Laser radar, electronic equipment and electronic system

Abstract

The invention provides a laser radar, electronic equipment and an electronic system, and belongs to the technical field of laser radars. The laser radar comprises a detection device and a light path assembly. The light path assembly comprises a bearing part and at least one inner light path unit, the inner light path unit is arranged on the bearing part, and the reflectivity of the inner light path unit is different from that of the bearing part. The detection device is used for emitting laser beams and further used for receiving the laser beams. When the detection device sequentially emits a plurality of laser beams irradiating the inner light path unit, the plurality of laser beams sequentially form a plurality of emergent light beams with different energies after passing through the inner light path unit, and the detection device sequentially receives the plurality of emergent light beams with different energies. According to the arrangement, the influence of changes of environmental factors such as temperature and humidity and the reflectivity change of the target object on the ranging precision can be reduced, so that the laser radar has high ranging precision.

Description

Technical Field

[0001] This application relates to the field of lidar technology, and in particular to a lidar, electronic device and electronic system. Background Technology

[0002] A lidar system comprises a receiving module, a transmitting module, and a signal processing module. The transmitting module emits pulsed laser light into the surrounding space as a detection signal. The receiving module collects the echo signal reflected by the target object. The signal processing module obtains information such as the distance, orientation, and velocity of the target object relative to the lidar system by calculating the time of flight between the detection signal and the echo signal. However, lidar systems in related technologies suffer from low ranging accuracy. Summary of the Invention

[0003] This application provides a lidar, electronic device, and electronic system that enable the lidar to have high ranging accuracy.

[0004] In a first aspect, embodiments of this application provide a lidar, which includes a detection device and an optical path assembly. The optical path assembly includes a carrier and at least one inner optical path unit, the inner optical path unit being disposed on the carrier, and the reflectivity of the inner optical path unit being different from that of the carrier. The detection device is used to emit laser beams and also to receive laser beams. When the detection device sequentially emits multiple laser beams that illuminate the inner optical path unit, the multiple laser beams, after passing through the inner optical path unit, sequentially form multiple outgoing beams of different energies, and the detection device sequentially receives the multiple outgoing beams of different energies.

[0005] Since the reflectivity of the internal optical path unit is a fixed value, the multiple outgoing beams of different energies emitted sequentially from the internal optical path unit can be equivalent to laser beams reflected from target objects with different reflectivities to the detection device. Therefore, the internal optical path unit that emits multiple outgoing beams of different energies can be equivalent to target objects with different reflectivities. Based on the multiple outgoing beams of different energies collected by the detection device, the test values ​​between the internal optical path unit and the detection device can be determined sequentially. Simultaneously, since the positions of the internal optical path unit and the detection device are fixed, the actual distance between them is known. Based on the actual distance and the collected test values, the ranging error compensation value corresponding to different reflectivities in the current environment can be determined. Then, based on the ranging error compensation value corresponding to different reflectivities in the current environment, a compensation curve corresponding to the ranging error compensation value can be determined. When the lidar acquires the actual ranging value of the target object, the actual ranging value can be compensated based on the ranging error compensation value corresponding to the reflectivity of the target object obtained from the compensation curve, thereby reducing the deviation of the actual ranging value.

[0006] Therefore, by having multiple laser beams emitted sequentially by the detection device pass through the internal optical path unit to form multiple outgoing beams with different energies, the circuit delay compensation value of the device for a target object with arbitrary reflectivity in the current environment can be fitted in real time. This enables periodic self-checking and compensation for distance drift under targets with different reflectivity in the current environment. The lidar can provide more accurate ranging results, reduce errors caused by changes in environmental factors such as temperature and humidity and changes in the reflectivity of the target object, and effectively improve the accuracy and stability of ranging.

[0007] In some possible implementations, when the laser beam emitted by the detection device illuminates the inner optical path unit, the laser beam emitted by the detection device is used to sequentially illuminate multiple areas of different sizes of the inner optical path unit, so that multiple laser beams sequentially form multiple outgoing beams with different energies after passing through the inner optical path unit.

[0008] With this configuration, the overlapping portion of the laser beam and the inner optical path unit can be received by the inner optical path unit. Therefore, by controlling the size of the overlapping portion, multiple laser beams with different energies can be sequentially introduced into the inner optical path constructed by the inner optical path unit, ensuring that the inner optical path unit can be equivalent to target objects with different reflectivities. Furthermore, by controlling the contact area between the inner optical path unit and the laser beam, the energy of the laser beam received by the inner optical path unit can be refined, increasing the range of reflectivity variations covering the target object.

[0009] In some possible implementations, when the laser beam emitted by the detection device illuminates the inner optical path unit, multiple relative movements of the light rays are constructed between the detection device and the inner optical path unit over a period of time to form multiple outgoing beams with different energies. With this configuration, the contact area between the laser beam and the inner optical path unit can change over a period of time, enabling multiple laser beams with different energies to sequentially enter the inner optical path constructed by the inner optical path unit.

[0010] In some possible implementations, when the laser beam emitted by the detection device irradiates the inner optical path unit, the movement of the detection device causes the laser beam emitted by the detection device to sequentially irradiate multiple areas of different sizes within the inner optical path unit. With this configuration, during the process of the laser beam irradiating the inner optical path unit, the inner optical path unit remains stationary, while at least a portion of the detection device moves relative to the inner optical path unit, such as through translation or rotation. This causes a change in the contact area between the laser beam emitted by the detection device and the inner optical path unit, allowing multiple laser beams of different energies to sequentially enter the inner optical path constructed by the inner optical path unit.

[0011] In some possible implementations, when the laser beam emitted by the detection device illuminates the inner optical path unit, the laser beam emitted by the detection device is used to rotate around a first rotation axis so that the laser beam emitted by the detection device sequentially illuminates multiple regions of different areas of the inner optical path unit.

[0012] With this configuration, the position of the inner optical path unit remains unchanged as the laser beam emitted by the detection device rotates around the first rotation axis. By controlling the rotation angle of the laser beam emitted by the detection device around the first rotation axis, the overlapping part between the laser beam and the inner optical path unit can be different, thereby adjusting the contact area between the inner optical path unit and the laser beam. This allows the inner optical path unit to receive multiple laser beams of different energies in sequence.

[0013] In some possible implementations, the detection device includes a scanning module, a laser emitter, and a detector. The scanning module projects the laser beam emitted from the laser emitter onto the target object or internal optical path unit, and also projects the laser beam from the target object or internal optical path unit onto the detector. When projecting the laser beam from the laser emitter onto the internal optical path unit, the scanning module rotates about a first rotation axis so that the laser beam emitted by the detection device sequentially illuminates multiple areas of different sizes within the internal optical path unit.

[0014] With this configuration, by controlling the angle of rotation of the scanning module around the first rotation axis, the size of the overlap between the inner optical path unit and the laser beam can be controlled, thereby acquiring the correction values ​​corresponding to different reflectivities at a certain temperature, and thus obtaining the error compensation values ​​corresponding to different reflectivities at a certain temperature.

[0015] In some possible implementations, the detection device is either a coaxial or a paraxial structure. This configuration allows the coaxial and paraxial detection devices to work in conjunction with the internal optical path unit to improve the ranging accuracy of the lidar.

[0016] In some possible implementations, when the detection device is a paraxial structure, the scanning module includes a transmitting reflective element and a receiving reflective element. The transmitting reflective element reflects the laser beam emitted from the laser emitter to the target object or internal optical path unit. The receiving reflective element reflects the laser beam from the target object or internal optical path unit to the detector. This configuration allows for physical separation of the transmitting and receiving optical paths of the detection device, resulting in a high signal-to-noise ratio.

[0017] In some possible implementations, the coaxial detection device also includes a beam splitter. The beam splitter is arranged in the optical path between the scanning module and the laser emitter, and also in the optical path between the scanning module and the detector. The beam splitter projects the laser beam emitted from the laser emitter onto the scanning module, and also projects the laser beam emitted from the scanning module onto the detector. With this configuration, the beam splitter can achieve the convergence and separation of the laser beam emitted by the laser emitter and the laser beam received by the detector, thus ensuring that the emission and reception optical paths of the detection device are coaxial.

[0018] In some possible implementations, when the laser beam emitted by the detection device illuminates the inner optical path unit, the inner optical path unit is used to move relative to the detection device so that the laser beam emitted by the detection device sequentially illuminates multiple areas of different sizes within the inner optical path unit. With this configuration, during the process of the laser beam illuminating the inner optical path unit, the detection device remains stationary, while the inner optical path unit performs translational, rotational, or other movements relative to the detection device. This causes the contact area between the inner optical path unit and the laser beam to change, allowing multiple laser beams of different energies to sequentially enter the inner optical path constructed by the inner optical path unit, thereby sequentially forming multiple outgoing beams of different energies.

[0019] In some possible implementations, when the laser beam emitted by the detection device illuminates the inner optical path unit, the inner optical path unit is used to rotate about a second rotation axis so that the laser beam emitted by the detection device sequentially illuminates multiple regions of different areas of the inner optical path unit.

[0020] With this configuration, the laser beam emitted by the detection device will not rotate around the second rotation axis. By controlling the angle of rotation of the inner optical path unit around the second rotation axis, the laser beam can be made to irradiate multiple areas of different sizes of the inner optical path unit in sequence. This can change the overlapping part between the inner optical path unit and the laser beam, thereby adjusting the contact area between the inner optical path unit and the laser beam. Consequently, the inner optical path unit can receive multiple laser beams of different energies in sequence.

