Scanning device, detection device and vehicle

Abstract

A scanning device, a detection device and a vehicle relate to the technical field of detection, the scanning device (10) comprises a driving mechanism (11) and at least two scanning surfaces (12); the driving mechanism (11) is used for driving the at least two scanning surfaces (12) to move; the at least two scanning surfaces (12) have bending degrees, and the bending degrees of the at least two scanning surfaces (12) are not completely the same. Therefore, by designing the scanning surfaces with the incompletely same curvature, when the scanning device is applied to the light beam detection device, the light spot density in the view field is regulated and controlled, so that the scanning point cloud pattern is regulated and controlled, and the characteristics of the region of interest are realized.

Description

Scanning device, detection device and vehicle Technical Field

[0001] The present application relates to the field of detection technology, and in particular to a scanning device, a detection device and a vehicle. Background Art

[0002] As a weak-sensing detection system, radar technology can accurately detect the outlines of objects and obtain depth information, both day and night. Compared to traditional technologies such as millimeter-wave radar and ultrasonic radar, laser radar (Lidar) operates in a shorter wavelength band, significantly improving detection resolution and range, making it an indispensable technology in both military and civilian applications. In artificial intelligence fields such as autonomous driving and robotics, compared to camera-based vision solutions, Lidar offers advantages such as all-weather operation, high measurement resolution, strong anti-interference capabilities, and strong penetration capabilities. It can autonomously perceive the road environment and assist vehicles in achieving their intended goals.

[0003] Among them, the scanner is the core functional component of the LiDAR, used to achieve laser beam steering, cover the spatial field of view, and enable the LiDAR to obtain a large field of view (FOV). The current scanner includes a scanning mirror and a drive mechanism, which drives the scanning mirror to move by swinging or rotating to achieve beam deflection. Because some areas of the FOV (such as the central area) have higher perception value, a higher point cloud density is required in high-value areas to realize the region of interest (ROI) characteristics of the LiDAR.

[0004] However, the drive mechanism using swinging or rotating methods is relatively bulky and has limitations on the point cloud pattern. It is unable to swiftly change the scanning point cloud pattern and it is difficult to achieve ROI characteristics.

[0005] Summary of the Invention

[0006] The embodiments of the present application provide a scanning device, a detection device, and a vehicle, which help to quickly change the scanning point cloud mode to achieve ROI characteristics.

[0007] In a first aspect, an embodiment of the present application provides a scanning device, which may include a driving mechanism and at least two scanning surfaces; the driving mechanism is used to drive the at least two scanning surfaces to move; the at least two scanning surfaces have curvature, and the curvature of the at least two scanning surfaces is not exactly the same.

[0008] The above scanning device with scanning surfaces of different curvatures, when applied to a detection device capable of generating a light beam, enables different scanning surfaces to change the emission direction of the light beam under the drive of a driving mechanism, thereby achieving light beam coverage of a large field of view and generating light spots with different densities in different areas of the field of view, so as to realize the region of interest (ROI) characteristics.

[0009] In combination with the first aspect, in a possible design, any one of the at least two scanning surfaces is implemented using any one of the following methods: a convex reflector, a concave reflector, a convex lens, or a concave lens.

[0010] It should be understood that this is merely an example of the implementation method of the scanning surface in the embodiment of the present application and is not a limitation. In other embodiments, the scanning surface may also be implemented in other ways, which will not be described in detail here.

[0011] In combination with the first aspect, in a possible design, the at least two scanning surfaces adopt an irregular spherical structure, or the at least two scanning surfaces adopt an irregular cylindrical structure.

[0012] That is to say, the geometric shape of the scanning mirror to which the at least two scanning surfaces belong can be designed to vary, and any mirror surface with any curvature can be used, including but not limited to an irregular spherical structure or an irregular cylindrical structure.

[0013] In combination with the first aspect, in a possible design, the curvature of the at least two scanning surfaces is characterized by curvature, wherein the curvature of the scanning surface located in the central part of the at least two scanning surfaces is the smallest; or the curvature of the scanning surface located in the central part of the at least two scanning surfaces is the largest.

