middle for accommodating a lens, which is conveniently referred to as the first lens. Similarly, the third accommodating cavity is also approximately cylindrical, for accommodating a lens, which is conveniently referred to as the second lens.

[0062] In a possible implementation manner of the second aspect, the fourth accommodating cavity and the third accommodating cavity are sequentially arranged along a depth direction of the third accommodating cavity. Furthermore, the light splitting component and the second lens are coaxial.

[0063] In another possible implementation of the second aspect, the first accommodating cavity and the second accommodating cavity (or the third accommodating cavity) are arranged side by side.

[0064] In another possible implementation of the second aspect, both the first accommodating cavity and the third accommodating cavity are in communication with the exterior of the support bracket. For example, the support bracket has a first opening and a second opening on a first side surface, the first opening being in communication with the first accommodating cavity, and the second opening being in communication with the third accommodating cavity. Optionally, the optical path of the first lens passes through the first opening, and the optical path of the second lens passes through the second opening.

[0065] In another possible embodiment of the second aspect, the support bracket further comprises multiple openings communicating with the fourth accommodating cavity to allow the split light beam to pass through. For example, the support bracket further comprises a sixth opening and a seventh opening. The split light beam comprises a straight beam and a deflected beam, the straight beam passes through the seventh opening, and the deflected beam passes through the sixth opening. The sixth opening is disposed at the top of the fourth accommodating cavity, and the seventh opening is disposed at the rear of the fourth accommodating cavity, i.e., on a side away from the third accommodating cavity.

[0066] In another possible implementation manner of the second aspect, the support bracket is further provided with a plurality of accommodating cavities for accommodating sensors, and the sensors are used to receive the light beam after passing through the light splitting component.

[0067] Exemplarily, the support bracket further includes a fifth accommodating cavity and a sixth accommodating cavity. The fifth accommodating cavity is arranged on the top side of the fourth accommodating cavity. Similarly, the sixth accommodating cavity is arranged on the rear side of the fourth accommodating cavity.

[0068] In another possible implementation of the second aspect, the support bracket further includes a sensor assembly opening for mounting the sensor. For example, the support bracket further includes a third opening provided on the second side surface, the third opening communicating with the fifth accommodating chamber. In another example, the support bracket further includes a fourth opening provided on the third side surface, the fourth opening communicating with the sixth accommodating chamber.

[0069] In another possible implementation manner of the second aspect, the support bracket is further provided with an accommodating cavity for accommodating the light source circuit board, for placing the light source circuit board.

[0070] In another possible implementation of the second aspect, the support bracket is further provided with one or more connecting structures for mounting peripheral components of the support bracket, such as the aforementioned lens, sensor, and other components, such as a cover plate, shielding plate, heat sink, and the like.

[0071] In a third aspect, the present application provides a sensing device, the sensing device comprising the optical structural component described in any one of the first aspects. Further, the sensing device comprises a housing, and the optical structural component is accommodated in a receiving space formed by the housing.

[0072] Optionally, the perception device includes a laser radar or a fusion perception device. The fusion perception device includes various types of sensors such as a laser radar, a camera, and a radar.

[0073] In a fourth aspect, an embodiment of the present application provides a terminal device, which includes the detection device described in any one of the first aspects, or includes the perception device described in the second aspect. The terminal device here is not limited to the end node in the communication system, but refers to electronic devices in general. For example, the terminal device covers one or more electronic devices such as mobile platforms or smart devices. Among them, the mobile platform refers to an autonomous or semi-autonomous moving vehicle or device, such as a vehicle, drone, aircraft, robot, etc. An intelligent device refers to a device with an integrated sensor.

[0074] Optionally, the terminal device includes an intelligent device or vehicle such as a vehicle, a drone or a robot.

[0075] The beneficial effects of the second to fourth aspects of this application can refer to the beneficial effects of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0076] The following is a brief introduction to the drawings required for describing the embodiments.

[0077] Figure 1 It is an optical path design for a multi-sensor system;

[0078] Figure 2 This is a front-end perspective view of a support bracket provided in an embodiment of the present application;

[0079] Figure 3 This is a rear-end perspective view of a support bracket provided in an embodiment of the present application;

[0080] Figure 4 yes Figure 1 The support bracket shown is a cross-sectional view taken along line AA';

[0081] Figure 5 is a schematic cross-sectional view of an optical structural component provided in an embodiment of the present application;

[0082] Figure 6 1 is a schematic structural diagram of a first lens in an optical structural component provided in an embodiment of the present application;

[0083] Figure 7 This is a schematic diagram of the partial structure of an optical structural component according to an embodiment of the present application;

[0084] Figure 8 This is a schematic diagram of the partial structure of another optical structural component according to an embodiment of the present application;

[0085] Figure 91 is a schematic structural diagram of a second lens in an optical structural component provided in an embodiment of the present application;

[0086] Figure 10 This is a schematic structural diagram of a light splitting component in an optical structural component provided in an embodiment of the present application;

[0087] Figure 11 This is a partial structural diagram of another optical structural component provided in an embodiment of the present application;

[0088] Figure 12 This is a partial structural diagram of another optical structural component provided in an embodiment of the present application;

[0089] Figure 13 This is a schematic structural diagram of another optical structural component provided in an embodiment of the present application;

[0090] Figure 14 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0091] In a multi-sensor system, each sensor requires a matching optical module to achieve specific optical performance, resulting in a larger overall system size and increased weight. For example, the camera and lidar in some vehicles are separate devices, leading to two problems: First, the two devices have independently designed optical systems and occupy two independent and secure locations, resulting in a large system size and low integration. Second, during the data usage phase, the two devices independently perform detection, obtain detection data, and submit it to the data center. The data center in the vehicle then performs multi-sensor data fusion, which requires complex alignment and results in poor fusion results.

