Detection device and terminal

Abstract

A detection device and a terminal are applied to the fields of automatic driving, surveying and mapping, intelligent traffic and the like. The detection device comprises a first transmitting module, a second transmitting module, a scanning module and a first receiving module, the first transmitting module is used for generating a first transmitting light beam at a first moment, and the scanning module is used for reflecting the first transmitting light beam at a first scanning angle to form a first reflecting light beam; the first receiving module is used for receiving the first reflected light beam and obtaining first detection data, and the first detection data can be used for indicating the first scanning angle. And the second emission module is used for generating a detection light beam at a second moment, the second moment is related to the first moment and the first scanning angle, and the detection light beam is reflected to the object space by the scanning module for detection. Wherein the first transmitting module, the first receiving module and the scanning module form a certain angle relation, so that the angle of the scanning module can be accurately detected, the working time period of the second transmitting module is accurately controlled, and the detection performance of the detection device is improved.

Description

Technical Field

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

[0002] With the development of information technology and computer vision, detection technology has made rapid progress. Various detection devices, such as lidar and radar, have brought great convenience to people's lives and travel. Among them, lidar is a distance detection device that uses lasers as the emission light source and photoelectric detection technology. It has the advantages of small size, high measurement accuracy, and high ranging angle accuracy. It is widely used in fields such as autonomous driving, surveying and mapping, and smart transportation.

[0003] Scanning LiDAR is a widely used type of LiDAR that includes a movable scanning module. The laser beam emitted by the laser, under the action of the scanning module, illuminates different areas of the field of view at different angles, detecting each area of ​​the field of view. Because the scanning module is in continuous motion, the timing of the beam emission needs to be coordinated with the scanning movement of the scanning module to improve the detection accuracy and efficiency of the detection device. This requires a detection device to detect the angle of the scanning module to facilitate the control of the LiDAR detection process.

[0004] Currently, some solutions use optical angle encoders to determine the detection angle of lidar. The optical angle encoder consists of a photoelectric sensor and a code disk mounted on a scanning module. The code disk is a circular structure with multiple, evenly spaced holes along its edge. A light beam emitted by a light source passes through the holes on the code disk and strikes the photoelectric sensor, generating an electrical pulse signal. The number of electrical pulse signals reflects the rotation angle of the scanning module. As can be seen, the optical angle encoder relies on the code disk to generate pulse signals. However, the installation environment of lidar is complex. When contaminated by moisture, condensation, dust, or oil, the code disk may experience changes in the light transmittance of the holes. In this case, the optical angle oscillates, making it difficult for the output pulse signal to accurately reflect the angle change. This results in large jumps in the output angle of the optical angle encoder, inaccurate angle detection, and difficulty in accurately controlling the operating period of the detection device. Summary of the Invention

[0005] The present application provides a detection device and a terminal. The detection device includes a scanning module and a transmitting end and a receiving end for detecting the scanning module. The optical path between the transmitting end and the receiving end passes through the reflecting surface of the scanning module and the two are at a certain angle to the scanning module, so that the angle of the scanning module can be accurately detected, and the working period of the second transmitting module can be accurately controlled, thereby improving the angle accuracy of the detection device, improving the control accuracy of the working period of the detection device, and improving the detection performance of the detection device.

[0006] In a first aspect, the present application provides a detection device, comprising a first transmitting module, a second transmitting module, a scanning module, and a first receiving module. The first transmitting module is configured to generate a first transmitting light beam at a first moment, the scanning module is configured to reflect the first transmitting light beam at a first scanning angle to form a first reflected light beam, and the first receiving module is configured to receive the first reflected light beam and obtain first detection data, wherein the first detection data can be used to indicate the first scanning angle. The second transmitting module is configured to generate a detection light beam at a second moment, the second moment being related to the first moment and the first scanning angle. The scanning module is further configured to reflect the detection light beam into an object space to detect the object space.

[0007] Among them, the second transmitting module is a module for detecting the object space, and the time of its transmitting signal needs to match the angle of the scanning module to complete the detection task. In an embodiment of the present application, a first transmitting module and a first receiving module for detecting the scanning module are provided in the detection device, so that there can be an angle correlation relationship on the optical path between the first transmitting module, the scanning module, and the first receiving module, that is: when the scanning module is at the first scanning angle, the light beam emitted by the first transmitting module can be received by the first receiving module after being reflected by the scanning module. Therefore, the detection data obtained by the first receiving module can indicate the first scanning angle, and the detection data also indicates the moment when the first reflected light beam is received, thereby accurately determining the angle value of the scanning module. In this way, the timing of the second transmitting module emitting the detection light beam can be controlled to cooperate with the scanning activity of the scanning module, so that the angle corresponding to the detection light beam can be controlled, thereby accurately controlling the working period of the second transmitting module, improving the angle accuracy of the detection device, and improving the detection performance of the detection device.

[0008] In a possible implementation of the first aspect, the detection device further includes a computing module, and the computing module is used to process data. For example, the computing module is used to process the first detection data.

[0009] In another possible implementation of the first aspect, the calculation module is configured to obtain a first frame signal based on the first detection data, the first frame signal being configured to indicate a first detection frame. The second transmitting module is configured to transmit a detection beam within the first detection frame, and the second moment is within the first detection frame.

[0010] In another possible implementation of the first aspect, the calculation module is configured to obtain a first indication signal based on the first detection data, and to update a level of the first frame signal based on the first indication signal. The first indication signal changes to a first level at a first time position, the first time position corresponding to a first moment and a first scanning angle, and the first frame signal indicates a first detection frame. The first level is, for example, a high level, and the range of the high and low levels can be pre-configured.

[0011] In another possible implementation of the first aspect, within the first detection frame, the angle scanned by the detection beam is the field of view (FOV) of the detection device.

[0012] In another possible implementation of the first aspect, the amplitude of the first detection data is positively correlated with the intensity of light energy received by the first receiving module. When the amplitude of the first detection data is greater than or equal to a first preset value, the first indication signal is at a first level. Thus, by comparing the amplitude of the first detection data with the first preset value, it is possible to determine whether the first receiving module is currently receiving the first reflected light beam.

[0013] In another possible implementation of the first aspect, the detection device further includes a second receiving module, and the first transmitting module is further configured to generate a second transmitted light beam at a third moment. The scanning module is further configured to reflect the second transmitted light beam at a third scanning angle to form a second reflected light beam. The second receiving module is configured to receive the second reflected light beam and obtain second detection data, the second detection data being used to indicate the second scanning angle. At a fourth moment, the second transmitting module ceases generating the detection beam, the fourth moment being related to the third moment and the second scanning angle.

[0014] In the above-described embodiment, the detection device may be provided with multiple receiving terminals to receive the light beam emitted by the first transmitting module at different scanning angles, thereby accurately marking the multiple scanning angles of the scanning module, improving the granularity of angle detection for the scanning module, improving the accuracy of the calculated angle of the scanning module, and improving the accuracy of controlling the timing of the detection device's emission of the detection beam. In some embodiments, since the more important moments in the detection process are the start and end of detection, two sets of receiving modules may be designed to respectively mark the scanning angles at which detection is to be started and the scanning angles at which detection is to be ended, thereby maximizing the accuracy of angle detection for the scanning module while saving costs.

[0015] In another possible implementation of the first aspect, the calculation module is further configured to obtain a second indication signal based on the second detection data, and to update the level of the first frame signal based on the second indication signal. The second indication signal changes to a second level at a second time position, and the second time position corresponds to a third moment and a second scanning angle. After the level of the first frame signal is updated, the first detection frame ends.

[0016] In the above embodiment, the second receiving module can be used to determine the timing for ending the detection frame, thereby improving the accuracy of controlling the timing for the detection device to emit the detection light beam.

[0017] In another possible implementation of the first aspect, along the movement direction of the scanning module, the principal optical axis of the first receiving module and the principal optical axis of the second receiving module form a first angle, where the first angle is the same as or corresponds to the FOV of the detection device. This implementation can improve the accuracy of controlling the timing of the detection device emitting the detection beam.

[0018] In another possible implementation of the first aspect, the calculation module is further configured to determine a first subframe signal based on the first frame signal, where the first subframe signal indicates a first subframe within the first detection frame. The second transmitting module is further configured to transmit the detection beam within the first subframe, with the second moment being within the first subframe. The first subframe (or slot) is a time period having a smaller granularity than the first detection frame.

[0019] In another possible implementation of the first aspect, within the first subframe, the angle scanned by the detection beam is a sub-area of ​​the FOV of the detection device.

[0020] In another possible implementation of the first aspect, the first detection frame includes multiple first subframes, and the scanning durations of the detection light beams corresponding to the multiple first subframes are the same, or the scanning durations of the detection light beams corresponding to the multiple first subframes are predefined.

[0021] In the above-described embodiments, the first subframes are generated based on time, and the durations of multiple first subframes (i.e., the corresponding scanning durations of the detection beams) can be equal or unequal, thereby increasing the control flexibility of the detection process. For example, in some implementations, the duration of the first subframe corresponding to the center of the FOV is longer, while the duration of the first subframe corresponding to the edge of the FOV is shorter, thereby improving detection accuracy in the center of the FOV.

[0022] In another possible implementation of the first aspect, the first detection frame includes multiple first subframes, and the scanning angle widths of the detection beams corresponding to the multiple first subframes are the same, or the scanning angle widths of the detection beams corresponding to the multiple first subframes are predefined.