[0021] In some possible implementations, the lidar also includes a reflective device that reflects the laser beam emitted by the detection device to the inner optical path unit. When the laser beam emitted by the detection device illuminates the inner optical path unit, the reflective device is moved relative to the inner optical path unit so that the laser beam emitted by the detection device sequentially illuminates multiple regions of different areas within the inner optical path unit.

[0022] With this setup, during the process of the laser beam irradiating the inner optical path unit, both the detection device and the inner optical path unit remain stationary, while the reflecting device moves relative to the inner optical path unit through translation, rotation, and other movements. This causes the contact area between the inner optical path unit and the laser beam to change, allowing multiple laser beams of different energies to enter the inner optical path constructed by the inner optical path unit in sequence, thereby forming multiple outgoing beams of different energies in sequence.

[0023] In some possible implementations, when the laser beam emitted by the detection device illuminates the inner optical path unit, the reflective device is used to rotate about a third rotation axis so that the laser beam emitted by the detection device sequentially illuminates multiple regions of different areas of the inner optical path unit.

[0024] With this configuration, the inner optical path unit and the detection device remain stationary as the reflector rotates around the third rotation axis. By controlling the rotation angle of the reflector around the third rotation axis, the overlap between the laser beam and the inner optical path unit can be made different, thereby adjusting the contact area between the inner optical path unit and the laser beam. This allows the inner optical path unit to receive multiple laser beams of different energies in sequence.

[0025] In some possible implementations, when the laser beam emitted by the detection device illuminates the internal optical path unit, the detection device sequentially emits multiple laser beams of different energies, so that the internal optical path unit receives multiple laser beams of different energies sequentially. This configuration reduces the difficulty of getting the internal optical path unit to receive multiple laser beams of different energies sequentially, and also reduces the number of parts in the lidar, helping to lower the hardware cost of the lidar.

[0026] In some possible implementations, when the laser beam emitted by the detection device illuminates the internal optical path unit, the emission power of the laser emitter of the detection device is adjusted so that the laser emitter sequentially generates multiple laser beams with different energies. With this configuration, by adjusting the emission power of the laser emitter, multiple laser beams with different energies can be generated, thereby allowing the detection device to sequentially emit multiple laser beams with different energies.

[0027] In some possible implementations, when the laser beam emitted by the detection device illuminates the inner optical path unit, the laser emitter of the detection device sequentially generates multiple laser beams of different energies via the optical processing unit. This configuration also allows the detection device to sequentially emit laser beams of different energies that illuminate the inner optical path unit, thus enabling multiple laser beams of different energies to enter the inner optical path constructed by the inner optical path unit.

[0028] In some possible implementations, the light processing unit includes a grating and / or a light-shielding plate with multiple regions of different transmittance. This configuration allows the energy emitted by the laser emitter to be processed to generate multiple laser beams with different energies.

[0029] In some possible implementations, the reflectivity is the same at all points within at least one internal optical path unit. This means that having the same reflectivity for the laser beam at all points within the internal optical path unit reduces the manufacturing difficulty of the internal optical path unit.

[0030] In some possible implementations, at least one internal optical path unit includes multiple light-guiding regions, wherein at least two light-guiding regions have different reflectivities. This configuration, where at least two regions of at least one internal optical path unit have different reflectivities to the laser beam, can further broaden the range of reflectivity variations covering the target object.

[0031] In some possible implementations, there are multiple internal optical path units, with at least two internal optical path units having different reflectivities. For example, there are two internal optical path units, one with low reflectivity and the other with high reflectivity. This configuration can further broaden the range of reflectivity variations covering the target object.

[0032] In some possible implementations, at least one internal optical path unit includes a first reflective surface for receiving a laser beam emitted by the detection device, and a portion of the surface of the carrier is the first reflective surface. This arrangement, utilizing a portion of the carrier surface to form the first reflective surface, can reduce the cost of the internal optical path unit, thus contributing to a reduction in the cost of the lidar.

[0033] In some possible implementations, a portion of the surface of the carrier is polished to become the first reflective surface, which can make the reflectivity of the first reflective surface a preset reflectivity. In addition, it can reduce the difficulty of using a portion of the surface of the carrier as the first reflective surface.

[0034] In some possible implementations, the inner optical path unit with the first reflective surface also includes a second reflective surface, with a portion of the carrier surface serving as the second reflective surface. When a laser beam emitted by the detection device illuminates the inner optical path unit, the first reflective surface reflects the laser beam emitted by the detection device to the second reflective surface, and the second reflective surface reflects the laser beam from the first reflective surface back to the detection device. This arrangement reduces the difficulty for the inner optical path unit to project the received laser beam onto the detection device, and also reduces the arrangement difficulty of the inner optical path unit. The distance between the inner optical path unit and the detection device does not need to be a large spacing design, which helps in the miniaturization design of the lidar.

[0035] In some possible implementations, a portion of the surface of the carrier is polished to become a second reflective surface, which can make the reflectivity of the second reflective surface a preset reflectivity. In addition, it can reduce the difficulty of using a portion of the surface of the carrier as a second reflective surface.

[0036] In some possible implementations, the second reflective surface has the same reflectivity as the first reflective surface. With this configuration, the first and second reflective surfaces can be formed on the carrier using the same processing technology, which can reduce the processing cost of the carrier and help reduce the cost of lidar.

[0037] In some possible implementations, a first groove is provided on the carrier, the first groove sidewall of the first groove forms a first reflective surface, and the second groove sidewall of the first groove forms a second reflective surface. This configuration reduces the difficulty of setting a first reflective surface at a preset tilt angle on the carrier and also helps to miniaturize the lidar.

[0038] In some possible implementations, at least one internal optical path unit includes a first reflector fixedly connected to a carrier, the first reflector being used to receive the laser beam emitted by the detection device. This arrangement reduces the structural requirements of the carrier and simplifies the arrangement of the internal optical path unit. Furthermore, it also reduces the difficulty of setting the reflectivity of the internal optical path unit to a preset reflectivity.

[0039] In some possible implementations, the inner optical path unit with the first reflector also includes a second reflector. When the laser beam emitted by the detection device illuminates the inner optical path unit, the first reflector reflects the laser beam emitted by the detection device to the second reflector, and the second reflector reflects the laser beam from the first reflector back to the detection device. This arrangement reduces the difficulty for the inner optical path unit to project the received laser beam onto the detection device, and also reduces the arrangement difficulty of the inner optical path unit. The distance between the inner optical path unit and the detection device does not need to be a large spacing design, which helps in the miniaturization design of the lidar.

[0040] In some possible implementations, the reflectivity of the second reflector is the same as that of the first reflector. With this configuration, two reflectors with the same reflectivity can be used as the first and second reflectors, eliminating the need to prepare two reflectors with different reflectivities, which can reduce the cost of lidar.

[0041] In some possible implementations, both the first and second reflectors are mirrors. Alternatively, both the first and second reflectors are reflective films fixedly connected to the carrier. In this way, the first and second reflectors can reflect the laser beam, ensuring that the internal optical path unit projects the laser beam onto the detection device.

[0042] In some possible implementations, a second groove is provided on the carrier, and the first and second reflectors are respectively fixedly connected to the two sidewalls of the second groove. This arrangement can reduce the impact of the first and second reflectors on the size of the lidar, which helps to miniaturize the lidar.

[0043] In some possible implementations, at least one internal optical path unit includes one of the following structures: an optical fiber, a glass rod, or a light guide column. When a laser beam emitted by the detection device illuminates the internal optical path unit, the laser beam emitted by the detection device enters the interior of the internal optical path unit from its light-incoming surface, and the laser beam inside the internal optical path unit exits from its light-outcoming surface back to the detection device. This arrangement reduces the shape requirements of the internal optical path unit and simplifies its arrangement.

[0044] In some possible implementations, the laser beam emitted by the detection device passes through the internal optical path unit via refraction and reflection. With this configuration, the internal optical path unit can transmit the laser beam to the detection device through refraction and reflection.

[0045] In some possible implementations, the internal optical path unit is located outside the region corresponding to the working angle of the detection device. This arrangement, placing the internal optical path unit inside the region outside the working angle of the detection device, avoids the internal optical path unit interfering with the detection device's scanning of the target object.

[0046] In some possible implementations, the lidar also includes a housing, which serves as a carrier. This configuration reduces the number of parts in the lidar and helps simplify its structure.

[0047] In some possible implementations, the detection device is also used to: determine the first ranging error compensation value corresponding to the target object with the first reflectivity in the current working environment based on multiple emitted beams of different energies received sequentially by the detection device.

[0048] In some possible implementations, the detection device is also used to: determine the second ranging error compensation value corresponding to the target object with the second reflectivity in the current working environment based on multiple emitted beams of different energies received sequentially by the detection device.

[0049] In some possible implementations, before determining the ranging error compensation value corresponding to the target object with a first reflectivity in the current working environment, the detection device is further configured to: determine compensation curves corresponding to different reflectivities and ranging error compensation values ​​in the current environment based on multiple emitted light beams of different energies received sequentially by the detection device. The compensation curves are used to compensate for the actual ranging values ​​of the target object collected by the detection device in the current environment.

[0050] In some possible implementations, the current environment includes at least one of the following parameters: temperature, humidity, or pressure.

[0051] Secondly, embodiments of this application provide an electronic device that includes a lidar as described in any of the first aspects.

[0052] In some possible implementations, the electronic device also includes a display screen, with the LiDAR located on the outer bezel of the display screen.

