Laser detection assembly, laser radar receiving system and laser radar system

Abstract

The invention discloses a laser detection assembly, a laser radar receiving system and a laser radar system, and can be applied to the field of laser radars. The detection assembly comprises a plurality of detector arrays and optical array structures, and the plurality of detector arrays are in one-to-one correspondence with the optical array structures. The optical array structure comprises a plurality of light-transmitting units, each light-transmitting unit corresponds to one detector array, each detector array corresponds to one detection channel, and each detection channel is used for receiving an echo light signal of one sub-view field. Every two adjacent light-transmitting units are separated through the corresponding shading unit, and after echo light signals of one sub-view field enter the detector array through the light-transmitting units, the shading units can absorb a part of light signals reflected by the detector array and prevent the part of light signals from entering other detection channels again through the receiving lens. Therefore, the optical signal crosstalk between the detection channels can be reduced, and the detection precision of the laser radar is improved.

Description

Technical Field

[0001] This application relates to the field of detection technology, and more specifically, to a laser detection component, a lidar receiving system, and a lidar system. Background Technology

[0002] A lidar is a device consisting of a transmitting optical system and a receiving system. The transmitting optical system emits a laser beam into the space where the target is located, illuminating the target with a specific wavelength of laser light. The receiving system focuses the light reflected back from the target (hereinafter referred to as the echo signal) onto the detector, forming a target detection.

[0003] One current approach to lidar technology is to use a detector array composed of multiple single-photon avalanche diodes (SPADs) to detect the light signals reflected from the target. This detector array has a high degree of integration and is densely arranged with very small spacing between the detector elements. Therefore, it is easy for crosstalk to occur between the echo light signals corresponding to each sub-field of view, resulting in abnormal point cloud images and affecting the detection accuracy of lidar. Summary of the Invention

[0004] This application provides a laser detection component, a lidar receiving system, and a lidar system, which can reduce crosstalk between echo light signals incident on each sub-field of view, thereby improving the detection accuracy of the lidar.

[0005] In a first aspect, a laser detection component is provided, which includes multiple detector arrays and an optical array structure; wherein, the multiple detector arrays correspond one-to-one with the optical array structure; the optical array structure includes at least one light-transmitting unit and a light-shielding unit disposed between adjacent light-transmitting units, each light-transmitting unit in the at least one light-transmitting unit corresponds to one of the multiple detector arrays, and one detector array corresponds to one detection channel.

[0006] Based on the above technical solution, an optical array structure can create isolation between the receiving lens and the detector array of the lidar. The light-shielding unit absorbs the light signal reflected by the detector array, preventing this light signal from being reflected by the receiving lens and re-entering the detector array, thereby reducing optical signal crosstalk between detection channels. Furthermore, the light-transmitting unit of the optical array structure corresponds to the detector array of one detection channel, preventing the optical array structure from blocking the echo light signal and weakening its intensity. Thus, while reducing optical signal crosstalk, the strength of the echo light signal can be guaranteed, thereby improving the detection accuracy and increasing the measurement range of the lidar.

[0007] In some implementations, the light-shielding units are positioned between multiple detector arrays. For example, the light-shielding units can form a grid structure, with the middle part of the grid structure being the light-transmitting unit. Each light-transmitting unit corresponds to a detector array for one detection channel. In other words, the light-shielding units separate multiple detection channels, reducing crosstalk between the echo light signals of each detection channel.

[0008] In conjunction with the first aspect, in some implementations of the first aspect, one detection channel corresponds to one sub-field of view.

[0009] For example, a sub-field of view is used to receive the echo light signal of a sub-field of view.

[0010] In conjunction with the first aspect, in some implementations of the first aspect, the height of the light-shielding unit is determined based on the angle of the incident light cone.

[0011] In some implementations, the height of the light-shielding unit can be determined based on the focal plane of the incident light (i.e., the echo signal) and the angle of the incident light's light cone. When the focal plane of the incident light is located on the surface of the detector array, the height of the light-shielding unit is less than or equal to d / 2tanθ, where d is the length of the light-transmitting unit and θ is the angle of the incident light cone when the light-transmitting unit is square.