[0023] In another possible implementation of the first aspect, the first transmitting module and the first receiving module share an optical lens.

[0024] In another possible implementation of the first aspect, the first transmitting module and the second receiving module share an optical lens.

[0025] In another possible implementation of the first aspect, the detection device further includes an angle encoder, which is used to obtain angle detection data of the scanning module, and the calculation module in the detection device is further used to confirm whether the angle encoder is contaminated based on the angle detection data.

[0026] In the above embodiment, the detection device is equipped with an angle encoder to detect the angle of the scanning module. If the angle encoder is contaminated, the detection device can control the timing of the second emission module emitting the detection beam based on the first detection data (or the first detection data and the second detection data). In this way, even in the case of contamination of the angle encoder, the angle of the scanning module can still be accurately determined, thereby improving the angular accuracy of the detection device.

[0027] In some solutions, the computing module may combine the angle detection data and the first detection data (or the first detection data and the second detection data) to perform contamination detection on the angle encoder, thereby improving the detection accuracy of the contamination condition of the angle encoder.

[0028] In another possible implementation of the first aspect, the scanning module includes at least two scanning surfaces, and the scanning surfaces corresponding to the first and second transmitting modules are the same, or the scanning surfaces corresponding to the first and second transmitting modules are different. This allows for flexible design of the transmitting end for detection and the transmitting end for angle detection, thereby enabling a variety of design possibilities for the detection device.

[0029] In another possible implementation of the first aspect, the wavelength of the light beam emitted by the first emitting module is different from the wavelength of the light beam emitted by the second emitting module. This can reduce interference of the light beam generated during the angle detection process with the light beam used for detection, thereby helping to improve the detection performance of the detection device.

[0030] In the second aspect, the present application provides a data processing method, which is applied to a detection device. The detection device includes a first transmitting module, a second transmitting module, a scanning module and a first receiving module. The first transmitting module is used to generate a first transmitting light beam at a first moment, the scanning module reflects the first transmitting light beam at a first scanning angle to form a first reflected light beam, and the first receiving module is used to receive the first reflected light beam and obtain first detection data. The data processing method includes: obtaining first detection data, and controlling the second transmitting module to generate a detection light beam at a second moment at least according to the first detection data. The first detection data indicates the first scanning angle and the first moment, and the second moment is related to the first moment and the first scanning angle. The scanning module in the detection device is also used to reflect the detection light beam to the object space to detect the object space.

[0031] In one possible implementation of the second aspect, controlling the second transmitting module to generate the probe beam at the second moment based at least on the first detection data includes: determining a first frame signal based at least on the first detection data, and controlling the second transmitting module to generate the probe beam at the second moment based on the first frame signal. Optionally, the first frame signal indicates a first detection frame, and the second moment is within the first detection frame.

[0032] In another possible implementation of the second aspect, controlling the second transmitting module to generate a probe beam at a second moment based at least on the first detection data includes: obtaining a first indication signal based on the first detection data, updating a level of a first frame signal based on the first indication signal, and controlling the second transmitting module to transmit the probe beam within a first detection frame based on the first frame signal. The first indication signal changes to a first level at a first time position, the first time position corresponding to a first moment and a first scanning angle. The first frame signal indicates the first detection frame, and the second moment is within the first detection frame.

[0033] In another possible implementation of the second aspect, within the first detection frame, the angle scanned by the detection beam is the FOV of the detection device.

[0034] In another possible implementation of the second aspect, the amplitude value of the first detection data is related to the light energy intensity received by the first receiving module. When the amplitude value of the first detection data is greater than or equal to a first preset value, the first indication signal is a first level.

[0035] In another possible implementation of the second aspect, the detection device further includes a second receiving module, the first transmitting module is further configured to generate a second transmitting beam at a third moment, the scanning module is further configured to reflect the second transmitting beam at a third scanning angle to form a second reflected beam, and the second receiving module is configured to receive the second reflected beam and obtain second detection data. The aforementioned method further includes: acquiring the second detection data, and controlling the second transmitting module to not generate the detection beam at a fourth moment based on the second detection data, wherein the second detection data indicates the third moment and the third scanning angle, and the fourth moment is related to the third moment and the second scanning angle.

[0036] In another possible implementation of the second aspect, controlling the second transmitting module to not generate the probe beam at a fourth moment based on the second detection data includes: obtaining a second indication signal based on the second detection data, and updating a level of the first frame signal based on the second indication signal to end the first detection frame. The second indication signal changes to a second level at a second time position, and the second time position corresponds to the third moment and the third scanning angle.

[0037] In another possible implementation of the second aspect, controlling the second transmitting module to generate the probe beam at the second moment based on the first frame signal includes: determining a first subframe signal based on the first frame signal, and controlling the second transmitting module to emit the probe beam within the first subframe. The first subframe signal indicates a first subframe within the first detection frame, and the second moment is within the first subframe.

[0038] In another possible implementation of the second aspect, the first detection frame includes multiple first subframes, and the scanning durations of the detection light beams corresponding to the multiple first subframes are the same, or the scanning durations of the detection light beams corresponding to the multiple first subframes are predefined.

[0039] In another possible implementation of the second aspect, the first detection frame includes multiple first subframes, and the scanning angle widths of the detection light beams corresponding to the multiple first subframes are the same, or the scanning angle widths of the detection light beams corresponding to the multiple first subframes are predefined.

[0040] In another possible implementation of the second aspect, the detection device further includes an angle encoder, which is used to obtain angle detection data of the scanning module. The aforementioned method further includes: confirming that the angle encoder is contaminated based on the angle detection data.

[0041] In a third aspect, the present application provides a data processing device comprising a data acquisition unit and a processing unit. The data acquisition unit is configured to acquire data, such as receiving first detection data, second detection data, or angle detection data. The processing unit is configured to process the data and control other units to perform their functions. The data processing device is configured to implement the method described in the second aspect or any possible implementation of the second aspect.

[0042] In a fourth aspect, the present application provides a computing module, comprising a processor and a communication interface, wherein the processor is configured to perform data calculations, and the communication interface is configured to provide data to the processor and / or to externally provide processed data. The computing module is configured to implement the method described in the second aspect or any possible implementation of the second aspect.

[0043] In a fifth aspect, the present application provides a laser radar, which includes a detection device described in the first aspect or any possible embodiment of the first aspect, wherein the detection device includes a computing module, and the computing module is used to implement the method described in the second aspect or any possible embodiment of the second aspect.

[0044] In a sixth aspect, the present application provides a terminal comprising the detection device described in the first aspect or any possible embodiment of the first aspect, or comprising the data processing device of the third aspect, or comprising the computing module of the fourth aspect, or comprising the laser radar of the fifth aspect.

[0045] In a seventh aspect, the present application provides a computer storage medium, which includes computer instructions. When the computer instructions are executed by a computing device, the data processing method described in any one of the second aspects is implemented.

[0046] The beneficial effects of the second to seventh aspects of this application can refer to the beneficial effects of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The following is a brief introduction to the drawings required for describing the embodiments.

[0048] Figure 1 This is a schematic structural diagram of a detection device provided in an embodiment of the present application;

[0049] Figure 2 is a schematic diagram of a scanning angle of a scanning module provided in an embodiment of the present application;

[0050] Figure 3 is a schematic diagram of first detection data provided by an embodiment of the present application;

[0051] Figure 4 is a schematic diagram of a first indication signal provided in an embodiment of the present application;

[0052] Figure 5 is a schematic diagram of a first frame signal provided in an embodiment of the present application;

[0053] Figure 6 This is a schematic structural diagram of another detection device provided in an embodiment of the present application;

[0054] Figure 7 Schematic diagram of scanning angles of another scanning module provided in an embodiment of the present application;

[0055] Figure 8 is a schematic diagram of a first indication signal, a second indication signal, and a first frame signal provided in an embodiment of the present application;

[0056] Figure 9 is a schematic diagram of a subframe provided in an embodiment of the present application;

[0057] Figure 10 Schematic diagram of scanning angles of another scanning module provided in an embodiment of the present application;

[0058] Figure 11 This is a schematic structural diagram of another detection device provided in an embodiment of the present application;

[0059] Figure 12 This is a schematic structural diagram of another detection device provided in an embodiment of the present application;

[0060] Figure 13 This is a flow chart of a data processing method provided in an embodiment of the present application;

[0061] Figure 14 It is a timing diagram of several signals provided by this application;

[0062] Figure 15is a timing diagram of several signals provided in the embodiments of the present application;

[0063] Figure 16 is a schematic diagram of a detection process provided in an embodiment of the present application;

[0064] Figure 17 is a schematic diagram of a signal processing flow provided by an embodiment of the present application;

[0065] Figure 18 is a structural diagram of a data processing device provided in an embodiment of the present application;

[0066] Figure 19 It is a structural diagram of a computing module provided in an embodiment of the present application. DETAILED DESCRIPTION

[0067] When performing detection, a scanning detection device generates a detection beam from a transmitting module. The scanning module directs the detection beam to different areas of the object space at varying angles, scanning the object space. Accurately detecting the scanning module's angle facilitates precise control of the detection device's operating time, improving both accuracy and efficiency.

[0068] The following is an introduction to the detection device provided by this application. It should be noted that the architecture and application scenarios of the device described in this application are intended to more clearly illustrate the technical solution of this application and do not constitute a limitation on the technical solution provided by this application. Those skilled in the art will know that with the evolution of the architecture and the emergence of new business scenarios, the technical solution provided by this application is also applicable to similar technical problems.