[0053] In some possible implementations, the electronic device is a smart screen.

[0054] Thirdly, embodiments of this application provide an electronic system, which includes an electronic device and a lidar as described in any of the first aspects, wherein the lidar is communicatively connected to the electronic device. Attached Figure Description

[0055] Figure 1 A schematic diagram of a lidar touch control provided in an embodiment of this application;

[0056] Figure 2 This is a schematic diagram of the architecture of a lidar according to an embodiment of this application;

[0057] Figure 3 A schematic diagram of the structure of an analog circuit provided in an embodiment of this application;

[0058] Figure 4 Another schematic diagram of the structure of the lidar provided in the embodiments of this application;

[0059] Figure 5 for Figure 4 A schematic diagram showing the contact between the internal optical path unit and the laser beam emitted by the detection device;

[0060] Figure 6 This application provides a compensation curve corresponding to different reflectivities and ranging error compensation values ​​under the current environment, as provided in the embodiments of this application.

[0061] Figure 7 A schematic diagram illustrating the overlap process between the laser beam emitted by the detection device provided in this application embodiment and the internal optical path unit;

[0062] Figure 8 Another schematic diagram of the structure of the lidar provided in the embodiments of this application;

[0063] Figure 9 Another schematic diagram of the structure of the lidar provided in the embodiments of this application;

[0064] Figure 10 A schematic diagram showing the working angle of the lidar detection device provided in the embodiments of this application;

[0065] Figure 11 Another structural schematic diagram of the internal optical path unit provided in the embodiments of this application;

[0066] Figure 12 for Figure 5 A schematic diagram at point A in the middle;

[0067] Figure 13 for Figure 5 Another cross-sectional view of the carrier component;

[0068] Figure 14 A schematic diagram of the structure of the first reflective surface provided in an embodiment of this application;

[0069] Figure 15 Another schematic diagram of the structure of the lidar provided in the embodiments of this application;

[0070] Figure 16 for Figure 15 A schematic diagram at point B in the middle;

[0071] Figure 17 Another structural schematic diagram of the internal optical path unit provided in the embodiments of this application;

[0072] Figure 18 Another schematic diagram of the structure of the lidar provided in the embodiments of this application;

[0073] Figure 19 Another schematic diagram of the structure of the lidar provided in the embodiments of this application;

[0074] Figure 20 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0075] Explanation of reference numerals in the attached figures:

[0076] 100. LiDAR;

[0077] 110. Optical path components;

[0078] 120. Detection device;

[0079] 10. Supporting component; 11. First groove; 12. Second groove;

[0080] 20. Internal optical path unit; 21. First reflective surface; 22. Second reflective surface; 23. First reflector; 24. Second reflector; 25. Light guiding region; 25a. First light guiding region; 25b. Second light guiding region; 261. First sub-reflective region; 262. Second sub-reflective region; 271. First reflective sub-section; 272. Second reflective sub-section; 28. First dielectric body; 29. ​​Second dielectric body;

[0081] 30. Scanning module; 31. Emitting reflective element; 32. Receiving reflective element; 33. Support bracket; 34. Receiving lens; 35. Collimating lens; 36. Scanning reflective element; 37. Fixing bracket;

[0082] 40. Laser emitter;

[0083] 50. Detector;

[0084] 60. Spectroscopic element;

[0085] 70. Reflective devices;

[0086] 200. Display screen. Detailed Implementation

[0087] The terminology used in the implementation section of this application is for the purpose of explaining specific embodiments of this application only, and is not intended to limit this application.

[0088] LiDAR (Light Detection and Ranging) is a detection device that uses a laser beam to detect the position, velocity, and other characteristics of a target. The working principle of LiDAR is to emit a detection signal towards the target, then compare and process the echo signal reflected back from the target with the detection signal to obtain information about the target, such as its distance, azimuth, velocity, attitude, and even shape. This allows for the detection and identification of the target.

[0089] Figure 1 This is a schematic diagram of a lidar touch control provided in an embodiment of this application.

[0090] This application relates to LiDAR touch technology, that is, screen touch control is achieved through LiDAR, for example... Figure 1 As shown, the lidar can be a single-line scanning lidar. The single-line scanning lidar is fixedly connected to the top side of the display screen. The single laser beam emitted by the single-line scanning lidar can rotate 360° around the rotation axis to form a laser scanning surface on the display screen. When an object clicks on the display screen, the laser beam emitted by the lidar is blocked, thereby identifying the specific coordinates of the object that clicked on the display screen, and thus realizing the touch function.

[0091] However, the ranging accuracy of existing single-line scanning LiDAR technology is low, resulting in low positioning accuracy, at the xcm level, or centimeter level. In contrast, the positioning accuracy required for writing on smart screens is at the xmm level. Therefore, existing single-line scanning LiDAR technology cannot meet the positioning accuracy requirements of writing on smart screens.

[0092] The ranging accuracy error of lidar mainly comes from the following aspects:

[0093] First, the inherent error of the lidar is mainly limited by the resolution of the time counter. For example, when the time counter resolution is 55 ps, the theoretical accuracy of the lidar is:

[0094]

[0095] From formula (1), it can be seen that the theoretical accuracy of the lidar is approximately 8 mm. In formula (1), At the speed of light, This represents the minimum resolution of the distance between the lidar and the target object, i.e., the smallest error that can be resolved.

[0096] Figure 2 This is a schematic diagram of the architecture of a lidar according to an embodiment of this application. Figure 3 This is a schematic diagram of an analog circuit provided in an embodiment of this application.

[0097] Second, errors can be caused by environmental factors such as temperature, humidity, and pressure, but temperature is the primary influencing factor. For example... Figure 2 As shown, the time delays of each component of the lidar are t1, ..., t8, and the transmission and reception times when the lidar detects a target object are both t'. Therefore, the actual total time t of one ranging process can be expressed as:

[0098]

[0099] Figure 2 All the components in this system are semiconductor devices, and all are affected by temperature. Furthermore, because different devices have different temperature-dependent curves, these curves will also differ. For example, using… Figure 3 Taking the analog circuit shown as an example, and combining the device principles, t6 can be represented as:

[0100]

[0101] As can be seen from formula (3), t6 is affected by temperature and the relationship is nonlinear. Therefore, the actual duration t of the ranging process of the lidar can be expressed as:

[0102]

[0103] From formula (4), it can be concluded that the actual duration t of the ranging process is a function of temperature T, and it changes nonlinearly. Therefore, it is impossible to compensate for the systematic error caused by temperature through simple linear fitting, single-point calibration, or other methods.

[0104] Third, errors arise from the usage scenario. For example, in close-range interaction scenarios such as large-screen touch and large-screen writing, the ranging range is approximately 10cm to 3m. The ranging targets include materials used in the stylus (e.g., high-reflectivity materials, with a reflectivity of around 80%) and fingers (low-reflectivity, with a reflectivity of around 20%). From a physics perspective, at a fixed temperature and distance, the latency of devices varies depending on their reflectivity. For instance, at the same temperature and distance, the latency of a device with high reflectivity is greater than that of a device with low reflectivity. Let R represent the reflectivity of the ranging target, then the actual duration of the ranging process can be expressed as:

[0105]

[0106] The final expression for the actual distance measurement is:

[0107]

[0108] As can be seen from formula (6), the ranging result d is a two-dimensional function of temperature and reflectivity. Therefore, it can be concluded that the ranging accuracy of lidar is affected by the ambient temperature and the reflectivity of the target object.

[0109] To improve the ranging accuracy of lidar, in related technology one, a light guide module is installed inside the lidar. The light guide module includes a support frame and a light guide element mounted on the support frame. The light guide element is located within the lidar's non-operating angle range. The light guide element can form a calibration optical path with the lidar's receiving and transmitting modules, and can reflect the laser beam emitted by the transmitting module to the receiving module. Since the position of the light guide element is fixed, the actual distance between the light guide element and the lidar is known. The corresponding theoretical time is:

[0110]

[0111] In the actual distance measurement process, a result can be obtained in real time. The time compensation value for distance measurement at a certain temperature can be calculated by reverse calculation:

[0112]

[0113] Therefore, the distance drift of the target object's echo signal at different temperatures can be compensated through periodic self-testing. This reduces the impact of ambient temperature changes on measurement accuracy. However, it can be seen from formulas (6) and (8) that because the reflectivity of the light guide element in the first related technology scheme is uniquely determined, the compensation error only covers temperature information and does not cover the reflectivity information of the target object, and cannot accurately reflect the ranging error of ranging target objects with different reflectivities.

[0114] Alternatively, in related technology two, the lidar includes a transmitting unit, a receiving unit, and a rotating mirror. The transmitting unit includes a laser source and a transmitting optical system, which projects the laser beam emitted by the laser source onto the target object. The receiving unit includes a first photodetector, a first amplification circuit, a voltage regulation circuit, a second amplification circuit, a second photodetector, and a receiving optical system. The first amplification circuit is electrically connected to the first photodetector, which receives the laser beam emitted by the laser source. The voltage regulation circuit is electrically connected to both the first and second photodetectors. The second amplification circuit is electrically connected to the second photodetector. The receiving optical system projects the laser beam reflected back from the target object onto the second photodetector. The rotating mirror projects the laser beam emitted from the transmitting optical system onto the target object and projects the laser beam reflected back from the target object onto the receiving optical system.

[0115] The first and second photodetectors are avalanche photodiodes of the same specifications and model, and the first and second amplifier circuits have identical structures and component selections. By monitoring the pulse width of the output signal of the first amplifier circuit and using a voltage regulation circuit to control the voltage feedback of the first photodetector, the stability of the pulse width of the output signal of the first amplifier circuit is ultimately achieved.