[0092] Some solutions realize the integrated design of multiple sensors by using the front-mounted splitter component and the rear-mounted multi-channel lens. Figure 1 As shown, the sensor system includes a light source, a transmitting lens, a spectroscopic prism, a receiving lens 1, a sensor 2, a receiving lens 3, and a sensor 4. Among them, the signal emitted by the light source is collimated and uniformed by the transmitting lens and then emitted to the object space. The signal light from the object space and the ambient light (visible light) are incident on the spectroscopic prism and are divided into a transmission path and a turning path, and enter the two sensors after passing through the two lenses respectively. This architecture places the spectroscopic prism in front of the receiving lens. Since there is no need to match the optical performance of the lenses of multiple sensors, the design and manufacturing difficulty is relatively low. However, there are duplicate optical lenses in the system, and the integration is still low. Moreover, the size of the spectroscopic component needs to be designed to be relatively large to match the aperture of the lens. In addition, since the two sensors do not share the receiving lens, there may be a distortion mismatch in the field of view (FOV) of the two lenses, resulting in large parallax and large registration deviation between the two sensors.

[0093] In view of this, the embodiments of the present application provide an optical structure, a sensing device and a terminal device, which can solve the problems of complex optical path, large size and low integration of multi-sensor systems, and can also ensure the reliability of the optical path structure of the multi-sensor system in various complex scenarios and enhance the detection performance of the system.

[0094] The following combination Figures 2 to 4 Introducing a support bracket, Figure 2 This is a front-end perspective view of a support bracket provided in an embodiment of the present application. Figure 3 This is a rear-end perspective view of a support bracket provided in an embodiment of the present application. Figure 4 yes Figure 1 The support bracket shown is a cross-sectional view taken along line AA'.

[0095] The present embodiment provides a support bracket 100, which includes a first accommodating cavity 10 and a second accommodating cavity 20. The second accommodating cavity 20 includes a third accommodating cavity 21 and a fourth accommodating cavity 22, which are interconnected. Optionally, the first accommodating cavity 10 is approximately cylindrical, with a single or multi-stage frustum formed in the middle, for accommodating a lens, which is conveniently referred to as the first lens. Similarly, the third accommodating cavity 21 is also approximately cylindrical, for accommodating a lens, which is conveniently referred to as the second lens.

[0096] Some possible designs of support brackets are described below.

[0097] In some possible embodiments, the first accommodating cavity 10 and the third accommodating cavity 21 (or the second accommodating cavity 20) are arranged side by side. For example, along the first direction, the projections of the first accommodating cavity 10 and the third accommodating cavity 21 overlap. Along the second direction, the projections of the first accommodating cavity 10 and the third accommodating cavity 21 do not overlap, and the first direction is different from the second direction. Optionally, the first direction is the radial direction of the first accommodating cavity 10 or the third accommodating cavity 21, such as the x-axis and / or y-axis direction, and the second direction is the depth direction of the first accommodating cavity 10 or the third accommodating cavity 21, such as the z-direction. For another example, the depth direction of the first accommodating cavity is parallel to the depth direction of the second accommodating cavity. Furthermore, the first accommodating cavity and the second accommodating cavity do not overlap or communicate with each other in the support bracket.

[0098] In some cases, the first accommodating cavity is isolated from the second accommodating cavity, which can improve the isolation of the optical path and enhance the effectiveness of the signal.

[0099] In some possible embodiments, both the first accommodating cavity 10 and the third accommodating cavity 21 communicate with the exterior of the support bracket 100, allowing the optical path of the lens to communicate with the space outside the support bracket 100. For example, the support bracket is provided with a first opening 31, and the first accommodating cavity 10 communicates with the exterior of the support bracket 100 through the first opening 31. Similarly, the support bracket is provided with a second opening 32, and the third accommodating cavity 21 communicates with the exterior of the support bracket 100 through the second opening 32.

[0100] In some possible embodiments, the first opening 31 and the second opening 32 are both disposed on the first side surface 30 of the support bracket 100. The first side surface 30 is an outer surface of the support bracket, such as the surface facing the positive z-axis. In this manner, the first lens disposed in the first accommodating cavity 10 and the second lens disposed in the third accommodating cavity 21 can face the same side, resulting in overlapping fields of view of the two lenses on the object side.

[0101] Furthermore, the fourth accommodating cavity 22 is connected to the third accommodating cavity 21 and is used to house a spectroscopic assembly. The spectroscopic assembly can receive and split the light beam from the second lens. The second lens can receive a light beam from the object space. For example, the second lens is a receiving lens.

[0102] Alternatively, the first lens and beam splitter assembly can be replaced with a beam-combining optical path. Since the optical path is reversible, the beam splitter assembly can also function as a beam-combining assembly. For example, the beam splitter assembly can be used to combine light beams from multiple light sources and transmit them through the second lens. In this case, the second lens can also serve as a transmitting lens. For example, the beam splitter assembly can transmit visible light and reflect infrared light. It can also combine visible light and infrared light with different optical axes into a single beam and transmit it into object space.

[0103] In some possible implementations, the fourth accommodating cavity 22 and the third accommodating cavity 21 are sequentially arranged along the depth direction of the third accommodating cavity 21 . Furthermore, the light splitting component and the second lens are coaxial.

[0104] In some possible embodiments, the support bracket 100 further includes multiple openings connected to the fourth accommodating cavity 22 to allow the split light beam to pass through. For example, the support bracket 100 further includes a sixth opening 36 and a seventh opening 37. The split light beam includes a straight beam and a deflected beam. The straight beam passes through the seventh opening 37, and the deflected beam passes through the sixth opening 36. The sixth opening 36 is located at the top of the fourth accommodating cavity 22, i.e., on the side of the square near the y-axis. The seventh opening 37 is located at the rear of the fourth accommodating cavity 22, i.e., on the side away from the third accommodating cavity 21, i.e., on the side near the negative z-axis.