[0069] See Figure 1 , Figure 1 1 is a schematic diagram of the structure of a detection device provided in an embodiment of the present application. The detection device 100 includes a first transmitting module 11, a second transmitting module 12, a scanning module 13 and a first receiving module 14.

[0070] The first emission module 11 is a device capable of generating a light beam, including a light source, for example, one or more of the following light sources: a laser diode (LD), a vertical cavity surface emitting laser (VCSEL), a photonic crystal surface emitting semiconductor lasers (PCSEL), an edge emitting laser (EEL), a distributed feedback laser diode (DFB-LD), a grating coupled sampling reflection laser diode (GCSR-LD), or a micro opto electro mechanical system laser diode (MOEMS-LD). Optionally, the first emission module 11 can emit a light beam continuously or in the form of multiple pulses.

[0071] The second transmitting module 12 is used to transmit a detection beam. Different from the first transmitting module 11, the detection beam emitted by the second transmitting module 12 is used to detect the object space, such as Figure 1 As shown, the detection beam is reflected by the scanning module and can be irradiated onto the target in the object space. Generally speaking, the energy density and collimation of the light beam emitted by the second emission module 12 are high, such as the energy density is higher than the light beam emitted by the first emission module 11, so as to support the detection of targets within a certain distance range. Exemplarily, the second emission module 12 may include one or more of the following light sources: VCSEL, PCSE), EEL, LD, DFB-LD, GCSR-LD, or MOEMS-LD, etc. Optionally, the light source included in the second emission module 12 may be the same as the light source included in the first emission module 11, or different. In one possible implementation, the second emission module 12 includes a laser emission chip, and the laser emission chip includes one or more of the aforementioned light sources. In one possible case, the second emission module 12 includes a VCSEL chip. In another possible case, the second emission module 12 includes a laser emission chip formed by splicing multiple VCSEL chips.

[0072] The scanning module 13 is movable, and includes but is not limited to one or more of a rotating mirror, a swinging mirror, or a galvanometer mirror. Figure 1 A scanning device is shown using a rotating mirror as an example. Figure 1While the present invention uses a rotating mirror with four reflective surfaces as an example, the present invention is equally applicable to rotating mirrors with more or fewer reflective surfaces. For example, the present invention is applicable to scanning modules with single-sided (i.e., one reflective surface), double-sided, triple-sided, five-sided, or six-sided surfaces. Furthermore, the scanning direction of the scanning module 13 shown in the present invention is merely exemplary; in some embodiments, the scanning module may move clockwise, counterclockwise, or reciprocatingly to perform scanning.

[0073] The first receiving module 14 is used to receive a light beam. In the embodiment of the present application, an optical path may exist between the first transmitting module 11, the scanning module 13, and the first receiving module 14, so that when the scanning module 13 is at a certain scanning angle, the first receiving module 14 can receive the light beam from the first transmitting module 11 reflected by the scanning module. The first receiving module 14 includes a photoelectric conversion element capable of receiving an optical signal and converting it into an electrical signal. Exemplarily, the first receiving module 14 may include a detector, which may include a photodetector (PD) type element, such as a PD, a "positive-intrinsic-negative" (PIN) diode (abbreviated as PIN), or an avalanche photodiode (APD).

[0074] In the embodiment of the present application, the first transmitting module 11 and the first receiving module 14 are a set of detection devices for detecting the scanning module. There is an angular relationship between the first transmitting module 11, the scanning module 13 and the first receiving module 14 on the optical path. Figure 2 is a schematic diagram of a scanning angle of a scanning module provided in an embodiment of the present application, Figure 2 Taking the scanning module 13 including four reflective surfaces as an example, the four reflective surfaces can be represented as R1, R2, R3 and R4. Figure 2 (a), when the scanning module 13 is at the first scanning angle, the light beam emitted by the first transmitting module 11 is reflected by the reflecting surface R1 of the scanning module 13 and can be received by the first receiving module 14. Figure 2 In (a), the light beam completes a closed loop from transmission to reception, passing through first transmitting module 11, scanning module 13, and first receiving module 14. As the light beam propagates along this optical path, it reflects the angle of scanning module 13 and does not need to propagate into object space. In other words, the light beam emitted by first transmitting module 11 does not propagate into object space.

[0075] And as Figure 2(b) When the scanning module 13 rotates to another angle, the light beam reflected by the reflective surface R1 no longer enters the first receiving module 14, so that the first receiving module 14 cannot receive the light beam from the first transmitting module 11. At this time, the light beam emitted by the first transmitting module 11 does not propagate into the object space. Since the scanning module 13 is movable, when the scanning module 13 is at the first scanning angle again, the first receiving module 14 can receive the light beam reflected from the scanning module 13 again. Figure 2 By analogy with (a), when the angle of the reflecting surface R2 is Figure 2 When the angle of the reflection surface R1 shown in (a) is the same as that of the reflection surface R2, the first receiving module 14 can receive the light beam reflected by the scanning module 13 again.

[0076] The first receiving module 14 can obtain the ability of the light beam and obtain detection data. It is not difficult to see that the detection data obtained by the first receiving module 14 can indicate the time when the light beam is received and the first scanning angle, so that the angle value of the scanning module at a certain moment can be determined. Figure 3 , Figure 3 This is a schematic diagram of a first detection data provided by an embodiment of the present application. The first detection data may be a value with amplitude, and the amplitude change may reflect the moment when the light beam is received and the scanning angle of the scanning module 13. As a possible example, combined with Figure 3 , the first transmitting module 11 generates a first transmitting light beam at a first moment (e.g., moment t1), and the scanning module 13 reflects the first transmitting light beam at a first scanning angle to form a first reflected light beam. The first receiving module 14 receives the first reflected light beam and obtains the first detection data (e.g., Figure 3 ). Understandably, as the scanning module 13 continues to move, the detection data obtained by the first receiving module 14 will have multiple large amplitude changes, thereby indicating the time when the light beam is received and the angle value of the scanning module 13 multiple times.

[0077] It should be noted that there is a corresponding relationship between the time when the first receiving module 14 receives the first reflected light beam and the time when the first light beam is emitted (i.e., the first time). In some embodiments, because the propagation distance of the light beam between the first emitting module 11 and the first receiving module 14 is short, the time when the first reflected light beam is received and the first time can be considered the same, and the first time can be regarded as the time when the first receiving module 14 receives the first return light beam.

[0078] Based on the time indicated by the first detection data, the timing of the second emission module emitting the detection beam can be controlled. In some possible embodiments, the second emission module 12 generates the detection beam at a second time, where the second time is related to the first time and the first scanning angle. For example, in combination with Figure 3, the first detection data indicates that the scanning angle of the scanning module at time t1 is the first scanning angle, then the second emission module can generate a detection beam at time t2. Wherein, time t2 can be after time t1, for example, there is a time t between the two. Δ The time difference between the two makes it possible to detect the detection beam at a certain scanning angle. Δ It can be designed to be relatively small, for example, 0, in which case time t2 is the same as time t1. For example, the first scanning angle can correspond to the starting scanning angle of the FOV of the detection device. When the first receiving module 14 receives the first return beam, it indicates that the current scanning angle of the scanner corresponds to the starting scanning angle of the FOV, triggering the second transmitting module 12 to emit a detection beam for detection.

[0079] As mentioned above, the first detection data may be data with amplitude. In some possible implementations, the first detection data may be processed into a pulse signal (referred to as a first indication signal for ease of description) to more accurately and intuitively indicate the time and scanning angle. Figure 3 For example, a first indication signal can be obtained based on the first detection data and the detection threshold. The first indication signal can have multiple level states, for example, the first indication signal can have a high level and a low level (the voltage range of the high level and the low level can be predefined). The level state can indicate whether the first receiving module has received the first reflected light beam. Figure 4 ,like Figure 4 This is a schematic diagram of a first indication signal provided by an embodiment of the present application, when the amplitude value of the first detection data is greater than or equal to the first preset value (such as Figure 3 For example, at time t1, the level of the first indication signal changes to a high level, thereby indicating that the first detection module has received the first reflected light beam.

[0080] In some possible implementations, the comparison between the detection threshold and the amplitude value can be implemented by the first receiving module 14. In this case, the first detection data obtained by the first receiving module 14 can be replaced by Figure 4 That is, the first receiving module 14 receives the first reflected signal to obtain amplitude data, and determines and outputs the first indication signal based on the amplitude data.

[0081] In some possible implementations, the first detection data and / or the first indication signal are used to indicate a detection frame (referred to herein as the first detection frame for ease of distinction). The first detection frame is the time period during which the detection device completes a complete detection of the field of view (FOV), which can also be considered the time period during which a single image is obtained. For example, the first indication signal indicates that the first detection frame is within a period starting at time t1.

[0082] In some possible implementations, the first detection data and / or the first indication signal may be used to determine a first frame signal, and the first frame signal is used to indicate a first detection frame. Figure 5 , Figure 5 This is a schematic diagram of a first frame signal provided by an embodiment of the present application. Taking the determination of the first frame signal based on the first indication signal as an example, when the first indication signal is a rising edge, the level state of the first frame signal changes, for example, the level is pulled high to generate a rising edge. Of course, Figure 5 The illustrated situation is merely an example, and other implementations may exist in a specific implementation. For example, when the first indication signal experiences a rising edge and maintains a high level state for a first period of time, the level state of the first frame signal changes.