[0116] In this system, the distance between the first photodetector and the laser source is fixed. When the first photodetector receives the laser emitted by the laser source, it can obtain the real-time compensation value for the ranging process. The laser beam emitted by the laser source passes through the transmitting optical system, rotating mirror, target object, rotating mirror, and receiving optical system before being received by the second photodetector. The true compensation value for the entire ranging process is... .

[0117] However, the compensation path composed of the first photodetector and the first amplification circuit always has device differences compared to the same devices in the actual ranging path, leading to... Therefore, it cannot accurately reflect the impact of actual operating temperature on the analog circuit device, and thus cannot meet high-precision requirements. Furthermore, The presence of only temperature information means that the compensation error only covers temperature information and does not cover the reflectivity information of the target object, thus failing to accurately reflect the ranging error of ranging targets with different reflectivities.

[0118] Alternatively, in related technology three, the lidar is a coaxial lidar, comprising a radar housing, a reflector, a laser reflection module, a transmitting module, and a receiving module. The laser reflection module reflects the laser beam emitted by the transmitting module to the target object and reflects the laser beam reflected back from the target object to the laser receiving lens of the receiving module. The reflector is located inside the radar housing, positioned on the trajectory of the emitted light from the laser reflection module. The reflector reflects the received emitted light from the laser reflection module to the laser receiving lens of the receiving module. The distance of the reflected light path is a fixed value. The lidar compensates for the distance by periodically comparing the detected value with this fixed value, thereby reducing the impact of ambient temperature changes on the lidar ranging and improving ranging accuracy. However, the compensation value only covers temperature information and does not cover the reflectivity information of the target object, failing to accurately reflect the ranging error of targets with different reflectivities. Furthermore, the reflector-based compensation light path scheme is only applicable to coaxial lidar structures, exhibiting limitations.

[0119] Figure 4 This is another schematic diagram of the structure of the lidar provided in the embodiment of this application. Figure 5 for Figure 4 The diagram illustrates the contact between the internal optical path unit and the laser beam emitted by the detection device. It should be noted that the structure of the lidar 100 in each diagram is for illustrative purposes only and does not constitute a limitation on the specific structure of the lidar 100.

[0120] In view of this, this application provides a lidar 100, see [link to relevant documentation]. Figure 4The lidar 100 includes a detection device 120 and an optical path assembly 110. The optical path assembly 110 includes a carrier 10 and at least one inner optical path unit 20, which is disposed on the carrier 10 and has a different reflectivity than the carrier 10. The detection device 120 is used to emit and receive laser beams. When the detection device 120 sequentially emits multiple laser beams that illuminate the inner optical path unit 20, the multiple laser beams pass through the inner optical path unit 20 and sequentially form multiple outgoing beams of different energies. The detection device 120 sequentially receives the multiple outgoing beams of different energies emitted from the inner optical path unit 20.

[0121] Among them, see Figure 4 When the laser beam emitted by the detection device 120 does not illuminate the internal optical path unit 20, the laser beam emitted by the detection device 120 can be used to scan the target object (such as a stylus) to realize touch control, handwriting and other functions.

[0122] Among them, see Figure 5 When the laser beam emitted by the detection device 120 irradiates the inner optical path unit 20, the inner optical path unit 20 can construct an inner optical path. The inner optical path can project the laser beam emitted by the detection device 120 to the inner optical path unit 20 back to the detection device 120, so that the inner optical path unit 20 and the detection device 120 can construct a calibration optical path.

[0123] When the distance between target objects with different reflectivities and the detection device 120 is the same, the energy of the laser beam reflected by the target objects with different reflectivities to the detection device 120 is different, and the pulse width corresponding to the laser beam reflected by the target objects with different reflectivities to the detection device 120 is different. Specifically, the laser beam reflected by a target object with high reflectivity to the lidar 100 has high energy, that is, the intensity of the laser beam reflected by a target object with high reflectivity to the detection device 120 is high, and the detection device 120 receives high reflected energy. Conversely, the laser beam reflected by a target object with low reflectivity to the detection device 120 has low energy, that is, the intensity of the laser beam reflected by a target object with low reflectivity to the detection device 120 is low, and the detection device 120 receives low reflected energy.

[0124] Since the reflectivity of the inner optical path unit 20 is a fixed value, the multiple outgoing beams with different energies emitted sequentially by the inner optical path unit 20 can be equivalent to the laser beams of target objects with different reflectivities reflected to the detection device 120. Thus, the inner optical path unit 20, which emits multiple outgoing beams with different energies sequentially, can be equivalent to target objects with different reflectivities.

[0125] After the detection device 120 collects multiple emitted light beams with different energies, the test values ​​between multiple internal optical path units and the detection device 120 can be determined sequentially based on the multiple emitted light beams with different energies collected by the detection device 120. Meanwhile, since the position between the internal optical path unit 20 and the detection device 120 is fixed, the actual distance value du between the internal optical path unit 20 and the detection device 120 is known. Based on the actual distance value du and the multiple test values ​​collected... This allows us to determine the ranging error compensation values ​​corresponding to different reflectivities under the current environment. Specifically, the ranging error compensation values ​​corresponding to different reflectivities under the current environment can be expressed as:

[0126]

[0127] in, This indicates the i-th test value determined by the detection device 120 based on the i-th emitted beam collected. The value of i is a positive integer, for example, i can be 1, 2, 4, etc.

[0128] The current environment may include at least one of the following parameters: temperature, humidity, or pressure. For example, when the current environment includes the temperature parameter, It can be represented as , This represents the ranging error compensation value corresponding to different reflectivities at the current temperature. Alternatively, in some embodiments, when the current environment includes temperature and humidity parameters, It can be represented as , This represents the ranging error compensation value corresponding to different reflectivities under the current temperature and humidity. Alternatively, in some embodiments, when the current environment includes temperature, humidity, and pressure parameters, It can be represented as , This indicates the distance measurement error compensation value corresponding to different reflectivities under the current temperature, humidity, and pressure.

[0129] Figure 6 This application provides a compensation curve corresponding to different reflectivities and ranging error compensation values ​​under the current environment, as provided in the embodiments of this application. Figure 6 In the figure, the horizontal axis represents the pulse width (or simply pulse width) corresponding to different reflectivities when the detection device 120 collects the reflected energy reflected back from the target object with different reflectivities, and the vertical axis represents the ranging error compensation value.

[0130] Next, based on the ranging error compensation values ​​corresponding to different reflectivities under the current environment, the compensation curves corresponding to different reflectivities and ranging error compensation values ​​under the current environment can be determined (e.g., Figure 6(As shown). The compensation curve is used to compensate for the actual ranging value of the target object collected by the detection device 120 in the current environment.

[0131] In practical implementation, after the lidar 100 performs actual ranging on the target object, the actual ranging value d is obtained, and the reflectivity of the current target object can also be obtained. Then, the error compensation value corresponding to the reflectivity of the current target object is obtained from the compensation curve. Then based on the error compensation value By compensating for the actual measured distance d to reduce the deviation of the actual measured distance d, the true value D can be obtained:

[0132]

[0133] In one implementation, the corresponding ranging error compensation value can be selected from the compensation curve based on the pulse width corresponding to the reflectivity of the target object.

[0134] It should be noted that the temperature, humidity, and pressure of the environment in which the detection device 120 operates do not change abruptly, but rather change slowly. Therefore, for a period of time, these environmental factors can be considered constant, and the same compensation curve can be used during this period to reduce their impact on ranging. However, after a certain period, i.e., after changes in these environmental factors, multiple ranging error compensation values ​​corresponding to different reflectivities under the current environment are collected again through the calibration optical path. A new compensation curve is determined based on these newly collected values, and then used to compensate for the actual ranging value collected by the detection device 120.

[0135] Therefore, by having multiple laser beams emitted sequentially by the detection device 120 pass through the internal optical path unit 20 to form multiple outgoing beams with different energies, the circuit delay compensation value of the device for a target object with arbitrary reflectivity in the current environment can be fitted in real time. This enables periodic self-checking and compensation for distance drift under targets with different reflectivity in the current environment. The lidar can provide more accurate ranging results, reduce errors caused by changes in environmental factors such as temperature and humidity and changes in the reflectivity of the target object, and effectively improve the accuracy and stability of ranging.

[0136] Furthermore, the device used by the detection device 120 to collect the emitted laser beam is the same device used by the detection device 120 to collect the laser beam reflected back from the target object. This avoids the influence caused by differences in devices in existing technologies and can accurately reflect the impact of environmental factors (such as temperature, humidity, and pressure) and target reflectivity on the path simulation device during the actual ranging process. In addition, by rationally designing the structure of the internal optical path unit 20, it can be applied to lidar 100s with coaxial, off-axis, and other structures, increasing the applicability of the solution.

[0137] In some possible implementations, when there are multiple internal optical path units 20, multiple internal optical paths can be formed accordingly. In this case, the detection device 120 can sequentially form multiple correction optical paths with the multiple internal optical path units 20. Thus, it can be seen that at any given time, there is one correction optical path. In addition, when there are multiple correction optical paths, at least one ranging error compensation value under the current environment can be collected through each correction optical path.