[0105] In some possible embodiments, the support bracket 100 further includes multiple cavities for accommodating sensors, which are used to receive the light beam after passing through the spectrometer. For example, the support bracket 100 further includes a fifth accommodating cavity 50 and a sixth accommodating cavity 60. The fifth accommodating cavity 50 is disposed in the optical path of one sub-beam of the spectrometer, for example, the fifth accommodating cavity 50 is disposed on the top side of the fourth accommodating cavity 22. Similarly, the sixth accommodating cavity 60 is disposed in the optical path of another sub-beam of the spectrometer, for example, the sixth accommodating cavity 60 is disposed on the rear side of the fourth accommodating cavity 22.

[0106] In some possible embodiments, the support bracket 100 further includes a sensor mounting opening for mounting the sensor. For example, the support bracket 100 further includes a third opening 33 disposed on the second side surface 42, the third opening 33 communicating with the fifth accommodating cavity 50. For another example, the support bracket 100 further includes a fourth opening 34 disposed on the third side surface 43, the fourth opening 34 communicating with the sixth accommodating cavity 60.

[0107] In some possible embodiments, the support bracket 100 is further provided with one or more connection structures for mounting peripheral components of the support bracket, such as the aforementioned lens, sensor, and other components. Other components include cover plates, shielding plates, heat sinks, and the like. For example, the support bracket 100 is further provided with studs 44 for threaded connection between the peripheral components and the support bracket. For another example, the support bracket is further provided with screw holes 45 for threaded connection between the peripheral components and the support bracket. For another example, the cavity for accommodating the lens may be designed with threads to achieve a threaded connection with the lens.

[0108] See Figure 5 , Figure 5 This is a schematic diagram of the structure of an optical structure provided by an embodiment of the present application. The optical structure 1000 includes a support bracket 100, a first lens 200, a second lens 300 and a light splitting component 400. Among them:

[0109] The support bracket 100 is provided with a first accommodating cavity 10 and a second accommodating cavity 20. The second accommodating cavity 20 includes a third accommodating cavity 21 and a fourth accommodating cavity 22, which are interconnected. The connection between the third accommodating cavity 21 and the fourth accommodating cavity prevents the optical path of the optical module in the third accommodating cavity from communicating with the optical module placed in the fourth accommodating cavity. The detailed structure of the support bracket 100 can be found above.

[0110] At least a portion of the first lens 200 is housed within the first accommodating cavity 10 and fixedly connected to the support bracket 100. Enclosing the lens within the accommodating cavity provides a rigid support frame for the first lens, thereby enhancing the lens's resistance to vibration and impact, and improving stability. In some cases, the first lens 200 includes a first lens barrel 201 and at least one first optical element 202, wherein the at least one first optical element 202 is disposed within and connected to the first lens barrel 201. Exemplarily, the optical elements in the lens include one or more lenses selected from the group consisting of a meniscus lens, a biconvex lens, a biconcave lens, a plano-concave lens, a plano-convex lens, a plano-concave lens, a plano-convex lens, or a cylindrical lens. The above lens design facilitates a reasonable distribution of shape and optical power, thereby achieving high-quality detection performance.

[0111] At least a portion of the second lens 300 is disposed within the third accommodating cavity 21 and is fixedly connected to the support bracket 100. In some cases, the second lens 300 includes a second lens barrel 301 and at least one second optical element 302, which is disposed within and connected to the second lens barrel 301. The design of the second optical element can refer to the description of the first optical element described above.

[0112] The spectrometer component 400 is disposed in the fourth accommodating cavity 22 and is fixedly connected to the support bracket 100. The spectrometer component 400 is capable of splitting the light beam from the second lens 300. In some cases, the spectrometer component 400 includes a spectrometer prism, a spectrometer surface is provided in the spectrometer prism, and a spectrometer film is provided on the spectrometer surface, and the spectrometer function is performed by the spectrometer film. Exemplarily, the spectrometer film includes one or more of a multilayer dielectric film, a metal-dielectric composite film, a metal spectrometer film, etc. Optionally, the spectrometer film is deposited on the surface of the spectrometer surface by a coating technology (such as electron beam evaporation, magnetron sputtering, electroplating).

[0113] In some possible implementations, the light splitting component 400 is coaxially disposed with the second lens 300. The coaxial design can reduce optical path deviation and improve signal effectiveness.

[0114] In some possible embodiments, the support bracket 100 has a first opening 31 and a second opening 32 on a first side surface. The first opening 31 communicates with the first accommodating cavity 10, and the second opening 32 communicates with the third accommodating cavity 21. Optionally, the optical path of the first lens 200 passes through the first opening 31, and the optical path of the second lens passes through the second opening 32. Providing openings on the same side surface of the support bracket to accommodate the optical paths of both lenses facilitates overlapping of the object-side field of view of the first lens and the object-side field of view of the second lens.

[0115] In some cases, when the first lens and the second lens are respectively a transmitting lens and a receiving lens, the above design can achieve alignment of the transmitting field of view and the receiving field of view.

[0116] In some cases, the first lens and the second lens can both be transmitting lenses or both be receiving lenses. In this case, the fields of view of the two lenses on the object side overlap, which makes it easy to achieve encrypted detection of the field of view.

[0117] The following describes some possible implementations of the present application. It should be noted that different implementations can be combined, and the combination will not be described in detail. The following first describes possible implementations related to the first lens 200.