[0083] The following combination Figure 5 The first frame signal shown in the figure supplements the content about the first detection frame. In the first detection frame, the angle scanned by the detection light beam emitted by the second emission module 12 is the FOV of the detection device, that is, in the first detection frame, the detection device 100 can obtain detection data for a picture. Optionally, the FOV here can be replaced with the FOV along the scanning direction, such as the horizontal FOV or the vertical FOV. For example, when the rising edge of the first frame signal indicates the start of the first detection frame, and the falling edge of the first frame signal indicates the end of the first detection frame, that is, the time period when the first frame signal is at a high level indicates the duration of the first detection frame.

[0084] In conjunction with the above, the first detection frame is related to the first moment. For example, the start time of the first detection frame is the first moment, such as Figure 5 For another example, the start time of the first detection frame may be determined by the first time, for example, the first time is separated from the start time of the first detection frame by a first time length.

[0085] In some possible implementations, the end time of the first detection frame may be indicated by other signals (described below). Alternatively, the duration between the end time of the first detection frame and the start time of the first detection frame is predefined. For example, if the duration of the first detection frame is the second duration, then the interval between the end time of the first detection frame and the start time of the first detection frame is the second duration.

[0086] As mentioned earlier, the first detection frame is the time period for the detection device to perform detection, so the second emission module 12 can emit a detection beam within the first detection frame. The aforementioned second moment is located within the first detection frame. For example, the second moment is the starting moment of the first detection frame. For example, the second moment is any moment within the duration of the first detection frame.

[0087] The following combination Figure 6 The following describes some possible implementations of the present application.

[0088] See Figure 6 , Figure 6 1 is a schematic structural diagram of another detection device provided in an embodiment of the present application. The detection device 100 further includes one or more of a calculation module 15, a second receiving module 16, and a third receiving module 17. Each of these modules will be introduced below.

[0089] In some possible implementations, the detection device 100 further includes a computing module 15, which is also referred to as a main control module, a signal processing module, etc. in some solutions. The computing module 15 is a device with computing and control capabilities, and is used to process data. For example, the computing module 15 is used to obtain a first frame signal based on the first detection data. The first frame signal is as follows: Figure 5 As shown. Exemplarily, the computing module 15 includes a device with computing capabilities such as a processor or a controller. For example, the computing module 15 may include one or more of an application-specific integrated circuit (ASIC), a programmable logic device (PLD), a central processing unit (CPU), a digital signal processor (DSP), a microprocessor, a microcontroller, and the like, and combinations thereof, wherein the PLD is such as a field programmable gate array (FPGA). In some embodiments, the computing module 15 may include multiple parts, such as a signal processing circuit and a control circuit, and the multiple parts may be integrated together or independently provided, and this application does not impose strict limitations on this.

[0090] In some possible implementations, the calculation module 15 is configured to obtain a first indication signal according to the first detection data, and update the level of the first frame signal based on the first indication signal. Figure 4 and Figure 5 , the first indication signal is at the first time position (such as Figure 4 The calculation module updates the level of the first frame signal based on the change of the first indication signal, and combines the first indication signal with the first time position. Figure 5 , the first frame signal may indicate a first detection frame.

[0091] In some possible embodiments, the computing module further includes a second receiving module 16, which is configured to receive a light beam. An optical path may exist between the first transmitting module 11, the scanning module 13, and the second receiving module 16, such that when the scanning module 13 is at a certain scanning angle (referred to as the second scanning angle for ease of distinction), the second receiving module 16 can receive the light beam reflected from the first transmitting module 11 by the scanning module. The first receiving module 14 also includes a photoelectric conversion element, such as an APD, PD, or PIN. Optionally, the structures and optical properties of the first receiving module 14 and the second receiving module 16 may be the same or different.

[0092] It should be understood that the angular relationship between the first transmitting module 11, the scanning module 13 and the second receiving module 16 in the optical path is different from the angular relationship between the first transmitting module 11, the scanning module 13 and the first receiving module 14. Figure 7 , Figure 7 This is a schematic diagram of another scanning angle of a scanning module provided in an embodiment of the present application. Figure 7 (a), when the scanning module 13 is at the first scanning angle, the light beam emitted by the first transmitting module 11 is reflected by the reflecting surface R1 of the scanning module 13 and can be received by the first receiving module 14. Figure 7 (b), when the scanning module 13 moves to the second scanning angle, the light beam emitted by the first transmitting module 11 is reflected by the reflecting surface R1 of the scanning module 13 and can be received by the second receiving module 16. In this way, the detection data obtained by the second receiving module 16 (referred to as the second detection data for convenience of distinction) can indicate the second scanning angle. The second detection data also indicates the moment when the second receiving module 16 receives the light beam, thereby accurately determining the angle value of the scanning module at a certain moment. Optionally, the second detection data is a value with amplitude, so that the moment when the light beam is received and the angle value of the scanning module 13 can be reflected by the amplitude change, similar to Figure 3 For the first detection data shown, the relevant processing process can refer to the processing process of the detection data from the first receiving module 14.

[0093] In some possible embodiments, at a fourth moment, the second emission module stops generating the detection beam, and the fourth moment is related to the third moment and the second scanning angle. For example, the fourth moment is the same as the third moment, or the fourth moment is determined by the third moment (or the second scanning angle). Understandably, since the third moment corresponds to the second scanning angle, the fourth moment may be related to the third moment and the second scanning angle. In this way, the second emission module generates a detection beam to detect the object space within a period of time between the second moment and the fourth moment. Since the scanning angle of the scanning module corresponds to the moment, the angular width swept by the detection beam between the second moment and the fourth moment can also be determined, so that the detection angle range of the detection device can be determined, thereby improving the scanning control accuracy of the detection device and improving the accuracy of the detection device.

[0094] In some possible implementations, the second detection data may be processed into a pulse signal, which is referred to as a second indication signal for ease of description. Figure 3 A second indication signal can be generated based on the second detection data and the detection threshold. The level of the second indication signal can indicate whether the second receiving module has received the second reflected light beam. Optionally, the detection threshold of the first detection data and the detection threshold of the second detection data can be the same or different, and this application does not impose strict restrictions on this.

[0095] In some possible implementations, the second indication signal is used to indicate the first detection frame, for example, to indicate the end time of the first detection frame. Figure 8 , Figure 8 Schematic diagram of a first indication signal, a second indication signal and a first frame signal provided by an embodiment of the present application. The second indication signal may change to a second level (such as a low level) at a second time position (such as time t3), and the second time position corresponds to a third time and a second scanning angle. Based on the characteristics of the level state of the second indication signal, the level of the first frame signal may be updated, such as Figure 8 After the second indication signal generates a falling edge, the level state of the first frame signal can be pulled down, thereby generating a falling edge, and the falling edge of the second frame signal indicates the end of the first detection frame. In short, combined with the above and Figure 8 The first indication signal and the second indication signal may be used to determine a first frame signal, and the first frame signal is used to indicate a first detection frame.

[0096] certainly, Figure 8The illustrated scenario is merely an example, and other designs may be employed in some embodiments. For example, when the first indication signal experiences a rising edge and remains at a high level for a first duration, the first frame signal is updated to a rising edge. Alternatively, when the first indication signal experiences a falling edge, the first frame signal is updated to a rising edge. Similarly, in some embodiments, when the second indication signal experiences a falling edge and remains at a high level for a third duration, the first frame signal is updated to a falling edge. Alternatively, when the second indication signal experiences a rising edge, the first frame signal is updated to a rising edge.

[0097] In some possible implementations, along the moving direction of the scanning module 13, the first receiving module 14 and the second receiving module 16 form a first angle. Figure 7 The moving direction of the scanning module 13 is parallel to the paper surface. In the moving direction, the angle between the first receiving module 14 and the second receiving module 16 is a first angle. Figure 7 Represents α. In some embodiments, the first angle α is the same as or corresponds to the FOV of the detection device. Correspondence here means that there is a correlation between the two. For example, there is a first difference between the first angle α and the FOV, or the ratio of the two can be calculated. The aforementioned FOV can be replaced by the FOV in the direction of movement of the scanning module 13, such as the horizontal HOV or the vertical FOV.

[0098] In conjunction with the above, if the first angle α is the same as the FOV of the detection device, the angular width between the first scanning angle and the second scanning angle is the same as the FOV of the detection device. In this case, the first detection data can be used to indicate the starting scanning angle of the FOV, thereby triggering the second transmitting module to emit a detection beam for detection, while the second detection data can be used to indicate the ending scanning angle of the FOV, thereby triggering the second transmitting module to stop emitting the detection beam.

[0099] In some scenarios, the second transmitting module does not continuously emit a probe beam within the first detection frame. Instead, it intermittently emits a probe beam during sub-time periods within the first detection frame. These sub-time periods can be represented as subframes, or slots, and are referred to as first subframes for ease of distinction. As mentioned earlier, a detection frame (such as the first detection frame and the second detection frame below) corresponds to an image, while a subframe corresponds to a strip-shaped area within the image, also called a "line." An image is composed of multiple "lines."

[0100] In some possible embodiments, the first detection frame may include multiple first subframes, and there is a time interval between two adjacent first subframes in the multiple first subframes. The second emission module 12 emits a detection beam in the first subframe, but does not generate a detection beam in the time interval of the first subframe, or does not project a detection beam into the object space in the time interval of the first subframe.