[0138] In some possible implementations, the detection device 120 is further configured to: determine a first ranging error compensation value corresponding to a target object with a first reflectivity under the current working environment based on multiple emitted light beams of different energies received sequentially by the detection device 120. This configuration allows the selection of a first ranging error compensation value corresponding to the first reflectivity based on compensation curves corresponding to different reflectivities and ranging error compensation values ​​under the current environment, and then compensation is applied to the first actual ranging value of the target object with the first reflectivity collected by the detection device 120.

[0139] The target object with the first reflectivity can be, but is not limited to, a stylus, a touchpad, or a finger.

[0140] In some possible implementations, the detection device 120 is further configured to: determine a second ranging error compensation value corresponding to a target object with a second reflectivity under the current working environment based on multiple emitted beams of different energies received sequentially by the detection device 120. This configuration allows the selection of a second ranging error compensation value corresponding to the second reflectivity based on compensation curves corresponding to different reflectivities and ranging error compensation values ​​under the current environment, and then compensating for the second actual ranging value of the target object with the second reflectivity collected by the detection device 120.

[0141] The first reflectivity and the second reflectivity are different. For example, the first reflectivity is high reflectivity, while the second reflectivity can be low reflectivity. The target object with the second reflectivity can be, but is not limited to, a stylus, a touchpad, or a finger.

[0142] In some possible implementations, before determining the ranging error compensation value corresponding to the target object with a first reflectivity in the current working environment, the detection device 120 is further configured to: determine a compensation curve corresponding to different reflectivities and ranging error compensation values ​​in the current environment based on multiple emitted light beams of different energies received sequentially by the detection device 120. The compensation curve is used to compensate for the actual ranging value of the target object acquired by the detection device 120 in the current environment. With this configuration, the detection device 120 can determine the compensation curve corresponding to different reflectivities and ranging error compensation values ​​in the current environment based on the acquired multiple emitted light beams of different energies, thereby compensating for the actual ranging value acquired by the detection device 120 in real time.

[0143] In some possible implementations, when the laser beam emitted by the detection device 120 illuminates the inner optical path unit 20, the laser beam emitted by the detection device 120 is used to sequentially illuminate multiple areas of different sizes within the inner optical path unit 20, so that the inner optical path unit 20 sequentially receives multiple laser beams of different energies. This arrangement allows multiple laser beams of different energies to enter the inner optical path constructed by the inner optical path unit 20, making the inner optical path unit 20 equivalent to target objects with different reflectivities. Furthermore, by controlling the size of the contact area between the inner optical path unit 20 and the laser beam, the energy of the laser beam received by the inner optical path unit 20 can be refined, increasing the range of reflectivity variations covering the target object.

[0144] When the laser beam irradiates the inner optical path unit 20, a portion of the laser beam can irradiate the surface of the inner optical path unit 20, or the entire laser beam can irradiate the surface of the inner optical path unit 20. The inner optical path unit 20 can receive the laser beam that irradiates its surface, but will not receive the laser beam that is not irradiated.

[0145] It should be noted that only the portion of the laser beam that irradiates the surface of the inner optical path unit 20 will enter the inner optical path, while the portion of the laser beam that does not irradiate the surface of the inner optical path unit 20 will not enter the inner optical path. The portion of the laser beam that does not irradiate the surface of the inner optical path unit 20 can irradiate the surface of the carrier 10.

[0146] It should also be noted that the portion of the laser beam that does not illuminate the surface of the inner optical path unit 20 may not be received by the detection device 120. Alternatively, the detection device 120 may collect the portion of the laser beam that does not illuminate the surface of the inner optical path unit 20. In this case, the energy of the portion of the laser beam that does not illuminate the inner optical path unit 20 is much less than the energy of the emitted beam collected by the detection device 120, and the portion of the laser beam that does not illuminate the inner optical path unit 20 has a lower noise floor.

[0147] Figure 7A schematic diagram of the overlap process between the laser beam emitted by the detection device 120 provided in the embodiments of this application and the internal optical path unit 20.

[0148] For example, the laser beam emitted by the detection device 120 can be circular; in this case, see [reference needed]. Figure 7 When the laser beam illuminates the inner optical path unit 20, its shape is a circular spot. The process of the laser beam illuminating the inner optical path unit 20 can be abstractly represented as... Figure 7 As shown, a portion of the laser beam can irradiate the inner optical path unit 20, or the entire laser beam can irradiate the inner optical path unit 20. Therefore, at least a portion of the laser beam overlaps with the inner optical path unit 20, and the overlap between the inner optical path unit 20 and the laser beam has a gradual process. Only the overlap between the laser beam and the inner optical path unit 20 will enter the inner optical path constructed by the inner optical path unit 20.

[0149] For example, with Figure 7 Taking the first state as an example, the overlapping part of the laser beam and the inner optical path unit 20 can be called the effective light source part. The energy of the effective light source part is equivalent to the reflected energy of the target object with different reflectivity reflected to the detection device 120. Therefore, by controlling the size of the effective light source part, the pulse width variation under different reflectivity can be realized, and the reflected energy reflected back by the target object with different reflectivity can be simulated.

[0150] In some possible implementations, when the laser beam emitted by the detection device 120 illuminates the inner optical path unit 20, multiple relative movements of the light beam are constructed between the detection device 120 and the inner optical path unit 20 over a period of time to form multiple outgoing beams with different energies. With this configuration, the contact area between the laser beam and the inner optical path unit 20 can change over a period of time, with the portion of the laser beam in contact with the inner optical path unit 20 entering the inner optical path, thus enabling multiple laser beams with different energies to sequentially enter the inner optical path.

[0151] The relative motion of the light beams refers to the movement of the laser beams emitted by the detection device 120 relative to the inner optical path unit 20 and the detection device 120, which causes the position of the laser beams to change, thereby changing the contact area between the laser beams and the inner optical path unit 20, and thus allowing multiple laser beams with different energies to enter the inner optical path in sequence.

[0152] In some possible implementations, when the laser beam emitted by the detection device 120 irradiates the inner optical path unit 20, the movement of the detection device 120 causes the laser beam emitted by the detection device 120 to sequentially irradiate multiple areas of different sizes within the inner optical path unit 20. With this configuration, during the process of the laser beam irradiating the inner optical path unit 20, the inner optical path unit 20 remains stationary, while at least a portion of the detection device 120 moves relative to the inner optical path unit 20, for example, by translation or rotation. This causes a change in the contact area between the laser beam emitted by the detection device 120 and the inner optical path unit 20, allowing multiple laser beams of different energies to sequentially enter the inner optical path constructed by the inner optical path unit 20.

[0153] In some possible implementations, when the laser beam emitted by the detection device 120 illuminates the inner optical path unit 20, the laser beam emitted by the detection device 120 is used to rotate around a first rotation axis, so that the laser beam emitted by the detection device 120 sequentially illuminates multiple areas of different sizes of the inner optical path unit 20. With this configuration, the position of the inner optical path unit 20 remains stationary during the rotation of the laser beam emitted by the detection device 120 around the first rotation axis. By controlling the rotation angle of the laser beam emitted by the detection device 120 around the first rotation axis, the overlap between the laser beam and the inner optical path unit 20 can be made different, thereby adjusting the contact area between the inner optical path unit 20 and the laser beam, and thus allowing the inner optical path unit 20 to sequentially receive multiple laser beams of different energies.

[0154] When the laser beam emitted by the detection device 120 rotates around the first rotation axis, the energy of the laser beam emitted by the detection device 120 remains the same. This setting can reduce the difficulty for the inner optical path unit 20 to simulate the reflected energy of target objects with different reflectivities.

[0155] It should be noted that, in addition to rotating the laser beam emitted by the detection device 120 around the first rotation axis, in some embodiments, the laser beam emitted by the detection device 120 can also be made to translate around the axis, and the contact area between the laser beam and the inner optical path unit 20 can also be made variable, so that multiple laser beams with different energies can enter the inner optical path in sequence, thereby forming multiple outgoing beams with different energies in sequence.

[0156] In some embodiments, see continue to see Figure 5The detection device 120 includes a scanning module 30, a laser emitter 40, and a detector 50. The scanning module 30 projects the laser beam emitted from the laser emitter 40 onto the target object or the inner optical path unit 20. The scanning module 30 also projects the laser beam from the target object or the inner optical path unit 20 onto the detector 50. When projecting the laser beam from the laser emitter 40 onto the inner optical path unit 20, the scanning module 30 rotates around a first rotation axis so that the laser beam emitted by the detection device 120 sequentially illuminates multiple areas of different sizes within the inner optical path unit 20.

[0157] Therefore, when the inner optical path unit 20 and the detection device 120 form a correction optical path, the size of the overlap between the inner optical path unit 20 and the laser beam can be controlled by controlling the angle of rotation of the scanning module 30 around the first rotation axis. This allows the acquisition of correction values ​​corresponding to different reflectivities at a certain temperature, and thus the acquisition of ranging error compensation values ​​corresponding to different reflectivities at a certain temperature.

[0158] The laser emitter 40 can be an edge emitting laser (EEL), a vertical-cavity surface-emitting laser (VCSEL), or the like.

[0159] The detector 50 can be a single photon avalanche diode (SPAD), an avalanche photodiode (APD), or a silicon photomultiplier (SiPM), etc.

[0160] It should be noted that, in addition to the scanning module 30, the laser emitter 40 and the detector 50, the detection device 120 may also include other devices. For example, the detection device 120 may also include a scanning motor (not shown in the figure), which is used to drive the scanning module 30 to rotate around the first rotation axis.