[0014] With the above scanning device, if the curvature of the scanning surface at the center is minimal and the curvature of the surrounding edge regions is greater, then the scanning device will have a high-density area with a high-density light spot in the center of the detection device's field of view, and a low-density area with a low-density light spot at the edge of the field of view, thereby achieving the point cloud ROI characteristics of the detection device. Conversely, if the curvature of the scanning surface at the center is maximal and the curvature of the surrounding edge regions is less, then the scanning device will have a low-density area with a low-density light spot in the center of the detection device's field of view, and a high-density area with a high-density light spot at the edge of the field of view, thereby also achieving the point cloud ROI characteristics of the detection device.

[0015] It should be noted that, in actual applications, the curvature of different scanning surfaces may vary linearly from the center to the surrounding edge portions, or may vary nonlinearly. Furthermore, the structure of the scanning device may be designed in combination with the specific application scenario of the scanning device. For example, in a scenario where it is necessary to obtain a high-density light spot in the center area and a low-density light spot in the surrounding edge areas, a design in which the curvature of the scanning surface of the above-mentioned center portion is the smallest may be adopted. Or, for example, in a scenario where it is necessary to obtain a low-density light spot in the center area and a high-density light spot in the surrounding edge areas, a design in which the curvature of the scanning surface of the above-mentioned center portion is the largest may be adopted, and the embodiments of the present application do not limit this.

[0016] In combination with the first aspect, in a possible design, the driving mechanism is used to drive the at least two scanning surfaces to move, including: the driving mechanism is used to drive the at least two scanning surfaces to perform linear motion along at least one direction, wherein the at least one direction includes a horizontal direction and / or a vertical direction.

[0017] By using the above scanning device, at least two scanning surfaces are driven to perform linear motion by a driving mechanism, which helps to conveniently realize the point cloud ROI characteristics and can reduce the specification requirements for the detection device and the scanning device.

[0018] In combination with the first aspect, in a possible design, the scanning device is deployed on the upper surface of the base, wherein the horizontal direction is parallel to the upper surface of the base, and the vertical direction is perpendicular to the upper surface of the base.

[0019] It should be noted that this is only an example of the product form of the scanning device and not any limitation. In actual applications, the at least one direction can be changed according to the positional relationship of the scanning device compared to the detection device or compared to the light beam. The embodiments of the present application do not limit this.

[0020] In conjunction with the first aspect, in one possible design, the linear motion includes uniform motion or variable speed motion. In other words, the linear motion mode of the scanning device can be designed based on scenario requirements or business needs. In the case of uniform motion, combined with the changes in the curvature of the at least two scanning surfaces, the degree of change in the final light spot density formed in the field of view is relatively small. In the case of variable speed motion, combined with the changes in the curvature of the at least two scanning surfaces, the degree of change in the final light spot density formed in the field of view is relatively small.

[0021] In a second aspect, an embodiment of the present application provides a detection device, which includes a scanning device as described in the first aspect and any possible design of the first aspect.

[0022] In combination with the second aspect, in a possible design, the detection device may further include: an emitting device for generating a light beam, wherein the scanning device is used to change the output optical path of the light beam.

[0023] In combination with the second aspect, in one possible design, the light beam may include a single-channel light beam; or, the light beam may include a multi-channel light beam.

[0024] In combination with the second aspect, in one possible design, the light beam has different spot densities in the field of view of the detection device, wherein the high-density spot is obtained by scanning the scanning surface with a small curvature of the scanning device, and the low-density spot is obtained by scanning the scanning surface with a large curvature of the scanning device.

[0025] In combination with the second aspect, in a possible design, the detection device may further include: a receiving device, including a detector, wherein the detector is used to receive a light signal that is reflected from the light beam after it irradiates an environmental object and enters a window of the detection device.

[0026] In a third aspect, an embodiment of the present application provides a mobile platform, comprising the detection device described in the second aspect and any possible design of the second aspect.

[0027] In a fourth aspect, an embodiment of the present application provides a vehicle, comprising the detection device as described in the second aspect and any possible design of the second aspect.

[0028] Based on the implementations provided in the above aspects, the embodiments of the present application can be further combined to provide more implementations.