[0012] In the above technical solution, controlling the height of the light-shielding unit to be less than or equal to a preset threshold helps to reduce the obstruction of the echo light signal of a certain sub-field of view by the optical array unit, thereby reducing the energy loss during the process of the echo light signal entering the detector array, and helping to improve the detection accuracy and range measurement performance of the lidar.

[0013] In conjunction with the first aspect, in some implementations of the first aspect, a detector array includes n detectors, where n is determined according to the pixel merging mode of a detector array and n is a positive integer.

[0014] In the above technical solution, setting up multiple detectors for a detection channel helps to improve the ability of the detection channel to receive echo light signals, reduce the energy loss of echo light signals, and thus improve the detection accuracy and range measurement performance of the lidar.

[0015] In conjunction with the first aspect, in some implementations of the first aspect, the light-transmitting unit includes a light-transmitting film, the upper and lower surfaces of which are respectively coated with an anti-reflection film and / or a filter film.

[0016] In the above technical solution, setting an antireflection film in the light-transmitting unit helps to reduce the influence of the optical array structure on the energy of the echo light signal, and setting a filter film in the light-transmitting unit helps to filter out the background light in the echo light signal, thereby improving the detection accuracy.

[0017] In conjunction with the first aspect, in some implementations of the first aspect, microlenses are provided on the surface of each detector array in the multiple detector arrays at positions corresponding to the light-transmitting units.

[0018] In the above technical solution, a microlens is set at the light-transmitting unit, and the microlens is surrounded by a light-shielding unit, so that the microlens has a secondary focusing effect on the echo light signal in a detection channel, while reducing crosstalk to neighboring detection channels.

[0019] In conjunction with the first aspect, in some implementations of the first aspect, a microlens array is disposed on the surface of each of the multiple detector arrays, and each microlens in the microlens array corresponds to one detector in each detector array.

[0020] In a second aspect, a lidar receiving system is provided, comprising a laser detection component as described in any possible implementation of the first aspect, and a receiving lens group; the receiving lens group is used to focus incident light reflected from a detection target, including at least one sub-field of view, so that the incident light of at least one sub-field of view is incident on the detector array of the laser detection component via a light-transmitting unit of the optical array structure of the laser detection component.

[0021] Thirdly, a lidar system is provided, which includes a laser detection component and an optical emission system as in any possible implementation of the first aspect, or a lidar receiving system and an optical emission system as in any implementation of the second aspect; wherein the laser emitted by the optical emission system is reflected by the detection target and then incident on the laser detection component or the lidar receiving system.

[0022] Fourthly, a terminal device is provided, which includes a lidar as described in any of the possible implementations of the third aspect above.

[0023] In conjunction with the fourth aspect, in some implementations of the fourth aspect, the terminal device is a vehicle. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of a lidar system architecture provided in an embodiment of this application;

[0025] Figure 2 This is a schematic diagram of the lidar detection process and the corresponding field of view distribution of the receiving system provided in the embodiments of this application;

[0026] Figure 3 This is yet another schematic diagram of the lidar detection process provided in the embodiments of this application;

[0027] Figure 4This is another schematic diagram of the field of view distribution of the receiving system of the lidar provided in the embodiments of this application;

[0028] Figure 5 This is a schematic diagram illustrating the principle of crosstalk generation between sub-fields of view provided in an embodiment of this application;

[0029] Figure 6 This is a schematic diagram of a laser detection component provided in an embodiment of this application;

[0030] Figure 7 This is a schematic side view of a laser detection component provided in an embodiment of this application;

[0031] Figure 8 This is a schematic top view of the laser detection component provided in an embodiment of this application;

[0032] Figure 9 This is another schematic side view of the laser detection component provided in the embodiments of this application;

[0033] Figure 10 This is another schematic top view of the laser detection component provided in the embodiments of this application;

[0034] Figure 11 This is another schematic diagram of the lidar system architecture provided in the embodiments of this application. Detailed Implementation

[0035] The technical solutions in this application will now be described with reference to the accompanying drawings.