[0101] See Figure 9 , Figure 9 This is a schematic diagram of a subframe provided in an embodiment of the present application. The first detection frame includes N first subframes, where N is an integer and N ≥ 1. For ease of description, these are represented as first subframe #1 to first subframe #N. There is a time interval between each of the N first subframes. For example, when the first subframe signal is at a high level, the second transmitting module 12 emits a detection beam. When the first subframe signal is at a low level, the second transmitting module 12 does not emit a detection beam. This allows control of the illumination timing of the second transmitting module 12 based on the first subframe signal.

[0102] Optionally, the second moment is located within the first subframe, and the second moment is related to the first moment. For example, the start time of the first detection frame is time t1 (i.e., the first moment), and the start time of the first first subframe (i.e., first subframe #1) is time t2, which can be regarded as the second moment.

[0103] In some possible implementations, within the first detection frame, subframes may be generated based on time. For example, the scanning durations of the detection beams corresponding to the multiple first subframes are the same, or the scanning durations of the detection beams corresponding to the multiple first subframes are predefined. Optionally, the interval durations between the multiple first subframes may be the same or different. For example, Figure 9 As shown, the duration of each first subframe is equal to two unit times, and the interval between each first subframe can be the same, for example, one unit time. Optionally, the time can be obtained from a timer (or time counter, timer). Optionally, the timer starts counting from a preset value (e.g., 0) when the pulse of the first indication signal arrives.

[0104] In some possible implementations, within the first detection frame, subframes may be generated based on angles (or positions). Figure 8 The active angle of scanning module 13 between the pulses of the first indication signal and the second indication signal is the angular width between the first scanning angle and the second scanning angle. Therefore, the scanning angle of scanning module 13 at different times can be determined. Based on the first detection frame, multiple first subframes are generated within the first detection frame according to the scanning angle. For example, the scanning angular widths of the detection beams corresponding to the multiple first subframes are the same, or the scanning angular widths of the detection beams corresponding to the multiple first subframes are predefined.

[0105] For some possible implementations, see Figure 6 The detection device 100 further includes a third receiving module 17. The third receiving module 17 includes a photoelectric conversion element, and the third receiving module 17 is used to receive a return beam from the object space, the beam including an echo of the detection beam, such as Figure 6, the detection beam is irradiated onto the target in the object space and is reflected by the target to form an echo, which can be received by the third receiving module 17, thereby obtaining information such as the distance, angle, position, reflectivity, color, or speed of the target. Exemplarily, the third receiving module 17 includes a detector, which includes one or more of the following detection elements: a single photon avalanche diode (SPAD), a silicon photomultiplier (SiPM), an APD, a multi-pixel photon counter (MPPC), or an electron multiplying charge-coupled device (EMCCD), etc. The number of detection elements included in the third receiving module 17 can be multiple, and the multiple detection elements can be arranged in an array to form an array detector. For example, the third receiving module 17 can include a SPAD array.

[0106] In some possible implementations, the first detection frame is also used to control the reception timing of the third receiving module 17. For example, within the first detection frame, the detector in the third receiving module 17 is powered on and can receive the return beam. Alternatively, during the time period indicated by the first subframe within the first detection frame, the detector in the third receiving module 17 is powered on. During the time period indicated by the interval between the first subframes, the detector is inactive, or the detection data output during the interval between the first subframes is not used.

[0107] In some possible implementations, the wavelength of the light beam emitted by the first emitting module 11 is different from the wavelength of the light beam emitted by the second emitting module 12 to avoid interference of the light beam of the angle detection scanning module 13 on the detection light beam, thereby improving the detection accuracy of the detection device 100.

[0108] In some possible implementations, the first transmitting module 11 may share an optical lens with the first receiving module 14, or the first transmitting module 11 may not share an optical lens with the first receiving module 14. Figure 10 , Figure 10 This is a schematic diagram of another scanning angle of a scanning module provided in an embodiment of the present application, see Figure 10 In (a) and (b), the first transceiver module 18 integrates the first transmitting module 11 and the first receiving module 14. The two can be designed for coaxial transmission and reception, and can share an optical lens. The first transceiver module 18 and the second receiving module 16 form a first angle, which is the same as or corresponds to the field of view (FOV) of the detection device 100.

[0109] In some possible implementations, the scanning module 13 includes at least two scanning surfaces, and the scanning surfaces corresponding to the first transmitting module 11 and the second transmitting module 12 are the same, such as Figure 1 or Figure 6 Alternatively, the first transmitting module 11 and the second transmitting module 12 correspond to different scanning surfaces, such as Figure 11 As shown, the first transmitting module, the first receiving module 14, and the second receiving module 16 correspond to one scanning plane of the scanning module 13, while the second transmitting module 12 corresponds to the other scanning plane of the scanning module 13. Optionally, this application uses the example of the second transmitting module 12 and the third receiving module 17 sharing the same scanning plane. In some embodiments, the second transmitting module 12 and the third receiving module 17 may also correspond to different scanning planes. In still other embodiments, the third receiving module 17 may be designed as a plurality, with some of the plurality of third receiving modules 17 sharing the same scanning plane with the second transmitting module 12, while others do not.

[0110] In some possible implementations, multiple groups of the first transmitting module 11 and the first receiving module 14 (or the first receiving module 14 and the second receiving module 16) for angle detection may be provided. Figure 12 , the scanning module 13 includes 4 scanning surfaces, and 4 groups of transceiver modules for measuring the angle of the scanning module 13 are respectively set on the 4 scanning surfaces, and each group of transceiver modules corresponds to one scanning surface. Figure 12 The four groups of transceiver modules shown are respectively a transmitting module 11a and a receiving module 14a, a transmitting module 11b and a receiving module 14b, a transmitting module 11c and a receiving module 14c, and a transmitting module 11d and a receiving module 14d. The four groups of transceiver modules can respectively obtain four groups of detection data, and these four groups of detection data can be used to more accurately determine the current scanning angle of the scanning module 13. In some embodiments, in each group of transceiver modules, the scanning angles at which the receiving modules can receive the transmitted light beam may be the same or different. Optionally, each group of transceiver modules may include one or more receiving modules. When a group of transceiver modules includes multiple receiving modules, the scanning angles at which the receiving modules can receive the transmitted light beam may be the same or different.

[0111] Optionally, Figure 12 Taking the example of each scanning surface corresponding to a set of transmitting and receiving ends for detecting the angle of the scanning module, in some solutions, a scanning surface can also use multiple sets of transmitting and receiving ends for detecting the angle of the scanning module.

[0112] In some possible implementations, the detection device 100 further includes an angle encoder (not shown). The angle encoder is used to obtain angle detection data from the scanning module, and the angle detection data can be used to obtain the angle value of the scanning module. Exemplarily, the angle encoder is, for example, an optical angle encoder, a magnetic angle encoder, or the like. An optical angle encoder includes a code disk and an encoder, while a magnetic angle encoder includes magnetic poles and an encoder. Some embodiments herein are described using an optical angle encoder as an example.

[0113] Optionally, the angle value obtained based on the angle detection data from the angle encoder and the angle value obtained based on the detection data of the first receiving module 14 (or the first receiving module 14 and the second receiving module 16) can be used together to control the timing of the detection device 100 to emit the detection beam.

[0114] As a possible example, the angle detection data of the angle encoder can be used to perform contamination detection to determine whether the angle detection data of the angle encoder is accurate. For example, if the angle encoder is confirmed to be contaminated based on the angle detection data, the light emission timing (or the reception timing) will be controlled based on the detection data of the first receiving module 14 (or the first receiving module 14 and the second receiving module 16). The contamination here should be understood in a broad sense and can include the phenomenon that the monitoring data of the angle encoder cannot accurately reflect the angle of the scanning module due to various reasons, including not only dirt and pollution, but also aging, damage, etc.

[0115] As another possible example, the calculation module 15 detects the angle detection data based on the angle detection data from the angle encoder and the detection data from the first receiving module 14 (or the first receiving module 14 and the second receiving module 16). If the angle detection data confirms that the angle encoder is contaminated, the light emission timing (or the reception timing) is controlled based on the detection data from the first receiving module 14 (or the first receiving module 14 and the second receiving module 16).

[0116] The method provided in the embodiments of the present application is described below.

[0117] See Figure 13 , Figure 13 This is a flow chart of a data processing method provided in an embodiment of the present application. This method can be applied to the aforementioned detection device, for example Figure 3 、 Figure 6 、 Figure 11 The detection device 100 shown in the embodiment, for example, is composed of Figure 6 The method is executed by the calculation module 15 in the detection device 100. For ease of description, the following description is made by taking the execution subject as an example of a data processing device, which can be replaced by other devices, modules or equipment.

[0118] like Figure 13 The data processing method shown may include steps S1301 to S1302. It should be understood that for the convenience of description, the order of S1301 to S1302 is described here, and it is not intended to limit the execution to the above order. The embodiment of the present application does not limit the order of execution, execution time, number of executions, etc. of the above one or more steps. S1301 to S1302 are as follows:

[0119] Step S1301: The data processing device obtains first detection data.