[0118] In some possible implementations, the first lens 200 and the support bracket 100 are fixed by one or more of adhesive bonding, contour connection, snap-fit structure fixation, screw fixation, etc. Two fixing methods are exemplarily described below:

[0119] Method 1: The first lens 200 is fixed to the support bracket 100 by adhesive bonding. For example, see Figure 5 The first lens 200 and the support bracket 100 are connected by a second adhesive layer 91. The second adhesive layer 91 is an adhesive layer that secures the first lens 200 to the support bracket 100. In some cases, the second adhesive layer 91 is positioned at the first opening 31 and performs three functions: sealing, coupling, and securing. For example, the second adhesive layer 91 surrounds the first lens 200 to fully seal the gap between the first accommodating cavity 10 and the first lens 200.

[0120] Method 2: The first lens 200 is threadedly connected to the support bracket 100. For example, the first lens 200 is provided with threads, and the inner wall of the first accommodating cavity 10 is also provided with threads. The first lens 200 is tightened by the threads to achieve relative fixation between the first lens 200 and the support bracket 100.

[0121] The above two methods can also be combined. For example, on the basis of threaded connection, the second adhesive layer 91 is used to achieve bonding, fixing and sealing.

[0122] In some possible implementations, combining Figure 5 and Figure 6 The first lens 200 includes a first section 200a and a second section 200b that are fixedly connected. The first section 200a is located outside the support bracket 100, and the second section 200b is located within the first accommodating cavity 10. In other words, the first lens 200 is partially disposed within the first accommodating cavity 10, while a portion of the first lens 200 is exposed from the first accommodating cavity 10 and disposed outside the support bracket 100. Optionally, the barrel portions of the first section 200a and the second section 200b are integrally formed.

[0123] This design can achieve the following three effects: First, since the support bracket does not have to completely wrap the first lens 200, the volume of the support bracket can be reduced and the weight can be reduced. Second, since the first lens 200 is partially exposed, the fixing and sealing position can be designed in the middle part of the first lens 200, which can improve the fixing accuracy and sealing effect. Third, the above design makes the radial size of the first section 200a not limited by the inner diameter of the first accommodating cavity 10. For example, the inner diameter of the lens barrel of the first section 200a can be designed to be larger to accommodate larger lenses and improve the imaging effect of the lens.

[0124] In some possible implementations, combining Figure 5 and Figure 6 The outer diameter of the first section 200a of the first lens 200 is greater than the outer diameter of the second section 200b. The first section 200a and the second section 200b are transitioned by a first stepped structure 203. The first stepped structure 203 includes a first stepped surface 2031 located outside the first lens 200. The first stepped surface 2031 is spaced apart from and opposed to the first side surface 41 of the support bracket 100. The first side surface 41 of the support bracket 100 and the first stepped surface 2031 are fixedly connected and sealed by a second adhesive layer 91.

[0125] In the above embodiment, the first stepped surface 2031 serves as a bonding surface. Alternatively, the first stepped surface 2031 can serve as a stop surface. For example, if the first lens 200 is fixedly connected to the support bracket 100 by other fixing methods, the first stepped surface 2031 can abut against the first side surface 41, thereby facilitating installation and positioning and preventing axial displacement of the first lens 200 relative to the support bracket 100.

[0126] For some possible implementations, see Figure 7 , Figure 7 This is a schematic diagram of the partial structure of an optical structural component according to an embodiment of the present application. The first stepped structure 203 includes a fourth stepped surface 2032, which abuts against the first side surface 41 of the support to achieve the fixed position of the first lens relative to the support. In addition, the first stepped structure also includes a first stepped surface 2031, which is arranged in a stepped manner with the fourth stepped surface 2032. The first stepped surface 2031 is spaced apart from the first side surface 41 of the support bracket 100, and the first side surface 41 of the support bracket 100 and the first stepped surface 2031 are fixedly connected and sealed by the second adhesive layer 91.

[0127] In some possible implementations, combining Figure 5 and Figure 6The first lens barrel 201 may include a plurality of first optical elements 202, and the plurality of first optical elements 202 are disposed in the first lens barrel 201. In this way, the plurality of first optical elements 202 are first integrated to form the first lens 200, and then the entire first lens 200 is fixed to the support bracket 100, thereby improving assembly efficiency and increasing structural stability of the plurality of first optical elements 202.

[0128] It should be noted that the rounded rectangle used here as an example of an optical element is not intended to limit the number or shape of the first optical elements within the first lens 200. In some cases, the optical elements within the first lens 200 include one or more of a meniscus lens, a biconvex lens, a biconcave lens, a plano-concave lens, a plano-convex lens, a plano-concave lens, a plano-convex lens, or a cylindrical lens. These lens designs facilitate the optimal distribution of shape and optical power, achieving high-quality detection performance.

[0129] The following describes possible implementations related to the second lens.

[0130] In some possible implementations, the second lens 300 and the support bracket 100 are fixed by one or more of adhesive bonding, contour connection, snap-fit structure fixation, screw fixation, etc. Two fixing methods are exemplarily described below:

[0131] Method 1: The second lens 300 is fixed to the support bracket 100 by adhesive bonding. For example, see Figure 5 The second lens 300 is connected to the support bracket 100 via a first adhesive layer 92. The first adhesive layer 92 is an adhesive layer formed to secure the second lens 300 to the support bracket 100. In some cases, the first adhesive layer 92 is disposed at the second opening 32 to seal the third accommodating cavity 21. For example, the first adhesive layer 92 may surround the first lens 200 to fully seal the gap between the third accommodating cavity 21 and the second lens 300.

[0132] Mode 2: The second lens 300 is threadedly connected to the support bracket 100. For example, see Figure 8 and Figure 9 The third accommodating cavity 21 is provided with an internal thread 211, and the second lens 300 is provided with an external thread 304. The internal thread 211 and the external thread 304 are connected in cooperation to achieve the fixation of the second lens 300 relative to the support bracket 100.