[0036] Figure 1 A schematic diagram of a lidar provided in an embodiment of this application is shown. The lidar may include a detection device 101 for emitting laser signals and receiving optical signals. Optionally, the lidar may also include a processing device 102 for performing calculations or data processing to obtain point cloud data of the detection area. More specifically, the detection device 101 may include a transmitting system and a receiving system.

[0037] The transmitting system may include a laser emitting unit 1031 and a transmitting lens group 1032. The laser emitting unit 1031 is used to emit optical signals, and the transmitting lens group 1032 is used to shape the emitted optical signals. The receiving system may include a laser detection array 1041 and a receiving lens group 1042. The laser detection array 1041 may include one or more detection units, wherein one detection unit may be a detector array composed of SPADs. Further, when the detector includes multiple detection units, the multiple detection units may be arranged in an array. For example, it may be an array of specifications such as 1×2 array, 2×3 array, or 3×3 array. This application does not limit the number of rows and columns of the array arrangement. Optionally, when the laser detection array 1041 includes multiple detection units, when the laser detection array 1041 is working, it is possible that only some detection units are in the working state, and the remaining detection units are in the non-working state (e.g., in a reserved state). The receiving lens group 1042 is used to shape the laser incident on the laser detection array 1041.

[0038] The light signal emitted by the laser emitting unit 1031 illuminates the detection area. The target object in the detection area can reflect the light signal, thus obtaining the echo light signal of the emitted signal. The detector 104 receives the light signal from the detection area, which includes the echo light signal of the emitted signal and may also include some background light signals. By measuring the time interval between the emitted signal and the echo light signal, the detection device can determine the distance information of the target object in the detection area, forming one or more points. Furthermore, by using information such as the energy intensity of the echo light signal, information such as the reflection intensity of the target object in the detection area can also be obtained.

[0039] When the detection device 101 performs detection, the light signal emitted by the laser emitting system illuminates the detection area 105. The target in the detection area 105 can reflect the light signal, thereby obtaining the return signal of the emitted light signal (hereinafter referred to as the echo light signal). The receiving system 104 receives the echo light signal from the detection area. By measuring the time interval between the emitted light signal and the echo light signal, the detection device 101 can determine the distance information of the target object in the detection area, forming one or more points. Furthermore, by using information such as the energy intensity of the echo light signal, information such as the reflection intensity of the target object in the detection area can also be obtained.

[0040] The detection device 101 may include different designs such as laser emission via an array unit and laser emission via a scanning mechanism. In one example, such as... Figure 2 As shown in (a), the light signal emitted by the laser emitting unit 1031 is projected into the detection area 105 via the emitting lens assembly 1032. In another example, as... Figure 3 and Figure 4As shown, the emitting lens group 1032' includes a scanning mechanism a (such as one or more rotating mirrors, micro-mirrors, or tilting mirrors) and a lens group b for shaping (such as a collimating device or optical path shaping device). The light signal emitted by the laser emitting unit 1031 is irradiated onto the scanning mechanism a via the lens group b. By adjusting the angle of the scanning mechanism a, the emitted light signal can be irradiated onto a sub-region of the detection area 105. The scanning form of the scanning mechanism a can include spot scanning or line scanning, and the scanning sequence can be from top to bottom, from bottom to top, or from left to right. Figure 3 This application uses line scanning and scanning from top to bottom as examples only, and does not impose specific restrictions on the scanning order of the scanning organization.

[0041] As described above, the light signal reflected from the target contains echo light signals from multiple sub-fields of view. These echo light signals are focused by the receiving lens group 1042 and then focused onto different detection units on the detector surface through different receiving channels. That is, each detection unit in operation corresponds to one receiving channel for receiving the echo light signal from one sub-field of view. In one example, when the laser emitting unit 1031 emits a light signal through the array unit, the laser detection array 1041 may include multiple detection units, such as... Figure 2 As shown in (b), the laser detection array 1041 may include 3*3 detection units, each of which is used to receive the echo light signal of a sub-field of view. In another example, when the laser emitting unit 1031 emits a light signal via the scanning mechanism, a sub-region of the detection area 105 illuminated by the emitted light signal may correspond to a sub-region of the laser detection array 1041, such as... Figure 4 As shown, the sub-region of the laser detection array 1041 may include multiple detection units (such as detection units 1 to 6), each detection unit being used to receive the echo light signal of a sub-field of view.