[0029] The technical effects that can be achieved by any possible implementation method in any of the third to fourth aspects mentioned above can be referred to the description of the technical effects that can be achieved by any possible implementation method in any of the first to second aspects mentioned above, and the repetitions will not be discussed. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] FIG1 shows a schematic structural diagram of a scanning device according to an embodiment of the present application;

[0031] FIG2 is a schematic diagram showing an implementation of a scanning surface according to an embodiment of the present application;

[0032] FIG3 is a schematic diagram showing another implementation of the scanning surface according to an embodiment of the present application;

[0033] FIG4 shows a schematic structural diagram of a detection device according to an embodiment of the present application;

[0034] FIG5 is a schematic diagram showing a detection principle of an implementation method of an embodiment of the present application;

[0035] FIG6 is a schematic diagram showing a detection principle of another implementation of an embodiment of the present application;

[0036] FIG7 shows a schematic diagram of a point cloud pattern according to an embodiment of the present application;

[0037] FIG8 shows a schematic structural diagram of a detection device according to an example of an embodiment of the present application;

[0038] FIG9 shows a schematic structural diagram of another example of a detection device according to an embodiment of the present application;

[0039] FIG10 shows a schematic structural diagram of another example of a detection device according to an embodiment of the present application;

[0040] FIG11 shows a schematic structural diagram of a mobile platform according to an embodiment of the present application. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solutions and advantages of this application clearer, this application will be further described in detail below with reference to the accompanying drawings.

[0042] The embodiments of the present application provide a scanning device, a detection device and a vehicle, wherein the scanning device includes at least two scanning surfaces with different curvatures, which can be applied to a detection device capable of generating a light beam, so that under the drive of a driving mechanism, different scanning surfaces can change the emission direction of the light beam, thereby achieving coverage of a large field of view by the light beam, and generating light spots with different densities in different areas of the field of view, so as to realize the region of interest (ROI) characteristics of the detection device. The scanning device can conveniently realize the point cloud ROI function of the detection device and reduce the specification requirements for the detection device and the scanning device. Among them, in the various embodiments of the present application, unless otherwise specified and logically conflicting, the terms and / or descriptions between the various embodiments are consistent and can be referenced to each other, and the technical features in different embodiments can be combined to form a new embodiment according to their inherent logical relationship.

[0043] The scanning device and the detection device are described in detail below with reference to the accompanying drawings and embodiments.

[0044] FIG1 shows a schematic structural diagram of a scanning device according to an embodiment of the present application.

[0045] As shown in FIG1 , the scanning device 10 may include a drive mechanism 11 and at least two scanning surfaces 12, such as scanning surface H1, scanning surface H2, or scanning surface H3. The drive mechanism 10 may be configured to drive the at least two scanning surfaces 12 to move. The at least two scanning surfaces 12 may have curvatures. The curvatures of the at least two scanning surfaces may be identical or non-identical. "Non-identical" may include partially identical or completely different.

[0046] It should be understood that FIG1 merely represents different scanning surfaces using curves of varying curvature, and does not limit the structure, shape, or other characteristics of the scanning surfaces. Furthermore, the connecting line between the drive mechanism 11 and the at least two scanning surfaces 12 indicates that the drive mechanism 11 can be connected to the at least two scanning surfaces 12 to drive the at least two scanning surfaces 12 to move, and does not limit the manner of such connection. For example, the drive mechanism 11 can drive the at least two scanning surfaces 12 to perform linear or nonlinear motion along at least one direction, which may include a horizontal direction and / or a vertical direction. This motion mode will be described in detail below in conjunction with the detection device and will not be elaborated upon here.

[0047] In practical applications, for example, the curvature of any of the at least two scanning surfaces can be characterized by curvature. When designing the at least two scanning surfaces, technicians can design variations in the curvature of the at least two scanning surfaces to obtain scanning surfaces with identical or varying curvatures. Alternatively, technicians can design variations in the geometric shape of the scanning mirrors to which the at least two scanning surfaces belong to obtain scanning surfaces with identical or varying curvatures.

[0048] For example, in an optional embodiment, when designing the curvature change of the at least two scanning surfaces, as shown in Figure 2, any one of the at least two scanning surfaces can be implemented in any of the following ways: a convex reflector, a concave reflector, a convex lens (for example, including biconvex, plano-convex or meniscus) or a concave lens (for example, including biconcave, plano-concave or meniscus).