[0133] In some possible implementations, combining Figure 4 、 Figure 5 and Figure 9The second lens 300 includes a third section 300a and a fourth section 300b that are fixedly connected. The third section 300a is located outside the support bracket 100, and the fourth section 300b is located within the third accommodating cavity 21. Optionally, the lens barrel portions of the first section 200a and the second section 200b are integrally formed. This embodiment can be referred to the aforementioned description of the segmented design of the first lens 200.

[0134] In some possible implementations, combining Figure 9 The outer diameter of the third section 300a is greater than the outer diameter of the fourth section 300b. The third section 300a and the fourth section 300b are transitioned by a second stepped structure 303. The second stepped structure 303 includes a second stepped surface 3031 located outside the second lens 300. The second stepped surface 3031 abuts against the first side surface 41 of the support bracket 100 to achieve a fixed position of the second lens 300 relative to the support bracket 100.

[0135] In some possible implementations, the outer diameter of the third section 300a is greater than the outer diameter of the fourth section 300b. The third section 300a and the fourth section 300b transition through a second stepped structure 303. The second stepped structure 303 includes a third step surface 3032 located outside the second lens 300. The third step surface 3032 is spaced apart from the first side surface 41 of the support bracket 100 and is opposed to the first side surface 41 of the support bracket 100. The first side surface 41 of the support bracket 100 and the third step surface 3032 form a glue groove 305. The glue groove 305 is used to accommodate the first glue layer 92 to fix the position of the first lens 200 relative to the support bracket 100 and achieve sealing. In some solutions, it is also called an anti-loosening glue groove. For example, the first glue layer 92 can seal the gap between the third accommodating cavity 21 and the second lens 300.

[0136] Furthermore, when the second stepped structure 303 includes both the third step surface 3032 and the second step surface 3031 , the third step surface 3032 and the second step surface 3031 are distributed in a step-like manner.

[0137] The following describes possible implementations of the optical splitter component.

[0138] For some possible implementations, see Figure 10 The light splitting component 400 includes a first surface 4011 and a second surface 4012 disposed opposite to each other, and a third surface 4021 connected between the first surface 4011 and the second surface 4012. The light splitting component 400 is used to split a light beam incident from the first surface 4011 into a first light beam and a second light beam, wherein the first light beam is emitted from the second surface 4012 and the second light beam is emitted from the third surface 4021.

[0139] In some possible implementations, combining Figure 11 and Figure 12Along the optical axis of the second lens 300, the first surface 4011 is arranged opposite to the light-transmitting surface of the second lens. The light splitting component 400 is used to split the light beam from the second lens 300. The split light beam includes a straight light beam and a deflected light beam. The straight light beam is emitted from the second surface 4012, and the deflected light beam is emitted through the third surface 4021. It should be understood that Figure 12 The optical elements in the second lens 300 are omitted.

[0140] In some possible embodiments, the spectrometer assembly 400 includes at least one abutting side and at least one bonding side. The at least one abutting side abuts against the inner wall of the fourth accommodating chamber 22, and the at least one bonding side is bonded and fixed to the inner wall of the fourth accommodating chamber 22 via an adhesive. For example, the first abutting side of the spectrometer assembly 400 abuts against the first inner wall 221 of the fourth accommodating chamber 22, which is adjacent to the third accommodating chamber 21, and the other abutting side of the spectrometer assembly 400 abuts against the second inner wall 222 (i.e., the bottom surface) of the fourth accommodating chamber 11. Furthermore, the first inner wall is connected to and intersects with the second inner wall.

[0141] Optionally, the position where the adhesive is bonded to the light splitting component 400 is symmetrical with respect to the optical axis of the second lens 300 .

[0142] Optionally, the light-splitting assembly 400 includes a first prism 401 and a second prism 402 whose joining surfaces are joined, and the joining surfaces of the first prism 401 and the second prism 402 form a first angle with the optical axis of the second lens 300, and the first angle is greater than 0°. Exemplarily, the first prism 401 and the second prism 402 are respectively right-angle prisms, which are joined along right-angled inclined surfaces, and the end faces are square (including those that are approximately square). Furthermore, exemplarily, the first prism 401 and the second prism 402 are respectively right-angle prisms, but are joined along right-angled sides, and the end faces are wedge-shaped (including those that are approximately wedge-shaped).

[0143] The following describes the design of the light beam receiving after the light beam passes through the spectrometer.

[0144] In some possible embodiments, the support bracket 100 also includes a fifth accommodating chamber 50 and a sixth accommodating chamber 60 that are connected to the fourth accommodating chamber 22, the fifth accommodating chamber 50 is located on the side of the fourth accommodating chamber 22 away from the third accommodating chamber 21, and the sixth accommodating chamber 60 is located on the side of the fourth accommodating chamber 22 along the axial direction, for example, on the top side.

[0145] Combine Figure 11 and Figure 12The optical structure 1000 further includes a first sensor 500 and a second sensor 600, respectively disposed in the fifth accommodating cavity 50 and the sixth accommodating cavity 60. The light-sensitive surface of the first sensor 500 is disposed opposite to the second surface 4012 of the light-splitting component 400, and the light-sensitive surface of the second sensor 600 is disposed opposite to the third surface 4021 of the light-splitting component 400.

[0146] Furthermore, the first sensor 500 and the second sensor 600 are both fixedly connected to the support bracket 100 to enhance the stability of the optical path. The fixed connection herein includes fixing via a connecting structure or adhesive fixing. The connecting structure may include a mechanical structure such as threads or snaps, or may include connecting parts such as screws and pins.

[0147] In some possible implementations, the first sensor 500 is a lidar sensor, and the second sensor 600 is an image sensor. Alternatively, the second sensor 600 is a lidar sensor, and the first sensor 500 is an image sensor. Alternatively, both the first sensor 500 and the second sensor 600 are image sensors or lidar sensors.