[0042] When the echo light signal is incident on the surface of the detector in the laser detection array 1041, part of the light signal is reflected by the detector surface. This reflected light signal may be reflected again by the lens surface of the receiving lens, thus entering the neighboring detection unit. For example, taking line scan detection as an example, such as Figure 5 As shown, the echo light signal received by the detection unit corresponding to sub-field of view 2 is reflected by the detector surface and the lens surface and will be incident on the detection units corresponding to sub-field of view 1 and / or sub-field of view 3, thereby affecting the accuracy of the detection results of the detection units corresponding to sub-field of view 1 and sub-field of view 3.

[0043] It should be noted that, Figure 5The detection units corresponding to sub-field of view 1, sub-field of view 2, and sub-field of view 3 shown can be any three adjacent or non-adjacent detection units among the detection units 1 to 6 shown in the left figure. For example, the detection unit corresponding to sub-field of view 1 can be detection unit 1 or 2, the detection unit corresponding to sub-field of view 2 can be detection unit 3 or 4, and the detection unit corresponding to sub-field of view 3 can be detection unit 5 or 6.

[0044] To reduce crosstalk between the echo signals incident on each sub-field of view, embodiments of this application provide a laser detection component, which includes multiple detector arrays and an optical array structure. Each detector array corresponds one-to-one with an optical array structure. The optical array structure includes at least one light-transmitting unit and a light-shielding unit disposed between adjacent light-transmitting units. Each light-transmitting unit corresponds to one of the multiple detector arrays, and each detector array corresponds to one detection channel.

[0045] See Figure 6 Taking a 3×3 array arrangement of laser detection components as an example, Figure 6 The diagram shows a side view and a top view of the laser detection component 21 provided in an embodiment of this application. One optical array structure corresponds to nine detection arrays (e.g., detector arrays a to i). The optical array structure includes nine light-transmitting units, with light-shielding units disposed between adjacent light-transmitting units. It should be understood that one detector array corresponds to one detection channel, and the echo light signal of the sub-field of view corresponding to that detection channel is incident on the detector array through the light-transmitting units. Figure 6 As can be seen, after setting the optical array structure, the light-shielding unit can block some reflected light, for example, preventing light reflected from detector array 1 from entering detector array 2, thereby reducing crosstalk. It should be noted that detector array 1 and 2 can be any two adjacent detector arrays from detector arrays a to i.

[0046] In some implementations, to reduce energy loss of the echo light signal caused by the light-shielding unit while ensuring its anti-crosstalk capability, the height of the light-shielding unit in the optical array structure can be determined based on the angle of the incident light cone. More specifically, the height of the light-shielding unit can be determined based on the angle of the incident light cone and the position of the focal plane of the incident light cone. Taking the focal plane located on the detector array surface and the optical array structure as a grating structure as an example, particularly taking the optical array structure as a square grating structure, the height of the light-shielding unit can satisfy the formula: H≤d / 2tanθ, where H is the grating height, d is the inner side length of the grating unit, and θ is the angle of the incident light cone. For example, taking the inner side length d of the grating unit as 20µm and θ as 30° as an example, the height H of the light-shielding part can be less than or equal to 40µm. In some examples, if the shape of the light-transmitting unit is circular, then d can be the diameter of the circle; if the shape of the light-transmitting unit is elliptical, then d can be the length of the minor axis of the ellipse. In other examples, when the focal plane of the incident light cone is not the surface of the detector array, the distance between the focal plane and the highest point of the shading unit can be H. This design reduces the obstruction of the light cone of the echo light signal incident on the light-transmitting unit by the shading units around the light-transmitting unit, thereby reducing the energy loss of the echo light signal and improving the ranging capability of the lidar.