[0049] For another example, in another optional embodiment, when designing the geometric shape change of the scanning mirror to which the at least two scanning surfaces belong, as shown in FIG3 , the scanning mirror to which the at least two scanning surfaces belong can adopt a spherical structure. In this case, the at least two scanning surfaces shown in FIG1 can be rotated around an axis associated with a certain center (denoted by O) to obtain an irregular spherical structure. As shown in FIG3 (1), the at least two scanning surfaces can be part of the surface of the irregular sphere, and the curvatures of the at least two scanning surfaces can be different. Alternatively, the scanning mirror to which the at least two scanning surfaces belong can adopt a cylindrical structure. In this case, the at least two scanning surfaces shown in FIG1 can be extended along a certain direction (indicated by a downward dotted arrow in FIG3 ) to obtain an irregular cylinder. As shown in FIG3 (2), the at least two scanning surfaces can be part of the surface of the irregular cylinder, and the curvatures of the at least two scanning surfaces can be different.

[0050] It should be understood that this is merely an example of how the curvature of the at least two scanning surfaces of the embodiment of the present application can be implemented, and not intended to be limiting. In actual applications, the curvature of the different scanning surfaces can vary linearly or nonlinearly from the center to the surrounding edges. Alternatively, the material of the at least two scanning surfaces, the geometric shape of the scanning mirrors to which they belong, and the structure of the scanning device can be designed based on business needs or scenario requirements, and the embodiments of the present application do not limit this. As an example, the at least two scanning surfaces can be designed so that the curvature of the scanning surface located in the center is the smallest. In scenarios where it is necessary to obtain a high-density light spot in the center area of ​​the field of view and low-density light spots in the surrounding edge areas, a design in which the curvature of the scanning surface located in the center of the scanning mirror is the smallest can be adopted. Alternatively, the at least two scanning surfaces can be designed so that the curvature of the scanning surface located in the center is the largest. In scenarios where it is necessary to obtain a low-density light spot in the center area of ​​the field of view and high-density light spots in the surrounding edge areas, a design in which the curvature of the scanning surface located in the center of the scanning mirror is the largest can be adopted, and the embodiments of the present application do not limit this.

[0051] The following takes the application of the scanning device of the embodiment of the present application to a detection device as an example to introduce the formation principle of light spots of different densities formed by the scanning device.

[0052] FIG4 shows a schematic structural diagram of a detection device according to an embodiment of the present application.

[0053] 4 , the detection device 40 may include the components of the scanning device 10 shown in FIG. 1 and an emission device 41 . The emission device 41 may be used to generate a light beam, and the scanning device 10 may be used to change the emission path of the light beam.

[0054] Specifically, the light beam generated by the emitting device 41 can serve as the incident light of the scanning device 10 and illuminate one of the at least two scanning surfaces 12 of the scanning device 10. Since the at least two scanning surfaces 12 perform linear motion or nonlinear motion in at least one direction under the drive of the driving mechanism 11, the relative positions of the different scanning surfaces of the scanning device and the emitting device change, causing the angle between the incident light and the normal to change with the movement of the at least two scanning surfaces, thereby changing the deflection (beam steering) angle of the outgoing light, so that the distribution of the outgoing light at different times in the same field of view is different, thereby forming light spots of different densities in different field of view areas.

[0055] The light spot formation principle of the embodiment of the present application is introduced below.

[0056] Taking the example of using a convex reflector on any scanning surface of the scanning device, as shown in the top view of Figure 5, the circle in Figure 5 represents the convex reflector, and the movement direction shown in Figure 5 represents the horizontal direction. When the light beams from the emitting device 41 at different times (represented as time 1 and time 2) serve as the incident light of the scanning device and are irradiated on the spherical scanning surface, the outgoing light path of the incident light can be deflected at different position points on the at least two scanning surfaces 12.

[0057] Let α represent the angle between the incident light and the normal line. Then the angle between the outgoing light and the incident light is 2α, which satisfies the following expression (1). The optical path angle changes to 180°-2α.