[0161] When the laser beam rotates around the first rotation axis due to the rotation of the scanning module 30, the lidar 100 can be a coaxial structure or a side-axis structure (such as...). Figure 5 The lidar 100 has a structure as shown in the figure. Therefore, the detection device 120 can be a coaxial detection device 120 or a paraxial detection device 120.

[0162] When the detection device 120 is a cross-axis detection device 120, in some embodiments, see continue to the previous section. Figure 5The scanning module 30 may include a emitting reflective element 31 and a receiving reflective element 32. The emitting reflective element 31 reflects the laser beam emitted from the laser emitter 40 to the target object or the internal optical path unit 20. The receiving reflective element 32 reflects the laser beam from the target object or the internal optical path unit 20 to the detector 50. This configuration allows for physical separation of the emitting and receiving optical paths of the detection device 120, resulting in a high signal-to-noise ratio.

[0163] Either the emitting reflective element 31 or the receiving reflective element 32 can be a reflector, prism, or similar structure. The reflector's reflective surface is coated with a reflective film, enabling it to reflect the laser beam. In some embodiments, the prism's reflective surface can be coated with a reflective film. In this case, the laser beam can first enter the prism and then exit due to reflection from the prism's reflective surface, or the beam may not enter the prism and be reflected by the prism's reflective surface outside the prism. Alternatively, in some embodiments, the prism can be made of a high-refractive-index, high-transmittance material (such as glass), and the reflection function can be achieved using the principle of total internal reflection.

[0164] Of course, in addition to the emitting reflective element 31 and the receiving reflective element 32, the scanning module 30 may also include other devices. See, for example, further details. Figure 5 The scanning module 30 may further include a support bracket 33, which is fixedly connected to the emitting reflective element 31 and the receiving reflective element 32. The support bracket 33 serves as a support structure for the emitting reflective element 31 and the receiving reflective element 32. The support bracket 33 may be fixedly connected to the rotor of the scanning motor, and the scanning motor may drive the support bracket 33 to rotate around a first rotation axis, thereby causing the emitting reflective element 31 and the receiving reflective element 32 to rotate synchronously around the first rotation axis.

[0165] Alternatively, in some embodiments, see also: Figure 5 The scanning module 30 may further include a collimating lens 35. The collimating lens 35 can be arranged in the optical path between the emitting reflective element 31 and the laser emitter 40, and collimates the laser beam from the laser emitter 40. Alternatively, the collimating lens 35 can also be arranged in the outgoing optical path of the emitting reflective element 31, and collimates the laser beam emitted from the emitting reflective element 31 and projects the collimated laser beam onto the target object or the inner optical path unit 20.

[0166] It should be noted that, in addition to being integrated into the scanning module 30, in some embodiments, the collimating lens 35 and the scanning module 30 can also be two independent devices. In this case, the collimating lens 35 is arranged in the optical path between the scanning module 30 and the laser emitter 40, and the collimating lens 35 remains stationary during the rotation of the scanning module 30 around the first rotation axis.

[0167] Alternatively, in some embodiments, see also: Figure 5 The scanning module 30 also includes a receiving lens 34, which is used to receive laser beams from the target object or the internal optical path unit 20. The receiving lens 34 projects the received laser beams onto the receiving and reflecting element 32, and the receiving and reflecting element 32 reflects the received laser beams to the detector 50.

[0168] See also Figure 5 The receiving lens 34 and the receiving reflective element 32 are separate structures. However, in some embodiments, the receiving lens 34 and the receiving reflective element 32 can also be an integrated prism. The reflective surface of the integrated prism can be coated with a reflective film, or the integrated prism can be supported by glass with high refractive index and high transmittance, and the reflection function can be realized by utilizing the principle of total internal reflection.

[0169] Figure 8 This is another structural schematic diagram of the lidar 100 provided in an embodiment of this application.

[0170] When the lidar 100 has a coaxial structure, in some embodiments, see [link to relevant documentation]. Figure 8 The detection device 120 also includes a beam splitter 60, which is arranged in the optical path between the scanning module 30 and the laser emitter 40, and also in the optical path between the scanning module 30 and the detector 50. The beam splitter 60 is used to project the laser beam emitted from the laser emitter 40 onto the scanning module 30, and also to project the laser beam emitted from the scanning module 30 onto the detector 50. The beam splitter can realize the convergence and separation of the laser beam emitted by the laser emitter 40 and the laser beam received by the detector 50, so that the emission optical path and the receiving optical path of the detection device 120 are coaxially arranged.

[0171] In some embodiments, the beam splitting element 60 can be a beam splitter. The beam splitter may be provided with a beam splitting film, beam splitting aperture, or other beam splitting structure to achieve the convergence and separation of the laser beam emitted by the laser emitter 40 and the laser beam received by the detector 50.

[0172] When the lidar 100 has a coaxial structure, in some embodiments, see continue to see Figure 8The scanning module 30 may include a scanning reflection element 36, which can rotate around a first rotation axis. The scanning reflection element 36 can reflect the laser beam emitted from the beam splitter 60 to the target object or the inner optical path unit 20. The scanning reflection element 36 can also reflect the laser beam from the target object or the inner optical path unit 20 to the beam splitter.

[0173] The scanning reflective element 36 can be a mirror, prism, or other structure. The reflective surface of the mirror is coated with a reflective film, allowing it to reflect the laser beam. In some embodiments, the reflective surface of the prism can also be coated with a reflective film. In this case, the laser beam can first enter the prism and then exit the prism after being reflected by its reflective surface, or the beam may not enter the prism and be reflected by its reflective surface outside the prism. Alternatively, in some embodiments, the prism can be made of a material with high refractive index and high transmittance (such as glass), and the reflection function can be achieved using the principle of total internal reflection.

[0174] Of course, the scanning module 30 may include other devices besides the scanning reflective element 36. See also, for an example... Figure 8 The scanning module 30 may also include a fixed bracket 37, which is fixedly connected to the scanning reflective element 36 and the rotor of the scanning motor. The scanning motor can drive the fixed bracket 37 to rotate around the first rotation axis, thereby causing the beam splitting element 60 to rotate around the first rotation axis, and thus causing the laser beam emitted by the detection device 120 to rotate around the first rotation axis.

[0175] When the lidar 100 is a coaxial structure, in some embodiments, the detection device 120 may also include the collimating lens 35 described above, which may be arranged in the optical path between the beam splitter 60 and the laser emitter 40.

[0176] In some possible implementations, when the laser beam emitted by the detection device 120 irradiates the inner optical path unit 20, the inner optical path unit 20 is moved relative to the detection device 120 so that the laser beam emitted by the detection device 120 sequentially irradiates multiple areas of different sizes within the inner optical path unit 20. With this configuration, during the process of the laser beam irradiating the inner optical path unit 20, the detection device 120 remains stationary, while the inner optical path unit 20 performs translational, rotational, or other movements relative to the detection device 120. This causes a change in the contact area between the inner optical path unit 20 and the laser beam, allowing multiple laser beams of different energies to sequentially enter the inner optical path constructed by the inner optical path unit 20, thereby sequentially forming multiple outgoing beams of different energies.

[0177] In some possible implementations, when the laser beam emitted by the detection device 120 illuminates the inner optical path unit 20, the inner optical path unit 20 is rotated around a second rotation axis so that the laser beam emitted by the detection device 120 sequentially illuminates multiple areas of different sizes within the inner optical path unit 20. With this configuration, the laser beam emitted by the detection device 120 does not rotate around the second rotation axis; the laser beam remains stationary. By controlling the angle of rotation of the inner optical path unit 20 around the second rotation axis, the laser beam can sequentially illuminate multiple areas of different sizes within the inner optical path unit 20. This can change the overlap between the inner optical path unit 20 and the laser beam, thereby adjusting the contact area between the inner optical path unit 20 and the laser beam, and allowing the inner optical path unit 20 to sequentially receive multiple laser beams of different energies.

[0178] It should be noted that, in addition to rotating the inner optical path unit 20 around the second rotation axis, in some embodiments, the inner optical path unit 20 can also be made to translate, and the contact area between the laser beam and the inner optical path unit 20 can be made variable, so that multiple laser beams with different energies can enter the inner optical path in sequence, thereby forming multiple outgoing beams with different energies in sequence.

[0179] When the inner optical path unit 20 rotates around the second rotation axis, the energy of the laser beam emitted by the detection device 120 remains the same. This setting reduces the difficulty for the inner optical path unit 20 to simulate the reflected energy of target objects with different reflectivities.

[0180] To enable the inner optical path unit 20 to rotate around the second rotation axis, the lidar 100 may further include a first drive motor (not shown in the figure). The first drive motor is connected to the inner optical path unit 20 in a transmission manner, and the first drive motor can drive the inner optical path unit 20 to rotate around the second rotation axis. It should be noted that when there are multiple inner optical path units 20, the first drive motor can drive multiple inner optical path units 20 to rotate synchronously around the second rotation axis.

[0181] When the contact area between the inner optical path unit 20 and the laser beam is adjusted by rotating the inner optical path unit 20 around the second rotation axis, the lidar 100 can be a lidar 100 with a coaxial structure, a paraxial structure, or a solid-state lidar 100.

[0182] When the internal optical path unit 20 can rotate around the second rotation axis, the structure of the lidar 100 can refer to the structure of the lidar 100 described above. Exemplarily, the lidar 100 may include a transmitting module and a receiving module. The transmitting module may include the laser emitter 40 and transmitting optical unit described above, and the receiving module may include the detector 50 and receiving optical unit described above. The transmitting optical path of the transmitting optical unit and the receiving optical path of the receiving optical unit may be coaxially arranged or separately arranged.