[0148] The image sensor includes multiple photosensitive elements. For example, the image sensor includes a complementary metal oxide semiconductor (CMOS), a charge-coupled device (CCD), or a Live MOS. Furthermore, the data output by the image sensor can be used to obtain pixelated brightness and / or color information. For example, the data output by the image sensor includes an image and / or video, or the data output by the image sensor is used to obtain an image and / or video.

[0149] The laser radar sensor includes multiple photodetectors. Exemplarily, the photodetectors include p-type-intrinsic-n-type photodiodes (PIN photodiodes), avalanche photodiodes (APDs), or single-photonavalanche diodes (SPADs), silicon photomultipliers (SiPMs), etc. Furthermore, the data output by the laser radar sensor can support time-of-flight calculations to obtain the distance of the target, etc. In some cases, the data output by the laser radar sensor can also obtain one or more information such as the speed, position, reflectivity, texture, or type of the target.

[0150] In some other possible implementations, the light splitting component 400 includes an element that performs light splitting based on wavelength, wherein the first light beam includes a light beam within a first wavelength range, the second light beam includes a light beam within a second wavelength range, and the first wavelength range and the second wavelength range at least partially do not overlap.

[0151] For example, the first light beam is infrared light, and the second light beam is visible light. Furthermore, the first sensor 500 and the second sensor 600 can each respond to light beams within corresponding wavelength ranges. For example, the first sensor 500 may be an infrared light sensor, or its operating wavelength range may be the infrared light range. The second sensor 600 may be a visible light sensor, or its operating wavelength range may be the visible light range. In some cases, the operating range of a lidar sensor may be the infrared light range, and the image sensor may be a visible light sensor.

[0152] As another example, the first light beam is visible light and the second light beam is infrared light. In this case, the operating range of the sensor changes accordingly.

[0153] In other possible implementations, the spectrometer component 400 may perform spectrometry based on other criteria. For example, the spectrometer component 400 may be a polarization spectrometer, which may split the light based on polarization state. Alternatively, the spectrometer component 400 may be a transflective mirror, where the spectrometer may split the light based on energy. For example, the spectrometer component 400 may have a spectrometer with a 50% transmission and a 50% reflection ratio. This is a semi-transparent, semi-reflective spectrometer. Of course, the spectrometer energy ratio used here is merely an example; for example, the spectrometer component 400 may also be a spectrometer with a 40% transmission and a 60% reflection ratio.

[0154] In some cases, the spectrometer component 400 further includes a filter or a filter film attached to at least one light-emitting surface to filter the split light beam, increase the signal-to-noise ratio of the signal received by the sensor, and improve the imaging quality.

[0155] In some possible embodiments, the support bracket 100 further includes a third opening 33 and a fourth opening 34. The third opening 33 communicates with the fifth accommodating cavity 50, and the fourth opening 34 communicates with the sixth accommodating cavity 60. The support bracket 100 further includes a first cover plate and a second cover plate. The first cover plate is fixed to the support bracket and closes the third opening 33. The second cover plate is fixed to the support bracket 100 and closes the fourth opening 34.

[0156] The following introduces the relevant design when the first lens is used as a light emitting lens.

[0157] In some possible implementations, the support bracket 100 further includes a seventh accommodating cavity 70 that communicates with the first accommodating cavity 10. The optical structure 1000 further includes a first emitting device 700 disposed in the seventh accommodating cavity 70. The light-emitting surface of the first emitting device 700 is disposed opposite to the light-transmitting surface of the first lens 200. The light-transmitting surface here refers to the surface of the first lens 200 on the side closest to the first emitting device 700.

[0158] In some possible implementations, the support bracket further includes a fifth opening 35 communicating with the seventh accommodating cavity 70 , and the support bracket further includes a third cover plate fixed to the support bracket and closing the fifth opening.

[0159] Furthermore, the third cover plate and the first cover plate are integrated, for example Figure 5 The cover plate 800 is shown. Of course, the present application is also applicable to the case where the two are separately arranged.

[0160] Here are some additional lens designs for support brackets.

[0161] In some possible implementations, the support bracket 100 further includes at least one eighth accommodating cavity, and the optical structure 1000 further includes at least one additional lens, which is respectively disposed in at least one eighth accommodating cavity and fixedly connected to the support bracket 100 .

[0162] For example, see Figure 13 The support bracket 100 further includes a ninth accommodating cavity 211a and a tenth accommodating cavity 211b, both of which can be considered the eighth accommodating cavity. Accordingly, the optical structure 1000 further includes a first additional lens 212a and a second additional lens 212b, which are disposed in the ninth accommodating cavity 211a and the tenth accommodating cavity 211b, respectively. The assembly design between the additional lenses and the accommodating cavities can refer to the assembly design of the first lens 200 and / or the second lens 300 described above.

[0163] Optionally, the first additional lens 212a is a transmitting lens, and the optical structure 1000 further includes a second transmitting device 213a. The light beam emitted by the second transmitting device 213a passes through the first additional lens 212a and is then transmitted into the object space. Of course, this application also applies to the case where the first additional lens 212a is a receiving lens. Furthermore, the optical structure 1000 further includes a fourth cover plate 214a, which is used to seal the opening of the accommodating cavity where the second transmitting device 213a is located.

[0164] Optionally, the second additional lens 212b is a receiving lens, and the optical structure 1000 further includes a third sensor 213b, which receives the light beam from the second additional lens 212b. Of course, this application also applies to the case where the second additional lens 212b is a transmitting lens. Furthermore, the optical structure 1000 further includes a fifth cover plate 214b, which is used to seal the opening of the accommodating cavity where the third sensor 213b is located.

[0165] Optionally, the orientation of the at least one additional lens may be the same as the orientation of the first lens 200 and / or the second lens 300 .

[0166] The present application provides a sensing device, which includes the aforementioned optical structural component 1000. Furthermore, the sensing device also includes a housing, and the optical structural component 1000 is accommodated in a receiving space formed by the housing.