[0058] 2α=2*arcsin(vt / R) (1)

[0059] Wherein, t represents the time difference between time 1 and time 2, v represents the movement speed of the at least two scanning surfaces in the horizontal direction driven by the driving mechanism, vt represents the displacement, R represents the radius, and the curvature is the reciprocal of R.

[0060] Taking the example of a scanning device in which at least two scanning surfaces employ convex reflectors, when the at least two scanning surfaces of the scanning device are designed to have different curvatures, as the driving mechanism drives the at least two scanning surfaces to move, as shown in the top view of FIG6 , as the at least two scanning surfaces move, the incident light emitted by the emitting device at different times strikes different positions on different scanning surfaces and is reflected at these positions to produce corresponding outgoing light. Because the curvatures of scanning surfaces H1, H2, and H3 are different, the outgoing light at different times (e.g., the incident light at time T1, the incident light at time T2, the incident light at time T3, and the incident light at time T4) is deflected at different angles relative to its incident light. Accordingly, the distribution of each outgoing light in different regions of the field of view of the detection device is different, thereby producing light spots of different densities in different regions of the field of view.

[0061] Taking the scanning surface H1 at the center of FIG6 as an example, where the curvature is minimized, as the drive mechanism drives at least two scanning surfaces of the scanning device to move, the deflection angle 2α of the incident light at time T2 or the incident light at time T3 on scanning surface H1 is relatively small. The corresponding outgoing light rays at time T2 or the corresponding outgoing light rays at time T3 mostly converge in the central portion of the detection device's field of view. The density of the light spot formed in this central portion of the field of view is relatively high, corresponding to the ROI region of the point cloud pattern, including a relatively high-density point cloud. The deflection angle 2α of the incident light at time T1 on scanning surface H3 is relatively large, and the deflection angle 2α of the incident light at time T4 on scanning surface H2 is also relatively large. The corresponding outgoing light rays at time T1 or the corresponding outgoing light rays at time T4 mostly converge in the peripheral portions of the detection device's field of view. The density of the light spot formed in this peripheral portion is relatively low, corresponding to the non-ROI region of the point cloud pattern, including a relatively low-density point cloud, as shown in FIG7 .

[0062] It should be understood that the above examples are merely examples of the detection device and detection principle of the embodiment of the present application and are not intended to limit the scope of the present invention. In actual applications, the at least two scanning surfaces of the scanning device move relative to the transmitting device. The specific implementation of the relative motion may include: the transmitting device is fixed and the at least two scanning surfaces move, or the at least two scanning surfaces are fixed and the transmitting device moves, or the at least two scanning surfaces and the transmitting device move together. The embodiment of the present application does not limit this specific implementation. Moreover, the implementation of the at least two scanning surfaces is not limited to the scanning mirror with a spherical structure, the scanning mirror with a cylindrical structure (such as the irregular spherical structure or irregular cylindrical structure shown in FIG3 ), or the separated double spherical mirror, etc. In addition, the detection device may also include other structures not shown in FIG4 . For example, the detection device may also include a receiving device, which may include a detector for receiving a light signal after the light beam is irradiated on an environmental object and then reflected into the window of the detection device, and obtaining a point cloud pattern by processing the received light signal.

[0063] For ease of understanding, the structure of the detection device according to the embodiment of the present application is described below by way of example.

[0064] FIG8 shows a schematic structural diagram of a detection device according to an embodiment of the present application.

[0065] Referring to FIG8 , the detection device may be a laser radar. The detection device may include a base 801, a transmitter 802 located on the upper surface of the base 801, and a scanning device. The scanning device may include a scanning mirror 803, a linear motor 804, and a linear motor 805. The scanning mirror 803 has an irregular spherical structure, and at least two scanning surfaces of the scanning mirror 803 are convex reflectors. The linear motor 804 can drive the scanning mirror 803 to move in a vertical direction, which may be perpendicular to the upper surface of the base 801. The linear motor 805 can drive the scanning mirror 803 to move in a horizontal direction, which may be parallel to the upper surface of the base 801 and perpendicular to the irradiation direction of the light beam generated by the transmitter 802.