[0183] For example, when the transmitting and receiving optical paths are separated, the transmitting optical unit may include the collimating lens 35 and the transmitting reflective element 31 described above, and the receiving optical unit may include the receiving lens 34 and the receiving reflective element 32 described above. The descriptions of the collimating lens 35 and the transmitting reflective element 31 have already been detailed in the preceding descriptions, and therefore will not be repeated here. Similarly, the descriptions of the receiving lens 34 and the receiving reflective element 32 have already been detailed in the preceding descriptions, and therefore will not be repeated here.

[0184] Figure 9 This is another structural schematic diagram of the lidar 100 provided in an embodiment of this application.

[0185] See also some possible implementations. Figure 9 The lidar 100 also includes a reflective device 70, which reflects the laser beam emitted by the detection device 120 to the inner optical path unit 20. When the laser beam emitted by the detection device 120 irradiates the inner optical path unit 20, the reflective device 70 moves relative to the inner optical path unit 20 so that the laser beam emitted by the detection device 120 sequentially irradiates multiple areas of different sizes in the inner optical path unit 20. With this configuration, during the process of the laser beam irradiating the inner optical path unit 20, both the detection device 120 and the inner optical path unit 20 remain stationary, while the reflective device 70 performs translational, rotational, or other movements relative to the inner optical path unit 20. This causes the contact area between the inner optical path unit 20 and the laser beam to change, allowing multiple laser beams of different energies to sequentially enter the inner optical path constructed by the inner optical path unit 20, thereby sequentially forming multiple outgoing beams of different energies.

[0186] In some possible implementations, when the laser beam emitted by the detection device 120 illuminates the inner optical path unit 20, the reflector 70 is rotated about a third rotation axis so that the laser beam emitted by the detection device 120 sequentially illuminates multiple areas of different sizes within the inner optical path unit 20. With this configuration, both the inner optical path unit 20 and the detection device 120 remain stationary during the rotation of the reflector 70 around the third rotation axis. By controlling the rotation angle of the reflector 70 around the third rotation axis, the overlap between the laser beam and the inner optical path unit 20 can be varied, thereby adjusting the contact area between the inner optical path unit 20 and the laser beam. This allows the inner optical path unit 20 to sequentially receive multiple laser beams of different energies.

[0187] It should be noted that, in addition to rotating around the third rotation axis, in some embodiments, the reflective device 70 can also perform translational motion, which can also make the contact area between the laser beam and the inner optical path unit 20 variable, so that multiple laser beams with different energies can enter the inner optical path in sequence, thereby forming multiple outgoing beams with different energies in sequence.

[0188] When the reflective device 70 rotates around the third rotation axis, the energy of the laser beam emitted by the detection device 120 remains the same. This setting reduces the difficulty for the inner optical path unit 20 to simulate the reflected energy of target objects with different reflectivities.

[0189] The reflective device 70 may include, but is not limited to, optical elements such as mirrors, polarizers, and gratings.

[0190] In order to make the reflector 70 rotate around the third rotation axis, the lidar 100 may also include a second drive motor (not shown in the figure), which is connected to the reflector 70 in a transmission manner and can drive the reflector 70 to rotate around the third rotation axis.

[0191] When the contact area between the inner optical path unit 20 and the laser beam is adjusted by rotating the reflector 70 around the third rotation axis, the lidar 100 can be a lidar 100 with a coaxial structure, a paraxial structure, or a solid-state lidar 100.

[0192] When the reflector 70 rotates about the third rotation axis, the structure of the lidar 100 can refer to the structure of the lidar 100 described above. Exemplarily, the lidar 100 may include the transmitting module and receiving module described above. The transmitting module may include the laser emitter 40 and transmitting optical unit described above, and the receiving module may include the detector 50 and receiving optical unit described above. The transmitting optical path of the transmitting optical unit and the receiving optical path of the receiving optical unit may be coaxially arranged or separately arranged.

[0193] For example, when the transmitting and receiving optical paths are separated, the transmitting optical unit may include the collimating lens 35 and the transmitting reflective element 31 described above, and the receiving optical unit may include the receiving lens 34 and the receiving reflective element 32 described above. The descriptions of the collimating lens 35 and the transmitting reflective element 31 have already been detailed in the preceding descriptions, and therefore will not be repeated here. Similarly, the descriptions of the receiving lens 34 and the receiving reflective element 32 have already been detailed in the preceding descriptions, and therefore will not be repeated here.

[0194] In some possible implementations, when the laser beam emitted by the detection device 120 illuminates the inner optical path unit 20, the detection device 120 sequentially emits multiple laser beams of different energies, which sequentially correspond to multiple outgoing beams emitted from the inner optical path unit 20. This configuration also allows multiple laser beams of different energies to sequentially enter the inner optical path, thereby sequentially forming multiple outgoing beams of different energies.

[0195] When the laser beam emitted by the detection device 120 illuminates the inner optical path unit 20, the positions of both the detection device 120 and the inner optical path unit 20 remain unchanged, and the contact area between the inner optical path unit 20 and the laser beam remains constant. At this time, by having the detection device 120 emit multiple laser beams of different energies in sequence, the inner optical path unit 20 can receive multiple laser beams of different energies in sequence. Thus, the detection device 120 can receive multiple emitted beams of different energies from the inner optical path unit 20 in sequence, thereby simulating the reflected energy under different reflectivities.

[0196] When the contact area between the inner optical path unit 20 and the laser beams is adjusted by sequentially emitting multiple laser beams of different energies through the control detection device 120, the lidar 100 may include, but is not limited to, a coaxial lidar 100, a paraxial lidar 100, a solid-state lidar 100, etc. Furthermore, the structure of the lidar 100 can be referred to the lidar 100 described above, and will not be elaborated further here.

[0197] There are no specific limitations on how the detection device 120 sequentially emits multiple laser beams of different energies. In some possible implementations, when the laser beam emitted by the detection device 120 illuminates the internal optical path unit 20, the emission power of the laser emitter 40 of the detection device 120 is adjusted so that the laser beam emitter 40 sequentially generates multiple laser beams of different energies, thereby the detection device 120 sequentially emits multiple laser beams of different energies.

[0198] Alternatively, in some possible implementations, when the laser beam emitted by the detection device 120 illuminates the inner optical path unit 20, the laser emitter 40 of the detection device 120 sequentially generates multiple laser beams of different energies via an optical processing unit (not shown). With this configuration, during the process of the laser beam illuminating the inner optical path unit 20, the laser emitter 40 consistently generates a laser beam of the same energy. By processing the laser beam emitted by the laser emitter 40 through the optical processing unit, multiple laser beams of different energies can be sequentially obtained, allowing the detection device 120 to sequentially emit multiple laser beams that illuminate the inner optical path unit 20.

[0199] The optical processing unit may include, but is not limited to, a grating and / or a light-shielding plate having multiple regions with different transmittance. The transmittance of the laser beam varies depending on the region of transmittance of the light-shielding plate. Therefore, the laser beam emitted by the laser emitter 40 sequentially illuminates these regions, resulting in multiple laser beams of different energies. Consequently, the detection device 120 sequentially emits these multiple laser beams of different energies.

[0200] Figure 10 This is a schematic diagram of the working angle of the detection device 120 of the lidar 100 provided in the embodiments of this application.

[0201] See also some possible implementations. Figure 10 The inner optical path unit 20 is located outside the area corresponding to the working angle of the detection device 120. With this arrangement, the inner optical path unit 20 is placed inside the area of ​​the non-working angle of the detection device 120, which can prevent the inner optical path unit 20 from affecting the detection device 120 in scanning the target object.

[0202] See also Figure 10 The operating angle of the detection device 120 refers to the range within which the target object can appear when the lidar 100 is installed on a device such as the display screen 200. For example, see [link to example]. Figure 10 The working angle of the detection device 120 is 0° to 180°, and the non-working angle of the detection device 120 is 180° to 360°. Of course, the working angle of the detection device 120 can be other than 0° to 180°. For example, in some embodiments, the working angle of the detection device 120 can be 30° to 160°.

[0203] It should be noted that when the laser beam emitted by the detection device 120 is within the working angle range, the laser beam can measure the distance to a target object located within the working angle range. When the laser beam emitted by the detection device 120 is outside the working angle range, the laser beam can illuminate the inner optical path unit 20, thereby collecting the correction values ​​corresponding to different reflectivities at a certain temperature, so as to obtain the distance measurement error compensation values ​​corresponding to different reflectivities at a certain temperature.

[0204] It should also be noted that, in some embodiments, in addition to being arranged outside the range corresponding to the working angle, the actual appearance range of the target object is such that, for example, when the LiDAR 100 is arranged on the top side of the display screen 200, the top side area of ​​the display screen 200 is not a commonly used touch or writing area. Therefore, at least a portion of the inner optical path unit 20 can also be arranged inside the area corresponding to the working angle. Furthermore, when there are multiple inner optical path units 20, at least a portion of each inner optical path unit 20 can be arranged inside the area corresponding to the working angle, or at least a portion of a portion of the multiple inner optical path units 20 can be arranged inside the area corresponding to the working angle.

[0205] In this embodiment of the application, the number of internal optical path units 20 can be one or more. For example, the number of internal optical path units 20 can be two, and the two internal optical path units 20 can be arranged at intervals around the first rotation axis. The included angle between the two internal optical path units 20 can be, but is not limited to, 90°, 80°, etc.