[0120] The data processing device refers to a device with computing capabilities. Exemplarily, the data processing device is, for example, the computing module 15 in the aforementioned detection device 100. The first detection data can be obtained by the first receiving module of the detection device. In combination with the foregoing, the first transmitting module 11 generates a first transmitting light beam at a first moment, the scanning module 13 reflects the first transmitting light beam at a first scanning angle to form a first reflected light beam, and the first receiving module 14 receives the first reflected light beam and obtains the first detection data. The first detection data indicates the first scanning angle and the first moment. For related descriptions, please refer to the above-mentioned description of the first detection data.

[0121] For example, the data processing device is connected to the first receiving module and can receive the first detection data sent (or output) by the first receiving module 14 through the connection line between the two. Alternatively, the data processing device can be fully or partially integrated into the first receiving module 14, and the photoelectric conversion element of the first receiving module 14 can provide the first detection data to the data processing device.

[0122] Step S1302: The data processing device controls the second emission module to generate a detection beam at a second moment at least according to the first detection data.

[0123] Among them, the second transmitting module is a module for emitting a detection beam, and the detection beam is emitted into the object space through the scanning module. Among them, the second moment is related to the first moment and the first scanning angle. It can be understood that when the scanning module is at the first scanning angle, the light beam emitted by the first transmitting module can be received by the first receiving module after being reflected by the scanning module, so the first detection data can indicate the first scanning angle and the moment when the first reflected light beam is received, thereby accurately determining the angle value of the scanning module. Based on the angle value of the scanning module, the timing of the second transmitting module emitting the detection beam can be controlled so that the angle corresponding to the emitted light beam can be controlled, thereby improving the angle accuracy of the detection device.

[0124] For example, the first detection data is as follows Figure 3The data processing device includes a comparator, which can obtain the following data based on the amplitude value and the detection threshold: Figure 4 The pulse signal shown in FIG. The pulse of the pulse signal can indicate the time and the angle of the scanning module at the same time.

[0125] In some possible implementations, the data processing device determines a first frame signal based on the first detection data, and controls the second emitting module to generate a detection beam at a second moment based on the first frame signal. The data processing device can generate a first frame signal based on the first detection data, where the first frame signal indicates a first detection frame, and the second moment falls within the first detection frame. Because the detection data reflects the angle of the scanning module at a specific moment, the data processing device can determine a time period during which detection is possible (i.e., the first detection frame) based on the detection data and control the timing of the second emitting module's light emission.

[0126] In some possible implementations, the data processing device obtains a first indication signal according to the first detection data, updates the level of the first frame signal based on the first indication signal, and controls the second transmitting module to transmit the detection beam within the first detection frame according to the first frame signal. Figure 3 、 Figure 4 and Figure 5 , the first indication signal changes to a first level at a first time position, the first time position corresponds to a first moment and a first scanning angle, the first frame signal is used to indicate a first detection frame, and the second moment is within the first detection frame. Exemplarily, in combination Figure 4 and Figure 5 The first indication signal is at a rising edge at time t1, so the first frame signal is also at a rising edge at time t1, and the level changes, indicating that the first detection frame starts.

[0127] Optionally, in the first detection frame, the angle scanned by the detection beam is the FOV of the detection device. For related descriptions and possible designs, please refer to the above text.

[0128] Optionally, the amplitude value of the first detection data is related to the intensity of the light energy received by the first receiving module, see Figure 3 When the amplitude value of the first detection data is greater than or equal to a first preset value, the first indication signal is at a first level. The first preset value is a detection threshold used to obtain a pulse signal.

[0129] In some possible implementations, the detection device further includes a second receiving module. Figure 6, the first transmitting module may also generate a second transmitting beam at a third moment, the scanning module may reflect the second transmitting beam at a third scanning angle to form a second reflected beam, and the second receiving module may receive the second reflected beam and obtain second detection data. In this case, the data processing device may obtain the second detection data and, based on the second detection data, control the second transmitting module to not generate the detection beam at a fourth moment. The second detection data indicates the third moment and the third scanning angle, and the fourth moment is related to the third moment and the second scanning angle.

[0130] Please refer to Figure 8 The data processing device obtains a second indication signal based on the second detection data, and updates the level of the first frame signal based on the second indication signal to end the first detection frame. The second indication signal changes to a second level at a second time position, and the second time position corresponds to a third moment and a third scanning angle.

[0131] In some possible implementations, the data processing device determines the first subframe signal based on the first frame signal, and controls the second transmitting module to transmit the detection beam within the first subframe. The first subframe signal is used to indicate the first subframe within the first detection frame, and the second moment is within the first subframe. Optionally, within the first detection frame, the first subframe can be generated based on time, such as Figure 9 . For related descriptions, please refer to the above.

[0132] In one possible embodiment, the detection device further includes an angle encoder configured to obtain angle detection data from the scanning module. The data processing device can detect whether the angle encoder is contaminated (i.e., whether the angle-encoded data is accurate) based on the angle detection data. Furthermore, upon detecting contamination of the angle encoder, the data processing device generates a first detection frame based on the first detection data (optionally including the second detection data), and emits a detection beam within the first detection frame for detection.

[0133] In some embodiments, the data processing device may determine a second detection frame signal based on angle detection data from the angle encoder, the second detection frame signal being used to indicate a second detection frame. Furthermore, the data processing device may determine a final detection frame signal based on the second detection frame signal and the first detection frame signal to indicate a detection timing. When contamination of the angle encoder is detected, the data processing device uses the first detection frame signal as the final detection frame signal to control the emission timing of the second transmitting module or the emission timing of the second transmitting module and the reception timing of the third receiving module.

[0134] See Figure 14 , Figure 14 This is a timing diagram of several signals provided by this application. Taking the optical angle encoder as an example, combined with Figure 14Under ideal conditions (i.e., when uncontaminated), the pulse signal obtained from the code disk (referred to as the code disk signal) is evenly distributed over time. The code disk signal accurately reflects the angular changes of the scanning module. For example, the code disk signal can be used to resolve the scanning module's angle (i.e., the ideal resolved angle). Based on this ideal code disk signal, a frame signal (i.e., the ideal frame signal) can be generated to ideally control the detection process. However, when the angle encoder is contaminated, the pulse signal obtained from the code disk varies, such as uneven, densely distributed pulses with a long duration. The angle of the scanning module calculated based on the contaminated code disk signal is no longer accurate, and the frame signal (i.e., the second frame signal) derived from the contaminated code disk signal cannot accurately indicate the time period required for detection, thus affecting detection performance. For example, the current scanner angle is the first scanning angle. Ideally, a signal should be generated and scanned into the object space. However, due to contamination, the frame signal remains at a low level. Therefore, the detection device fails to transmit the detection beam in time, resulting in the loss of the transmitted signal at that angle, and the receiver is unable to receive the return signal at that angle.

[0135] Through the above implementation method, when the angle encoder is detected to be contaminated, the scanning angle of the scanning module and the moment at the scanning angle can be accurately indicated by the first indication signal and the second indication signal. Therefore, the data processing device can control the time period for detection by the detection device based on the first frame signal obtained by the first indication signal and the second indication signal.

[0136] In one possible embodiment, the angle detection data can be combined with the first indication signal and the second indication signal to determine whether the angle encoder is contaminated. When the angle encoder is detected to be contaminated, the time when the detection device needs to perform detection is controlled based on the first detection data (optionally including the second detection data). For example, the first time difference (e.g., the time difference between the rising edge of the second frame signal (the frame signal generated by the encoder angle) and the rising edge of the first indication signal) is set to 0. Figure 14 The Δ shown t1 ) is greater than or equal to the first time difference threshold (e.g., TH1), the angle encoder is contaminated. At this time, the detection device 100 uses the first frame signal as the frame signal to control the detection process. Alternatively, the second time difference (e.g., TH1) between the falling edge of the second frame signal (the frame signal generated by the encoder angle) and the falling edge of the second indication signal Figure 14 The Δ shown t2) is greater than or equal to a second time difference threshold (e.g., TH2), indicating that the angle encoder is contaminated. In this case, detection device 100 uses the first frame signal as the frame signal to control the detection process. The aforementioned time difference can be replaced by the absolute value of the time difference. Alternatively, when the aforementioned condition is not met, detection device 100 uses the second frame signal as the frame signal to control the detection process. Alternatively, the aforementioned first time difference threshold TH1 and second time difference threshold TH2 can be predefined or calculated.

[0137] As mentioned above, when the detection device emits a light beam, it can specifically control the light-emitting time through a subframe signal. In some embodiments, the data processing device can determine a second subframe signal based on the second detection frame signal. The second subframe signal can indicate a second subframe. The second subframe is a certain time period in the second detection frame. A second detection frame can include multiple second subframes. In some embodiments, the second subframe signal is generated based on the second frame signal and according to the scanning angle of the scanning module. Optionally, in a second detection frame, the scanning angle widths corresponding to multiple second subframes are the same, or the scanning angle widths corresponding to multiple second subframes are predefined.

[0138] Optionally, the data processing device determines a final subframe signal based on the first subframe signal and the second subframe signal to indicate the actual subframe to be used. For example, when contamination of the angle encoder is detected, the data processing device uses the first subframe signal as the final subframe signal to control the emission timing of the second transmitting module or to control the emission timing of the second transmitting module and the reception timing of the third receiving module.