[0066] After the emitting device 802 generates a laser beam, it follows the outgoing optical path and impinges upon the surface of the scanning mirror 803. As the laser beam reflects from the surface of the scanning mirror 803, and linear motors 804 and 805 simultaneously drive the scanning mirror 803 to move in two dimensions, horizontally and vertically, the angle between the outgoing light and the normal changes as the reflection position changes, thereby ensuring that the laser beam covers the laser radar's field of view. Furthermore, due to the curvature of each scanning surface of the scanning mirror 803, the density of the light spot formed by the outgoing light after the light path is changed by the scanning mirror varies within the laser radar's field of view, as shown in Figure 7.

[0067] It should be noted that the transmitting device 802 in Figure 8 can use a single channel to generate a single-channel light beam. Alternatively, the transmitting device 802 can use multiple channels arranged vertically to generate a column of multi-channel light beams. The embodiment of the present application does not limit the implementation method of the transmitting device.

[0068] In another optional embodiment, the scanning mirror 803 shown in FIG. 8 can be replaced with an irregular cylinder as shown in FIG. 3 , and the emitting device and the driving mechanism are redesigned accordingly to obtain a detection device of another design.

[0069] As shown in Figure 9 , the detection device can be a laser radar. The detection device can include a base 901, a transmitter 902 located on the upper surface of the base 901, and a scanning device. The scanning device can include a scanning mirror 903 and a linear motor 904. The scanning mirror 903 has an irregular cylindrical structure, and at least two of its scanning surfaces are convex reflectors. A top view of the scanning mirror 903 is shown in Figure 6 . The side facing the transmitter 902 includes at least two scanning surfaces with different curvatures. The linear motor 904 can drive the scanning mirror 903 to move horizontally. The horizontal direction can be parallel to the upper surface of the base 901 and perpendicular to the direction of the light beam generated by the transmitter 902. For example, the scanning mirror 903 can include scanning surfaces H1, H2, and H3 as shown in Figure 3 . The scanning mirror 903 can be designed so that scanning surface H1 has the smallest curvature, while scanning surfaces H2 and H3 have the same or different curvatures.

[0070] When the emitting device 902 generates a laser beam, based on the principle explained above in conjunction with Figures 4-7, since the scanning mirror 903 moves in the horizontal direction, the laser beams generated at different times are emitted at different positions of the scanning mirror 903. Since the curvature of the scanning surface located in the center of the scanning mirror 903 is small, the outgoing light reflected at this part of the scanning surface has a smaller deflection angle than the incident light, and the light emitted from this part almost all converges in the middle part of the field of view. Therefore, the density of the light spots distributed in the middle part of the field of view is relatively high. The curvature of the scanning surface located on both sides of the scanning mirror 903 is relatively large. The outgoing light reflected at this part of the scanning surface has a larger deflection angle than the incident light, resulting in some light emitted from this part not being able to converge within the field of view, but instead converging outside the field of view. Therefore, the density of the light spots distributed around the edge of the field of view is relatively low.

[0071] In another optional embodiment, the scanning mirror 803 shown in Figure 8 can be replaced by a curved mirror with curvature in both the horizontal and vertical directions (or called a variable curvature two-dimensional curved mirror), and the emitting device and driving mechanism can be redesigned accordingly to obtain a detection device of another design.

[0072] Referring to FIG10 , the detection device may be a laser radar. The detection device may include a base 1001, a transmitter 1002 located on the upper surface of the base 1001, and a scanning device. The scanning device may include a scanning mirror 1003, a linear motor 1004, and a linear motor 1005. The scanning mirror 1003 is similar to the scanning mirror 902 shown in FIG9 , except that the side of the scanning mirror 1003 facing the transmitter includes scanning surfaces with different curvatures in both the horizontal and vertical directions, and each scanning surface is a convex reflector. The linear motor 1004 can drive the scanning mirror 1003 to move in a vertical direction, which can be perpendicular to the upper surface of the base 1001. The linear motor 1005 can drive the scanning mirror 1003 to move in a horizontal direction, which can be parallel to the upper surface of the base 1001 and perpendicular to the direction of the light beam generated by the transmitter 1002. A top view and a side view of the scanning mirror 1003 are shown in FIG10 .