[0047] Optionally, a detector array in the laser detection component 21 may include multiple detectors. In specific implementations, the number of detectors included in a detector array can be matched with the image readout mode of the detectors. For example, taking the image readout mode as binning mode and the detectors as SPADs, if the binning mode merges every 3x3 pixels into 1 pixel, then a detector array may include 3n*3n SPADs, where n is a positive integer.

[0048] In practical implementation, the area where the laser detection array 1041 can actually receive the echo light signal is related to the far-field distribution of the light signal emitted by the laser emitting unit 1031. The area on the laser detection array 1041 corresponding to the far-field distribution of the emitted light signal is the area where the optical array structure needs to be deployed. Therefore, based on the far-field distribution of the light signal emitted by the detection device, multiple sub-fields of view corresponding to the echo light signal can be determined, and then the positions in the laser detection component corresponding to the multiple sub-fields of view can be determined. Then, based on the positions of the laser detection component and the sub-fields of view, a light-shielding unit can be set at a position that does not block the incident light cone of each sub-field of view. In other words, the light-transmitting part of the optical array structure can be the position where the light signal emitted by the detection device is reflected by the detection target and illuminates the laser detection array. The size of the light-transmitting unit can be determined based on the size of the light spot illuminating the laser detection array; for example, the area of ​​the light-transmitting part is greater than or equal to the size of the light spot illuminating the laser detection array. The above method of designing the optical array structure in the receiving system based on the light signal emitted by the emitting system does not require setting the optical array structure on the entire surface of the detector array of the receiving system. The optical array structure can be set only for a portion of the detector array, for example, using... Figure 5 Taking the laser detection array shown as an example, the optical array structure can be set only in region 1 (the area within the dashed box), while the remaining portion can be left un-optically structured. This allows for selective improvement of the detection accuracy of a portion of the detector array; furthermore, by using only a portion of the optical array structure, the overall cost of the lidar can be reduced compared to using optical array structures on the entire surface of the detector array.

[0049] The following combination Figures 7 to 10 This application introduces some possible structural designs of the laser detection component 21 provided in the embodiments of this application.

[0050] Figure 7 , Figure 8 Side and top views of one structure of the laser detection component 21 provided in an embodiment of this application are shown respectively. Figure 7 As shown, the light-transmitting unit of the optical array structure includes a light-transmitting film. Anti-reflective coatings can be deposited on the upper and lower surfaces of the light-transmitting film to reduce the influence of the optical array structure on the energy of the echo light signal. A filter film can also be deposited on the upper and lower surfaces of the light-transmitting film to filter out background light in the incident light cone and eliminate the influence of background light on the detection results. Furthermore, light-shielding materials can be placed at corresponding positions on the upper and lower surfaces of the light-transmitting film to form a light-shielding unit.

[0051] for Figure 7 , Figure 8 The optical isolation structure shown can be defined as follows: the height H of the light-shielding unit can be the sum of the thickness of the light-shielding material disposed on the upper and lower surfaces of the light-transmitting film and the thickness of the light-transmitting film (which may be coated with a filter film and / or an anti-reflection film).

[0052] In some implementations, a micro-lens array (MLA) can be placed between the detector array and the optical array structure to improve the focusing ability of the optical signal incident on the detector array. Each microlens in the MLA corresponds one-to-one with a detector in the detector array.

[0053] In some implementations, Figure 7 , Figure 8 In the optical array structure shown, the light-shielding material can be photoresist, and the light-transmitting film can be polydimethylsiloxane (PDMS), polymethyl methacrylate (PMMA), silicon dioxide, etc. More specifically, the optical array structure can be fabricated using photolithography. For example, photoresist of a predetermined thickness is spin-coated onto the upper and lower surfaces of the light-transmitting film (which may be coated with an anti-reflection film and / or a filter film). The photoresist of the light-transmitting units of the optical array structure is removed by photolithographic exposure, leaving the photoresist as the light-shielding unit. In practical implementation, the thickness of the photoresist can be adjusted by adjusting the spin-coating speed, thereby adjusting the height of the light-shielding unit; or, the height of the light-shielding unit can be adjusted by adjusting the thickness of the light-transmitting film.