[0139] See Figure 15 , Figure 15 : is a timing diagram of several signals provided in an embodiment of the present application. Among them, the first subframe signal is a subframe signal generated based on time on the basis of the first frame signal, and the second subframe signal is a subframe signal generated based on angle on the basis of the second frame signal. The third time difference (such as Figure 15 The Δ shown t3 ) is greater than or equal to a third time threshold (e.g., represented as TH3), or a fourth time difference between the falling edge of the first subframe signal and the falling edge of the second subframe signal (e.g., Figure 15 The Δ shown t4 ) is greater than or equal to a fourth time threshold (e.g., TH4), the first subframe signal is used as the subframe signal for controlling the detection process. Optionally, when the aforementioned condition is not met, the second subframe signal is used as the frame signal for controlling the detection process. Optionally, the aforementioned third time difference threshold TH3 and fourth time difference threshold TH4 can be predefined or calculated.

[0140] exist Figure 13In the data processing method shown, a first transmitting module and a first receiving module are provided in the detection device for detecting the scanning module. When the scanning module is at a first scanning angle, the light beam emitted by the first transmitting module is reflected by the scanning module and can be received by the first receiving module. Therefore, the detection data obtained by the first receiving module can indicate the first scanning angle, and the detection data also indicates the moment when the first reflected light beam is received. Based on the detection data obtained by the first receiving module, the data processing device can accurately determine the angle value of the scanning module, thereby controlling the timing of the second transmitting module to emit the detection light beam, so that the angle corresponding to the emitted light beam is controllable, thereby improving the angular accuracy of the detection device during detection.

[0141] The above provides the device and related data processing method of the present application. Figure 16 and Figure 17 , introduces an exemplary specific implementation of this application.

[0142] See Figure 16 , Figure 16 It is a schematic diagram of a detection process provided in an embodiment of the present application. The detection device includes a rotating mirror 131 (regarded as the aforementioned scanning module 13), a first transmitting module 11, a first receiving module 14, and a second receiving module 16. Among them, the setting position of the first receiving module 14 corresponds to the starting position of the horizontal FOV. In other words, when the first receiving module 14 receives the light beam from the first transmitting module 11, it is considered that the current scanning angle of the rotating mirror 131 is the starting position of the horizontal FOV. The setting position of the second receiving module 16 corresponds to the end position of the horizontal FOV. The detection data obtained by the first receiving module 14 and the second receiving module 16 can be passed through a comparator to obtain a first indication signal and a second indication signal, respectively.

[0143] The data processing device may obtain a frame signal and a subframe signal based on the first indication signal and the second indication signal. In some embodiments, the first indication signal and the second indication signal may be used to determine a first frame signal, which may serve as the frame signal. Furthermore, based on the first frame signal, the data processing device may generate a first subframe signal. The first subframe signal may be generated based on time, and the first subframe signal may serve as the subframe signal.

[0144] In some embodiments, the detection device further includes an angle encoder, which is mounted on the scanning module. When the scanning module moves, the angle encoder obtains angle detection data. For example, the angle detection data may be as follows: Figure 14 After processing the code disk signal or angle detection data shown, the following can be obtained: Figure 14The code disk signal shown. The data processing device can obtain a frame signal and a sub-frame signal based on the first indication signal, the second indication signal and the angle detection data from the angle encoder. Specifically, the data processing device can obtain a first frame signal based on the first indication signal and the second indication signal, and can generate a first sub-frame signal based on the time based on the first indication signal and the second indication signal. The data processing device can obtain a second frame signal based on the data from the angle encoder, and can obtain a second sub-frame signal based on the angle based on the data from the angle encoder. The final frame signal can be determined based on the first frame signal and the second frame signal, and the final sub-frame signal can be determined based on the first sub-frame signal and the second sub-frame signal. For example, when the detection device detects that the angle encoder of the angle encoder is contaminated, the first frame signal and the first sub-frame signal obtained based on the detection data from the first receiving module and the second receiving module are used as the frame signal and sub-frame signal for controlling the detection process.

[0145] Optionally, the aforementioned first subframe signal can be obtained based on the first frame signal and time. Similarly, the second subframe signal can be obtained based on the second frame signal and angle. Of course, the present application is also applicable to the case where the first subframe signal is generated directly based on the first indication signal, the second indication signal, and time, and the case where the second subframe signal is generated directly based on data from the angle encoder.

[0146] For ease of understanding, the following Figure 17 This paper introduces a process for obtaining frame signals and subframe signals from a detection device including an angle encoder, which mainly includes the frame signal generation process and the subframe signal generation process.

[0147] In the frame signal generation process, such as Figure 17 , the data processing device can calculate the angle of the scanning module according to the code disk signal, and obtain a second frame signal based on the angle (called frame_sync_2 for easy distinction). The second frame signal can indicate a second detection frame. In multiple second detection frames within a period of time, the angle width of the scanning module's activity can be the same or different (for example, a pre-designed angle). At the same time, the data processing device obtains a first indication signal and a second indication signal based on the detection data from the first receiving module and the second receiving module, respectively, which are called the start of scan signal and the stop of scan signal for easy distinction. A first frame signal (called frame_sync_1 for easy distinction) can be generated based on the first indication signal and the second indication signal. When the angle encoder is working normally, the data processing device selects the second frame signal as the frame signal (for example, the selection process is performed by selector 1), and when it is detected that the angle encoder is contaminated, the first frame signal is selected as the frame signal.

[0148] Exemplarily, the selection condition of the selector 1 is: when the absolute value of the first time difference between the rising edge of the second frame signal generated by the code wheel angle and the rising edge of the first indicator signal is greater than the first time threshold TH1, or the absolute value of the second time difference between the falling edge of the second frame signal generated by the code wheel angle and the falling edge of the second indicator signal is greater than the second time threshold TH2, the selector 1 selects the first frame signal as the output frame signal. If the condition is not met, the second frame signal is selected as the output frame signal.

[0149] In the subframe signal generation process, the second subframe signal is generated based on the code disk signal and the angle. The second subframe signal indicates multiple second subframes, and the angles corresponding to the multiple second subframes can be equal angles, or the angles corresponding to the multiple second subframes can be different. The first subframe signal is generated based on the first indication signal and the second indication signal, based on time. The first subframe signal indicates multiple first subframes, and the times of the multiple first subframes can be the same or different. When the angle encoder is operating normally, the data processing device selects the second subframe signal as the subframe signal (the selection operation is performed, for example, by selector 2). When the angle encoder is detected to be contaminated, the first subframe signal is selected as the subframe signal.

[0150] Exemplarily, the selection condition of selector 1 is: if the absolute value of the time difference between the rising edge of the first subframe signal and the rising edge of the second subframe signal exceeds the third time threshold TH3, or if the absolute value of the time difference between the falling edge of the first subframe signal and the falling edge of the second subframe signal is greater than the fourth time threshold TH4, the first subframe signal is selected as the subframe signal. If the condition is not met, the second subframe signal is selected as the subframe signal.

[0151] The above details the methods of the embodiments of the present application and provides some possible implementations. The following describes some devices for implementing the aforementioned methods. It should be understood that the division of units in the devices provided in the embodiments of the present application is merely a division of logical functions. In actual implementation, they may be fully or partially integrated into a single physical entity or physically separated.

[0152] In addition, the units in the device can be implemented in the form of a processor calling software. For example, the device includes a processor, the processor is connected to a memory, instructions are stored in the memory, and the processor calls the instructions stored in the memory to implement any of the above methods or implement the functions of each unit of the device, where the processor is, for example, a general-purpose processor, such as a central processing unit (CPU) or a microprocessor, and the memory is a memory inside the device or a memory outside the device.

[0153] Alternatively, the units in the device can be implemented in the form of hardware circuits, and the functions of some or all of the units can be implemented by designing the hardware circuits, and the hardware circuits can be understood as one or more processors. For example, in one implementation, the hardware circuit is an application-specific integrated circuit (ASIC), which implements the functions of some or all of the above units by designing the logical relationship of the components in the circuit. For another example, in another implementation, the hardware circuit can be implemented by a programmable logic device (PLD), taking a field programmable gate array (FPGA) as an example, which can include a large number of logic gate circuits, and the connection relationship between the logic gate circuits is configured by configuring the configuration file, thereby implementing the functions of some or all of the above units. All units of the above devices can be implemented in the form of software called by the processor, or in the form of hardware circuits, or in part by the form of software called by the processor, and the remaining part by the form of hardware circuits.

[0154] In an embodiment of the present application, a processor is a circuit with a signal processing capability. In one implementation, the processor may be a circuit with an instruction reading and execution capability, such as a central processing unit (CPU) or a digital signal processor (DSP). In another implementation, the processor may implement certain functions through the logical relationship of a hardware circuit, and the logical relationship of the hardware circuit may be fixed or reconfigurable, such as a hardware circuit implemented by a processor as an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as an FPGA. In a reconfigurable hardware circuit, the process of the processor loading a configuration file and implementing the hardware circuit configuration may be understood as the process of the processor loading instructions to implement the functions of some or all of the above units. It can be seen that each unit in the device may be one or more processors (or processing circuits) configured to implement the above method, such as a CPU, a GPU, a microprocessor, a DSP, an ASIC, an FPGA, or a combination of at least two of these processor forms.

[0155] In addition, the various units in the above apparatus may be fully or partially integrated together, or may be implemented independently. In one implementation, these units are integrated together and implemented in the form of a system-on-a-chip (SOC). The SOC may include at least one processor for implementing any of the above methods or implementing the functions of the various units of the apparatus. The at least one processor may be of different types, such as a CPU and an FPGA.