[0073] The linear motor 1005 can drive the scanning mirror 1003 to perform periodic linear motion in the horizontal direction to form a horizontal FOV. The linear motor 1004 can drive the scanning mirror 1003 to perform periodic linear motion in the vertical direction to form a vertical FOV. When the laser beam generated by the emitting device 1002 is irradiated on the scanning mirror 1003, it is reflected on the surface of the scanning mirror 1003. If the design of the scanning mirror 1003 adopts a method in which the curvature of the scanning surface located in the center part is the smallest, then after the laser beam is emitted at the scanning surface with a small curvature in the center part of the scanning mirror 1003, the deflection angle between the outgoing light beam and the incident light beam is smaller, so that most of the light beams will converge in the middle part of the field of view of the detection device, so that the density of the light spot formed in this middle part is higher, corresponding to the ROI area of ​​the point cloud pattern. After the laser beam is reflected at the large curvature scanning surfaces around the scanning mirror 1003, the outgoing light beam is deflected at a larger angle than the incident light beam, causing most of the light beam to be dispersed in the peripheral area of ​​the field of view of the detection device, thereby forming a lower density of the light spot in the peripheral area of ​​the field of view.

[0074] Therefore, through the detection device shown in Figures 8 to 10 above, when the scanning device of the embodiment of the present application is designed as needed and the scanning device is applied to the detection device, the driving mechanism drives at least two areas of the scanning device with different curvatures to move, so that the outgoing light path of the light beam emitted by the emitting device of the detection device is deflected, and light spots of different densities are formed in the field of view of the detection device, thereby conveniently realizing the ROI characteristics of the detection device and reducing the specification requirements for the detection device and the scanning device.

[0075] It should be noted that in the embodiments of this application, the linear motor shown in Figures 8-10 is merely one implementation of the drive mechanism and is not intended to be limiting. In practical applications, the linear motor can be replaced with any other device capable of achieving the drive function, as needed, and this embodiment of this application does not impose any restrictions on this. Furthermore, when the drive mechanism drives the at least two scanning surfaces to perform linear motion, it can be either uniform or variable speed motion, and this embodiment of this application does not impose any restrictions on this motion mode.

[0076] It should be noted that, in the embodiment of the present application, the curvatures of the at least two scanning surfaces may also be exactly the same. For example, the scanning mirror of the scanning device may be designed as a regular spherical structure, and the surface of the sphere includes the at least two scanning surfaces. When the scanning mirror is applied to the detection device to deflect the outgoing light path of the laser beam from the reflection device, the movement of the driving mechanism can be controlled accordingly so that the laser beam forms light spots of different densities within the field of view of the detection device after being deflected by the surface of the moving sphere. For example, in this case, the control of the driving mechanism may include: controlling the driving mechanism to drive the spherical scanning mirror to move at a lower speed to a position close to the light beam of the transmitting device, and controlling the driving mechanism to drive the spherical scanning mirror to move at a higher speed to a position of the light beam of the transmitting device. In this way, the light beam will form a light spot of higher density in the middle part of the field of view of the detection device, and a light spot of lower density at the edge part of the field of view of the detection device. Alternatively, the drive mechanism is controlled to drive the spherical scanning mirror to move at a high speed to a position close to the light beam of the launch device, and the drive mechanism is controlled to drive the spherical scanning mirror to move at a low speed to a position where the light beam of the launch device is transported. In this way, the light beam forms a low-density light spot in the middle part of the field of view of the detection device, and a high-density light spot at the edge of the field of view of the detection device. The detailed implementation principle can be found in the relevant description of Figures 4 to 7 in the full text, and will not be repeated here.

[0077] Figure 11 shows a schematic diagram of the structure of a mobile platform according to an embodiment of the present application. Referring to Figure 11 , the mobile platform 1100 may include a detection device 1101 , and the specific implementation of the detection device 1101 can be found in the relevant description above, which will not be repeated here.

[0078] In one possible embodiment, the mobile platform 1100 may also include an information processing system 1102, which can be used to determine characteristic information of the irradiated object based on the reflected light beam received by the receiving device of the detection device 1101 and the transmitted light beam generated by the transmitting device. The characteristic information includes but is not limited to target distance, direction, height, speed, posture, and even shape information.