[0167] Optionally, the perception device includes a laser radar or a fusion perception device. The fusion perception device integrates at least two types of sensors, such as a laser radar, a camera, or a radar.

[0168] The embodiment of the present application also provides a terminal, which includes the aforementioned support bracket 100, or includes the aforementioned optical structure 1000, or includes the aforementioned sensing device. The terminal here can be an intelligent terminal or transportation tool such as a vehicle, a drone, or a robot. It should be understood that the vehicle here 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 another example, the robot can be an intelligent handling robot (automated guided vehicle, AGV), a walkable conversational robot, a service robot, and other robots.

[0169] See Figure 14 , Figure 14 This is a schematic diagram of a vehicle including a sensing device provided in an embodiment of the present application. The sensing device can sense the surrounding environment of the vehicle and obtain relevant information about targets in the surrounding environment. The relevant information about these targets can be used to control the vehicle or assist the driver in driving. It should be understood that Figure 14 The sensor device installation locations shown are only examples. In practice, the sensor device may be installed in other locations, such as on the roof of the cabin, or at the front, side, or rear of the vehicle.

[0170] In addition, a few additional explanations are required for this application:

[0171] 1. The above embodiments are intended only to illustrate the technical solutions of the present application and are not intended to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, it should be understood by those skilled in the art that the technical solutions described in the aforementioned embodiments may be modified or some of the technical features thereof may be replaced with equivalents. However, such modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of protection of the technical solutions of the various embodiments of the present application.

[0172] 2. Unless otherwise specified, “plurality” means two or more.

[0173] 3. Unless otherwise specified or there is no logical conflict, the terms and / or descriptions between different embodiments of this application are consistent and can be referenced by each other. The technical features in different embodiments can be combined to form new embodiments based on their internal logical relationships.

[0174] 4. The various numerical numbers involved in this application are only used for the convenience of description and are not used to limit the scope of protection of this application. The size of the serial numbers involved in this application does not mean the order of execution. The order of execution of each process should be determined by its function and internal logic. For example, the terms "first", "second", "third", "fourth" and other various terminology labels (if any) in the specification and claims and drawings of this application are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. Among them, the data used in this way can be interchangeable where appropriate, so that the embodiments described here can be implemented in an order other than what is illustrated or described here.

[0175] At the same time, any embodiment or design described in this application as "exemplary" or "for example" should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner to facilitate understanding.

[0176] 5. The terms "comprise" and "have" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or apparatus that includes a series of steps or modules is not necessarily limited to those steps or modules explicitly listed, but may include other steps or modules not explicitly listed or inherent to such process, method, product or apparatus.

[0177] 6. The terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings and are only used to facilitate the description of this application and simplify the description. They do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operate in a specific direction. Therefore, they should not be understood as limiting this application.

[0178] VII. The Cartesian coordinate system and the x, y, and z directions shown in the various embodiments of this application are provided for ease of understanding and are not intended to limit the embodiments of this application. During implementation, the placement of components, their arrangement, and the orientation of light beams may be designed in other ways, and other coordinate systems, such as spherical coordinates, may also be used.

[0179] 8. Unless otherwise specified, “ / ” indicates that the objects associated with each other are in an “or” relationship. For example, A / B can mean A or B. “And / or” in this application is only a description of the association relationship between the associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. A and B can be singular or plural.

[0180] 9. Unless otherwise specified, the names of the devices, systems, modules and other information in the embodiments of the present application are only examples, and the devices, modules and modules are all used to represent possible entities for implementing a certain function, and the meanings of the three can be interchangeable.

[0181] 10. For ease of illustration, the drawings of the embodiments of this application slightly exaggerate the thickness, size, and shape of components (such as optical elements, lens barrels, sensors, etc.). Specifically, the thicknesses and surface shapes of components shown in the drawings are for illustrative purposes only. Furthermore, the drawings are for illustrative purposes only and are not drawn strictly to scale.

Claims

1. An optical structural component, characterized in that: include: Support bracket, first lens, second lens and light splitting assembly; The support bracket is provided with a first accommodating cavity and a second accommodating cavity, and the second accommodating cavity includes a third accommodating cavity and a fourth accommodating cavity that are connected; At least a portion of the first lens is sleeved in the first accommodating cavity and fixedly connected to the support bracket, at least a portion of the second lens is sleeved in the third accommodating cavity and fixedly connected to the support bracket, and the light splitting assembly is disposed in the fourth accommodating cavity and fixedly connected to the support bracket; The light splitting component is capable of splitting the light beam from the second lens.

2. The optical structural component according to claim 1, wherein: The support bracket is provided with a first opening and a second opening on the first side. The first opening is in communication with the first accommodating cavity; The second opening is communicated with the third accommodating cavity.

3. The optical structural component according to claim 1 or 2, characterized in that: The first lens is fixed to the support bracket by adhesive. And / or, the first lens is threadedly connected to the supporting bracket.

4. The optical structural component according to any one of claims 1 to 3, characterized in that: The first lens comprises a first section and a second section that are fixedly connected. The first section is located outside the support bracket, The second section is located in the first accommodating cavity.

5. The optical structural component according to claim 4, characterized in that: The outer diameter of the first section is greater than the outer diameter of the second section; The first section and the second section are transitioned through a first step structure. The first stepped structure includes a first step surface located outside the first lens, the first step surface is spaced apart from and opposite to the first side surface of the support bracket, and the first side surface of the support bracket and the first step surface are fixedly connected and sealed by a first adhesive layer.

6. The optical structural component according to any one of claims 1 to 5, characterized in that: The second lens is fixed to the support bracket by adhesive. And / or, the second lens is threadedly connected to the supporting bracket.