[0054] Figure 9 , Figure 10 Side and top views of another structure of the laser detection component 21 provided in an embodiment of this application are shown respectively. Figure 9 As shown, each detector array has a microlens positioned on its surface corresponding to a light-transmitting unit. The microlens can be made of silicon dioxide or other light-transmitting materials. The microlenses can be fabricated directly on the detector surface using wet etching. It is understood that one microlens can correspond to multiple detectors in the detector array.

[0055] Optionally, Figure 9 , Figure 10 The optical array structure shown can be manufactured directly on the surface of the detector array, or it can be manufactured separately and then assembled on the surface of the detector array 210.

[0056] For example, the material of the light-shielding unit in the optical array structure can be photoresist or Mylar film. For instance, the part corresponding to the light-transmitting unit is removed from the photoresist or Mylar film of a preset thickness (such as H) by a femtosecond laser, leaving the part corresponding to the light-shielding unit, thereby obtaining the optical array structure.

[0057] Optionally, in Figure 9 , Figure 10 In the laser detection component 21 shown, an MLA can also be set between the detector array and the optical isolation structure, and each microlens in the MLA corresponds to one detector in the detector array.

[0058] It should be noted that, Figures 7 to 10 The optical array structure shown is merely illustrative. In actual implementation, the light-transmitting units of the optical array structure can also be patterns other than grids. For example, the light-transmitting units of the optical array structure can be circular or elliptical, or other shapes. Furthermore, when describing the laser detection component in this application, a 3×3 array arrangement is used as an example. In actual implementation, the laser detection component can also be arranged in other ways, such as a 9×9 array, a 1×3 array, or other arrangements. This application does not specifically limit its application in this regard.

[0059] It should also be noted that the laser detection component 21 provided in this application embodiment can be disposed in a photosensitive area of ​​the laser detection array 1041 in the detection device 101.

[0060] Figures 1 to 3 The laser emitting unit 1031 shown can be understood as including only one emitting channel (or light-emitting area). In actual implementation, the laser emitting unit 1031 in the detection device 101 may also include multiple emitting channels. In one embodiment, the multiple detection beams emitted by the laser emitting unit 1031 at the same time can be generated by multiple lasers. For example, each laser can correspond to one beam emitting channel. In another embodiment, the single detection light signal generated by a single laser can be separated into multiple detection light signals by a beam splitting device, so that the laser emitting unit 1031 can emit multiple detection beams at the same time through a single laser. Each emitting channel corresponds to a photosensitive area of ​​the laser detection array 1041, and the photosensitive area may include multiple detector arrays and optical array structures provided in the embodiments of this application.

[0061] like Figure 11 As shown, taking the laser emitting unit 1031, which includes two emitting channels, as an example, the black lines represent the light signals of emitting channel 1, and the red lines represent the light signals of emitting channel 2. The light signals emitted by emitting channel 1 and emitting channel 2 respectively illuminate the sub-regions of the detection area 105. After being reflected by the detection target, the echo light signals are incident on the photosensitive area A corresponding to emitting channel 1 and the photosensitive area B corresponding to emitting channel 2 via the receiving lens group 1042. It can be understood that in the above application scenario, the laser detection component 21 provided in this application embodiment can be disposed in photosensitive area A and / or photosensitive area B, and more specifically, it can be disposed in a part of photosensitive area A and / or a part of photosensitive area B.

[0062] It should be noted that the focal planes of photosensitive area A and photosensitive area B can be located on the same plane or on different planes. For example, when photosensitive area A and photosensitive area B correspond to the same optical axis of the receiving lens group 1042, their focal planes can be located on the same plane; when photosensitive area A and photosensitive area B correspond to different optical axes of the receiving lens group 1042, their focal planes can be located on different planes.