[0079] In another optional embodiment, the mobile platform 1100 may also include an electronic control system 1103 coupled to the information processing system 1102. The electronic control system 1103 may include a communication interface and communicate with the information processing system 1102 using the communication interface. The electronic control system 1103 may use the characteristic information of the irradiated object from the information processing system 1102 to control the motion state of the mobile platform 1100.

[0080] Taking the mobile platform 1100 as an example, the autonomous vehicle includes the detection device 1101, the information processing system 1102, and the electronic control system 1103. The electronic control system 1103 may be an electronic control unit (ECU), i.e., an onboard computer. When the detection device 1101 identifies an obstacle ahead and the information processing system 1102 calculates characteristic information of the obstacle, the electronic control system 1103 may control the autonomous vehicle's drive device to slow down, stop, or turn based on the characteristic information of the obstacle and navigation information (such as a map). Alternatively, when the detection device 1101 and the information processing system 1102 determine that there are no obstacles, the electronic control system 1103 may control the autonomous vehicle's drive device to travel at a constant speed or accelerate based on the obstacle-free information.

[0081] In an optional embodiment, the specific type of the above-mentioned mobile platform 1100 is not limited. For example, it can be a mobile platform such as a car, a ship, an airplane, a train, a spacecraft, or a drone, all of which are applicable to the technical solution of this application.

[0082] In addition, the mobile platform 1100 may also include a global positioning system (GPS) device and an inertial measurement unit (IMU) device. The detection device 1101 and the information processing system 1102 can combine the measurement data of the GPS device and the IMU device to obtain characteristic information such as the position and speed of the irradiated object.

Claims

1. A scanning device, characterized in that, The scanning device includes a driving mechanism and at least two scanning surfaces; The driving mechanism is used to drive the at least two scanning surfaces to move; The at least two scanning surfaces have curvatures, and the curvatures of the at least two scanning surfaces are not completely the same.

2. The scanning device according to claim 1, wherein Any one of the at least two scanning surfaces is implemented in any of the following ways: a convex mirror, a concave mirror, a convex lens, or a concave lens.

3. The scanning device according to claim 2, wherein, The at least two scanning surfaces adopt an irregular spherical structure, or the at least two scanning surfaces adopt an irregular cylindrical structure.

4. The scanning device according to any one of claims 1-3, characterized in that, The curvatures of the at least two scanning surfaces are characterized by curvature, wherein the curvature of the scanning surface located in the central part of the at least two scanning surfaces is the smallest; or, the curvature of the scanning surface located in the central part of the at least two scanning surfaces is the largest.

5. The scanning device according to any one of claims 1-4, characterized in that, The driving mechanism for driving the at least two scanning surfaces to move includes: the driving mechanism is used to drive the at least two scanning surfaces to perform a linear motion along at least one direction, wherein the at least one direction includes a horizontal direction and / or a vertical direction.

6. The scanning device according to claim 5, characterized in that, The scanning device is deployed on the upper surface of the base, wherein the horizontal direction is parallel to the upper surface of the base, and the vertical direction is perpendicular to the upper surface of the base.

7. The scanning device according to claim 5 or 6, characterized in that, The linear motion includes a uniform motion or a variable-speed motion.

8. A detection device, characterized in that, The detection device includes the scanning device according to any one of claims 1-7.

9. The detection device according to claim 8, characterized in that, It further includes: A transmitting device for generating a light beam, wherein the scanning device is used to change the outgoing light path of the light beam.

10. The detection device according to claim 9, wherein, The light beam includes a single-channel light beam; or, the light beam includes a multi-channel light beam.

11. The detection device according to claim 9 or 10, characterized in that, The light beam has different spot densities in the field of view of the detection device, wherein the high-density spots are obtained by scanning with the scanning surface having a small curvature of the scanning device, and the low-density spots are obtained by scanning with the scanning surface having a large curvature of the scanning device.

12. The detection device according to any one of claims 8-10, characterized in that, It further includes: A receiving device including a detector, and the detector is used to receive the optical signal of the light beam that enters the window of the detection device after being reflected by irradiating an environmental object.

13. A mobile platform, characterized in that, It includes the detection device according to any one of claims 8-12.

14. A vehicle, characterized in that, It includes the detection device according to any one of claims 8-12.

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