[0156] Several possible arrangements are listed below.

[0157] See Figure 18 , Figure 18 1 is a structural diagram of a data processing device provided in an embodiment of the present application, namely, a data processing device 180. Optionally, the data processing device 180 may be an independent device, for example, the data processing device 180 may be Figure 6 Alternatively, the data processing device 180 may also be a device in an independent device (such as a node), such as a chip or an integrated circuit, etc. The data processing device 180 is used to implement the aforementioned data processing method.

[0158] like Figure 18 As shown, data processing device 180 includes an acquisition unit 1801 and a processing unit 1802. Acquisition unit 1801 is configured to implement one or more operations such as acquisition, reception, monitoring, and transmission, and further includes other operations for implementing the data processing method. Processing unit 1802 is configured to implement one or more operations such as processing, calculation, determination, generation, and updating, and further includes other operations for implementing the data processing method.

[0159] For related descriptions, see Figure 13 The description of the embodiments shown will not be repeated here one by one.

[0160] See Figure 19 , Figure 19 1 is a schematic diagram of the structure of a computing module provided in an embodiment of the present application. The computing module 15 can be an independent device or a device included in an independent device, such as a chip, a software module, or an integrated circuit. The computing module 15 can include at least one processor 151 and a communication interface 152. Optionally, it can also include at least one memory 153. Further optionally, it can also include a connection line 154, wherein the processor 151, the communication interface 152 and / or the memory 153 are connected via the connection line 154, and / or communicate with each other via the connection line 154 to transmit control signals and / or data signals.

[0161] in:

[0162] The processor 151 is a module that performs arithmetic operations and / or logical operations, and may specifically include one or more of the following modules: a filter, a modem, a power amplifier, a low noise amplifier (LNA), a baseband processor, a radio frequency processor, a radio frequency circuit, a central processing unit (CPU), an application processor (AP), a microcontroller unit (MCU), an electronic control unit (ECU), a graphics processing unit (GPU), a microprocessor (MPU), an application specific integrated circuit (ASIC), an image signal processor (ISP), a digital signal processor (DSP), a field programmable gate array (FPGA), a complex programmable logic device (CPLD), or a coprocessor, etc.

[0163] The communication interface 152 may be used to provide information input or output for the at least one processor, or to receive externally transmitted signals and / or transmit externally transmitted signals.

[0164] For example, the communication interface 152 may include an interface circuit. For example, the communication interface 152 may include a wired link interface such as a bus, or it may be a wireless link (Wi-Fi, Bluetooth, general wireless transmission, vehicle-mounted short-range communication technology, and other short-range wireless communication technologies, etc.) interface. As a possible design, if the computing module 15 is an independent device, the communication interface 152 may include a receiver and a transmitter. The receiver and the transmitter may be the same component, or different components. When the receiver and the transmitter are the same component, the component may be referred to as a transceiver. As another possible design, if the computing module 15 is a chip or a circuit, the communication interface 152 may include an input interface and an output interface, and the input interface and the output interface may be the same interface, or they may be different interfaces.

[0165] Optionally, the functions of the communication interface 152 may be implemented by a transceiver circuit or a dedicated transceiver chip.

[0166] Memory 153 is used to provide storage space for storing data such as the operating system and computer programs. Memory 153 can be one or a combination of random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), or compact disc read-only memory (CD-ROM).

[0167] The functions and actions of the modules or units in the calculation module 15 listed above are only for illustrative purposes.

[0168] Each functional unit in the calculation module 15 can be used to implement the aforementioned data processing method, for example Figure 13 Optionally, when the computing module 15 includes at least one memory 153 , if the processor 151 implements the aforementioned data processing method by calling a computer program, the computer program may be stored in the memory 153 .

[0169] The present application also provides a laser radar, which includes the aforementioned detection device (such as the detection device 100). The detection device includes a calculation module, which is used to implement the aforementioned data processing method, such as Figure 13 The data processing method shown.

[0170] The present application also provides a terminal, including the aforementioned detection device (such as the detection device 100), or including the aforementioned data processing device (such as the data processing device 180), or including the aforementioned computing module 15, or including the aforementioned laser radar.

[0171] In the embodiments of this application, words such as "exemplarily" or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design described in this application as "exemplary" or "for example" should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplarily" or "for example" is intended to present the relevant concepts in a concrete manner.

[0172] The “at least one” mentioned in the embodiments of this application refers to one or more, and “plurality” refers to two or more. “At least one of the following items” or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can represent: a, b, c, (a and b), (a and c), (b and c), or (a and b and c), where a, b, c can be single or multiple. “And / or” describes the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character “ / ” generally indicates that the previous and next associated objects are in an “or” relationship.

[0173] Furthermore, unless otherwise specified, the embodiments of the present application use ordinal numbers such as "first" and "second" to distinguish multiple objects, and are not used to limit the order, timing, priority or importance of multiple objects.

Claims

1. A detection device, characterized in that: The detection device includes a first transmitting module, a second transmitting module, a scanning module and a first receiving module, wherein: The first emission module is used to generate a first emission light beam at a first moment, The scanning module is used to reflect the first emission light beam at a first scanning angle to form a first reflected light beam, The first receiving module is used to receive the first reflected light beam and obtain first detection data, where the first detection data is used to indicate the first scanning angle; The second emission module is used to generate a detection beam at a second moment, the second moment being related to the first moment and the first scanning angle, The scanning module is further configured to reflect the detection light beam to the object space so as to detect the object space.

2. The detection device according to claim 1, characterized in that The detection device further includes a calculation module, which is configured to: obtaining a first indication signal according to the first detection data, wherein the first indication signal changes to a first level at a first time position, the first time position corresponding to the first moment and the first scanning angle; updating a level of a first frame signal based on the first indication signal, where the first frame signal is used to indicate a first detection frame; The second transmitting module is further configured to transmit a detection light beam within the first detection frame, and the second moment is located within the first detection frame.

3. The detection device according to claim 2, characterized in that In the first detection frame, the angle scanned by the detection beam is the field of view FOV of the detection device.

4. The detection device according to claim 2 or 3, characterized in that: The amplitude value of the first detection data is positively correlated with the intensity of the light energy received by the first receiving module. When the amplitude value of the first detection data is greater than or equal to a first preset value, the first indication signal is at the first level.

5. The detection device according to any one of claims 2 to 4, characterized in that: The detection device also includes a second receiving module, The first emission module is further configured to generate a second emission light beam at a third moment; The scanning module is further configured to reflect the second emitted light beam at a third scanning angle to form a second reflected light beam; The second receiving module is used to receive the second reflected light beam and obtain second detection data, and the second detection data is used to indicate the second scanning angle. At a fourth moment, the second emission module stops generating the detection beam, and the fourth moment is related to the third moment and the second scanning angle.

6. The detection device according to claim 5, characterized in that The calculation module is also used for: obtaining a second indication signal according to the second detection data, wherein the second indication signal changes to a second level at a second time position, the second time position corresponding to the third moment and the second scanning angle; Based on the second indication signal, the level of the first frame signal is updated to end the first detection frame.

7. The detection device according to claim 5 or 6, characterized in that: Along the moving direction of the scanning module, the main optical axis of the first receiving module and the main optical axis of the second receiving module form a first angle, The first angle is the same as or corresponds to the field of view FOV of the detection device.

8. The detection device according to any one of claims 2 to 7, characterized in that: The calculation module is further configured to determine a first subframe signal according to the first frame signal, where the first subframe signal is used to indicate a first subframe in the first detection frame; The second emission module is further configured to emit the detection light beam within the first subframe, and the second moment is located within the first subframe.

9. The detection device according to claim 8, characterized in that In the first subframe, the angle scanned by the detection beam is a sub-area of ​​the FOV of the detection device.

10. The detection device according to claim 8 or 9, characterized in that: The first detection frame includes a plurality of the first subframes, and the scanning durations of the detection light beams corresponding to the plurality of the first subframes are the same, or the scanning durations of the detection light beams corresponding to the plurality of the first subframes are predefined.

11. The detection device according to any one of claims 2 to 10, characterized in that: The first transmitting module and the first receiving module share an optical lens, or the first transmitting module and the second receiving module share an optical lens.

12. The detection device according to any one of claims 1 to 11, characterized in that: The detection device further includes an angle encoder, which is used to obtain angle detection data of the scanning module. The calculation module in the detection device is further used to confirm that the angle encoder is contaminated based on the angle detection data.

13. The detection device according to any one of claims 1 to 12, characterized in that: The scanning module includes at least two scanning surfaces. The scanning surfaces corresponding to the first transmitting module and the second transmitting module are the same, or the scanning surfaces corresponding to the first transmitting module and the second transmitting module are different.

14. The detection device according to any one of claims 1 to 13, characterized in that: The wavelength of the light beam emitted by the first emission module is different from the wavelength of the light beam emitted by the second emission module.

15. The detection device according to any one of claims 1 to 14, characterized in that: The detection device further includes a third receiving module, The scanning module is further configured to provide a return beam from the object space to the third receiving module, wherein the return beam includes an echo of the detection beam; The third receiving module is used to receive the return light beam and obtain detection data of the object space.

16. The detection device according to any one of claims 1 to 15, characterized in that: The scanning module includes one or more of a rotating mirror, an oscillating mirror, or a vibrating mirror.

17. A terminal, characterized in that: The terminal includes the detection device according to any one of claims 1-16.

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