[0063] The above combination Figures 6 to 10 This application provides a detailed description of the laser detection component provided in its embodiments. In addition to the laser detection component, this application also provides a lidar receiving system, which may include the aforementioned laser detection component 21 and a receiving lens group. The receiving lens group is used to focus the echo light signal reflected from the target, including at least one sub-field of view, so that the echo light signal from at least one sub-field of view is incident on the detector array of the laser detection component via the light-transmitting unit of the optical array structure.

[0064] This application also provides a lidar system, which may include the laser detection component 21 or the lidar receiving system described above.

[0065] This application also provides a terminal device, which may include the aforementioned lidar.

[0066] Optionally, the terminal device can be a vehicle. In this embodiment, the vehicle is used in a broad sense, including transportation vehicles (such as commercial vehicles, passenger cars, motorcycles, flying cars, trains, etc.), industrial vehicles (such as forklifts, trailers, tractors, etc.), engineering vehicles (such as excavators, bulldozers, cranes, etc.), agricultural equipment (such as lawnmowers, harvesters, etc.), amusement equipment, toy vehicles, etc. This embodiment does not specifically limit the type of vehicle.

[0067] In the description of the embodiments of this application, unless otherwise stated, " / " means "or", for example, A / B can mean A or B; "and / or" in this document describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. In this application, "at least one" means one or more, and "more" means two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or multiple items. For example, at least one of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0068] The use of prefixes such as "first" and "second" in this application embodiment is solely for distinguishing different descriptive objects and does not limit the position, order, priority, quantity, or content of the described objects. The use of ordinal numbers and other prefixes to distinguish descriptive objects in this application embodiment does not constitute a limitation on the described objects. The description of the described objects is found in the claims or the context of the embodiments, and the use of such prefixes should not constitute unnecessary restrictions.

[0069] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A laser detection component, characterized in that, It includes multiple detector arrays and optical array structures; wherein, the multiple detector arrays correspond one-to-one with the optical array structures; The optical array structure includes at least one light-transmitting unit and a light-shielding unit disposed between adjacent light-transmitting units. Each light-transmitting unit corresponds to one of the plurality of detector arrays, and the detector array corresponds to one detection channel.

2. The laser detection component according to claim 1, characterized in that, Each detection channel corresponds to a sub-field of view.

3. The laser detection component according to claim 1 or 2, characterized in that, The height of the light-shielding unit is determined based on the angle of the incident light cone.

4. The laser detection component according to any one of claims 1 to 3, characterized in that, The detector array comprises n detectors, where n is determined according to the pixel merging mode of the detector array and is a positive integer.

5. The laser detection assembly according to any one of claims 1 to 4, characterized in that, The light-transmitting unit includes a light-transmitting film, and the upper and lower surfaces of the light-transmitting film are respectively coated with an anti-reflection film and / or a filter film.

6. The laser detection assembly according to any one of claims 1 to 4, characterized in that, Each of the plurality of detector arrays has a microlens positioned on its surface at a location corresponding to the light-transmitting unit.

7. The laser detection assembly according to any one of claims 1 to 6, characterized in that, Each of the plurality of detector arrays has a microlens array on its surface, and each microlens in the microlens array corresponds to one detector in each detector array.

8. A lidar receiving system, characterized in that, The lidar receiving system includes a laser detection component as described in any one of claims 1 to 7, and a receiving lens group; The receiving lens group is used to focus the incident light reflected from the target, including at least one sub-field of view, so that the incident light of the at least one sub-field of view is incident on the detector array of the laser detection assembly through the light-transmitting unit of the optical array structure of the laser detection assembly.

9. A lidar system, characterized in that, The lidar system includes a laser detection component and an optical emission system as described in any one of claims 1 to 7; or... The lidar system includes the lidar receiving system as described in claim 8, and an optical transmitting system; The laser emitted by the optical emission system is reflected by the target and then incident on the laser detection component or the lidar receiving system.

10. A terminal device, characterized in that, Including the lidar system as described in claim 9.

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