7. The optical structural component according to claim 6, characterized in that: The interior of the third accommodating cavity is provided with an internal thread, and the exterior of the second lens is provided with an external thread; The internal thread is matched with the external thread to fix the second lens relative to the support bracket.

8. The optical structural component according to any one of claims 1 to 7, characterized in that: The second lens comprises a third section and a fourth section which are fixedly connected. The third section is located outside the supporting bracket, The fourth section is located in the third accommodating cavity.

9. The optical structural component according to claim 8, characterized in that: The third section and the fourth section are transitioned through a second stepped structure. The second stepped structure includes a second step surface located outside the second lens, and the second step surface abuts against the first side surface of the support bracket to achieve the stopping position of the second lens relative to the support bracket.

10. The optical structural component according to claim 8 or 9, characterized in that: The third section and the fourth section are transitioned through a second stepped structure, and the second stepped structure includes a third step surface located outside the second lens. The third step surface is spaced apart from and opposite to the first side surface of the support bracket. The first side surface of the support bracket and the third step surface form a glue groove, which is used to accommodate a first glue layer to fix the position of the first lens relative to the support bracket and achieve sealing.

11. The optical structural component according to any one of claims 1 to 10, characterized in that: The light splitting component includes a first surface and a second surface that are opposite to each other, and a third surface connected between the first surface and the second surface; Along the optical axis direction of the second lens, the first surface is arranged opposite to the light-transmitting surface of the second lens; The light splitting component is used to split the light beam incident from the first surface into a first light beam and a second light beam, wherein the first light beam emerges from the second surface, and the second light beam emerges from the third surface.

12. The optical structural component according to claim 11, characterized in that: The support bracket further includes a fifth accommodating cavity and a sixth accommodating cavity communicated with the fourth accommodating cavity, the fifth accommodating cavity being located on a side of the fourth accommodating cavity away from the third accommodating cavity, and the sixth accommodating cavity being located on a side of the fourth accommodating cavity along the axial direction; The optical structure also includes a first sensor and a second sensor respectively disposed in the fifth accommodating cavity and the sixth accommodating cavity. The light-sensitive surface of the first sensor is arranged opposite to the second surface of the light-splitting component; The light-sensitive surface of the second sensor is arranged opposite to the third surface of the light-splitting component.

13. The optical structural component according to claim 12, characterized in that: The first detector is a laser radar detector, and the second detector is an image detector; Alternatively, the first detector is an image detector, and the second detector is a lidar detector; Alternatively, both the first detector and the second detector are lidar detectors; Alternatively, both the first detector and the second detector are image detectors.

14. The optical structural component according to claim 12 or 13, characterized in that: The light splitting component is based on wavelength; in: The first detector is an infrared light sensor, and the second detector is a visible light sensor; or The first detector is a visible light sensor, and the second detector is an infrared light sensor.

15. The optical structural component according to any one of claims 12 to 14, characterized in that: The support bracket further includes a third opening and a fourth opening, wherein the third opening is connected to the fifth accommodating cavity, and the fourth opening is connected to the sixth accommodating cavity. The support bracket further includes a first cover plate and a second cover plate; The first cover plate is fixed to the support bracket, and the first cover plate closes the third opening; The second cover plate is fixed to the supporting bracket, and the second cover plate closes the fourth opening.

16. The optical structural component according to any one of claims 11 to 15, characterized in that: At least one abutting side of the light splitting component abuts against the inner wall surface of the fourth accommodating cavity, and at least one bonding side of the light splitting component is bonded and fixed to the inner wall surface of the fourth accommodating cavity by an adhesive.

17. The optical structural component according to claim 16, characterized in that: At least one abutting side of the light splitting component abuts against the inner wall surface of the fourth accommodating cavity, comprising: A first abutting side of the light splitting component abuts against a first inner wall surface of the fourth accommodating cavity close to the third accommodating cavity, and another abutting side of the light splitting component abuts against a bottom surface of the fourth accommodating cavity.

18. The optical structural component according to claim 16 or 17, characterized in that: The position where the adhesive is bonded to the light splitting component is symmetrical with respect to the optical axis of the second lens.

19. The optical structural component according to any one of claims 11 to 17, characterized in that: The light splitting component includes a first prism and a second prism with joined surfaces. The joined surfaces of the first prism and the second prism form a first angle with the optical axis of the second lens, and the first angle is greater than 0°.

20. The optical structural component according to claim 19, wherein: The support bracket further includes a seventh accommodating cavity communicated with the first accommodating cavity; The optical structure also includes a first emitting device arranged in the seventh accommodating cavity; The light emitting surface of the first emitting device is arranged opposite to the light transmitting surface of the first lens.

21. The optical structural component according to claim 20, characterized in that: The support bracket further includes a fifth opening, the fifth opening being connected to the seventh accommodating cavity; The support bracket further includes a third cover plate; The third cover plate is fixed to the supporting bracket, and the first cover plate closes the fifth opening.

22. The optical structural component according to claims 1-21, characterized in that: The support bracket further includes at least one eighth accommodating cavity, and the optical structure further includes at least one additional lens; The at least one additional lens is respectively arranged in the at least one eighth accommodating cavity and fixedly connected to the supporting bracket.

23. The optical structural component according to claims 1-22, characterized in that: The first lens comprises a first lens barrel and at least two first optical elements, wherein the at least two first optical elements are disposed in the first lens barrel and connected to the first lens barrel; The second lens includes a second lens barrel and at least two second optical elements. The at least two second optical elements are disposed in and connected to the second lens barrel.

24. A sensing device, characterized in that The sensing device is a laser radar or a fusion sensing device, The sensing device includes the optical structure described in claims 1-23.

25. A terminal device, characterized in that: The terminal includes the optical structure according to any one of claims 1 to 23, or includes the sensing device according to claim 24.

26. The terminal device according to claim 25, characterized in that The terminal device is a vehicle, a drone or a robot.

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