[0206] In some possible implementations, the reflectivity is the same at all points in at least one internal optical path unit 20. Therefore, the uniform reflectivity of the internal optical path unit 20 to the laser beam reduces the manufacturing difficulty of the internal optical path unit 20.

[0207] When there are multiple internal optical path units 20, the reflectivity of each internal optical path unit 20 can be the same, or the reflectivity of some of the multiple internal optical path units 20 can be the same, while the reflectivity of other parts can be different.

[0208] In some embodiments, when there are multiple internal optical path units 20 and the reflectivity of each internal optical path unit 20 is the same, the structures of the areas in contact with the laser beam of any two internal optical path units 20 are different. This configuration can further broaden the range of reflectivity variation that the internal optical path units 20 can cover.

[0209] Figure 11 This is a schematic diagram of another structure of the internal optical path unit 20 provided in an embodiment of this application.

[0210] See also some possible implementations. Figure 11 At least one internal optical path unit 20 includes a plurality of light guiding regions 25, at least two of which have different reflectivities. This configuration, where at least two regions of the internal optical path unit 20 have different reflectivities to the laser beam, further broadens the range of reflectivity variations that the internal optical path unit 20 can cover.

[0211] When there are multiple internal optical path units 20, each internal optical path unit 20 can be formed by multiple light guiding regions 25, or some of the internal optical path units 20 can be formed by multiple light guiding regions 25.

[0212] The specific arrangement of the multiple light-guiding regions 25 is not limited here. For example, the multiple light-guiding regions 25 of the inner optical path unit 20 can be arranged sequentially along the rotation direction of the inner optical path unit 20 or the rotation direction of the scanning module 30. Alternatively, in some embodiments, the multiple light-guiding regions 25 of the inner optical path unit 20 can also be arranged sequentially along the extension direction of the rotation axis of the inner optical path unit 20 or the scanning module.

[0213] The reflectivity distribution of the multiple light guide regions 25 is not limited here. For example, along the rotation direction of the inner optical path unit 20 or the rotation direction of the scanning module 30, the reflectivity of the multiple light guide regions 25 gradually increases. For example, if there are three light guide regions 25, the reflectivity of the three light guide regions 25 can be 20%, 50%, and 70% respectively.

[0214] In some possible implementations, there are multiple internal optical path units 20, and at least two of the internal optical path units 20 have different reflectivities. For example, there are two internal optical path units 20, one with a low reflectivity and the other with a high reflectivity. This configuration can further broaden the range of reflectivity variations that the internal optical path units 20 can cover.

[0215] Wherein, when the reflectivity of any two internal optical path units 20 is different, the reflectivity of any two internal optical path units 20 can be the same at all points, or, any two internal optical path units 20 can be composed of multiple light guiding regions 25, or, one of the two internal optical path units 20 has the same reflectivity at all points and the other is composed of multiple light guiding regions 25.

[0216] The specific reflectivity of the multiple internal optical path units 20 is not limited here. For example, the number of internal optical path units 20 is two, one of which has a reflectivity of 20% to 40%, and the other has a reflectivity of 60% to 85%.

[0217] Figure 12 for Figure 5 A schematic diagram of point A in the middle.

[0218] See also some possible implementations. Figure 12At least one internal optical path unit 20 includes a first reflective surface 21, which is used to receive the laser beam emitted by the detection device 120. A portion of the surface of the carrier 10 is the first reflective surface 21. This arrangement, which utilizes a portion of the surface of the carrier 10 to form the first reflective surface 21, can reduce the cost of the internal optical path unit 20 and help reduce the cost of the lidar 100.

[0219] In order for the internal optical path unit 20 to project the received laser beam onto the detection device 120, in some embodiments, see continue to the previous section. Figure 12 The inner optical path unit 20, which has a first reflective surface 21, also includes a second reflective surface 22, and a portion of the surface of the carrier 10 is the second reflective surface 22. When the laser beam emitted by the detection device 120 irradiates the inner optical path unit 20, the first reflective surface 21 is used to reflect the laser beam emitted by the detection device 120 to the second reflective surface 22, and the second reflective surface 22 is used to reflect the laser beam from the first reflective surface 21 back to the detection device 120.

[0220] Of course, in addition to being constructed by the first reflecting surface 21 and the second reflecting surface 22, in some embodiments, the inner optical path unit 20 can also remove the second reflecting surface 22. In this case, the inner optical path unit 20 is equivalent to being constructed by the first reflecting surface 21, which can reflect the laser beam emitted by the detection device 120 back to the detection device 120.

[0221] Alternatively, in some embodiments, the internal optical path unit 20 may be composed of at least three reflective surfaces. For example, the internal optical path unit 20 may also include a third reflective surface, which is a portion of the surface of the carrier 10. The third reflective surface can reflect the laser beam from the first reflective surface 21 to the second reflective surface 22.

[0222] Therefore, the internal optical path unit 20 can be constructed using at least one reflective surface formed by a portion of the surface of the carrier 10, which reduces the cost of the internal optical path unit 20 and helps to reduce the cost of the lidar 100. It should be noted that when adjusting the contact area between the internal optical path unit 20 and the laser beam by rotating the internal optical path unit 20 around the second rotation axis, since the internal optical path unit 20 is constructed using at least one reflective surface formed by a portion of the surface of the carrier 10, the rotation of the carrier 10 around the second rotation axis allows the internal optical path unit 20 to rotate around the second rotation axis.

[0223] In some embodiments, a portion of the surface of the carrier 10 is polished to form a first reflective surface 21, which can make the reflectivity of the first reflective surface 21 a preset reflectivity. In addition, it can reduce the difficulty of using a portion of the surface of the carrier 10 as the first reflective surface 21.

[0224] It should be noted that, in addition to polishing a portion of the surface of the carrier 10 to form the first reflective surface 21, other methods can also be used to process a portion of the surface of the carrier 10, such as sandblasting / shot peening, grinding, etc., to form the first reflective surface 21.

[0225] In some embodiments, a portion of the surface of the carrier 10 is polished to form a second reflective surface 22, which can make the reflectivity of the second reflective surface 22 a preset reflectivity. In addition, it can reduce the difficulty of using a portion of the surface of the carrier 10 as the second reflective surface 22.

[0226] It should be noted that, in addition to polishing a portion of the surface of the carrier 10 to form the second reflective surface 22, other processing methods can also be used to process a portion of the surface of the carrier 10, such as sandblasting / shot peening, grinding, etc., to form the second reflective surface 22.

[0227] In some embodiments, when the internal optical path unit 20 includes multiple reflective surfaces, at least two reflective surfaces have the same reflectivity. For example, the second reflective surface 22 has the same reflectivity as the first reflective surface 21. This configuration allows multiple reflective surfaces with the same reflectivity to be formed on the carrier 10 using the same processing technology. For example, by processing a portion of the surface of the carrier 10 through a polishing process to form the first reflective surface 21 and the second reflective surface 22 with the same reflectivity, the processing cost of the carrier 10 can be reduced, thus helping to reduce the cost of the lidar 100.

[0228] Alternatively, in some embodiments, when the internal optical path unit 20 includes multiple reflective surfaces, the reflectivity of any two reflective surfaces may be different. For example, the reflectivity of the first reflective surface 21 and the second reflective surface 22 may be different.

[0229] See also some possible implementations. Figure 12 The carrier 10 is provided with a first groove 11, the first groove sidewall of the first groove 11 forms a first reflective surface 21, and the second groove sidewall of the first groove 11 forms a second reflective surface 22. This arrangement reduces the difficulty of setting the first reflective surface 21 at a preset tilt angle on the carrier 10 and also helps to miniaturize the lidar 100.

[0230] Wherein, along the direction from the opening to the bottom of the first groove 11, the distance between the first reflective surface 21 and the second reflective surface 22 (e.g.) Figure 12 The laser beam emitted by the detection device 120 is gradually reduced in the middle (L1), so that both the first reflecting surface 21 and the second reflecting surface 22 are inclined surfaces. This ensures that the first reflecting surface 21 receives the laser beam emitted by the detection device 120, and that the second reflecting surface 22 reflects the laser beam from the first reflecting surface 21 back to the detection device 120.

[0231] The carrier 10 may be provided with one or more first grooves 11. For example, the carrier 10 may be provided with two first grooves 11, and the two first grooves 11 correspond to one internal optical path unit 20 respectively.

[0232] Figure 13 for Figure 5 Another cross-sectional view of the carrier component.

[0233] In some embodiments, combined with Figure 5 and Figure 13 It can be seen that the first reflecting surface 21 can be a curved structure. Of course, the first reflecting surface 21 can also be a planar structure. Or in some embodiments, a part of the first reflecting surface 21 can be a curved structure and another part can be a planar structure.

[0234] When the internal optical path unit 20 is composed of multiple reflective surfaces, the other reflective surfaces besides the first reflective surface 21 can also be curved structures, planar structures, or a combination of planar and curved structures.

[0235] In some embodiments, the shape of the orthographic projection of the first reflecting surface 21 onto the projection plane may include, but is not limited to, regular shapes such as trapezoids, rectangles, circles, and regular pentagons, or it may also be an irregular shape. For example... Figure 13 As shown, the shape of the orthographic projection of the first reflecting surface 21 onto the projection plane is similar to a trapezoid.

[0236] When the internal optical path unit 20 is composed of multiple reflective surfaces, the shape of the orthographic projection of the other reflective surfaces besides the first reflective surface 21 on the projection plane can be, but is not limited to, a trapezoid, rectangle, circle, regular pentagon, or an irregular shape.

[0237] In some embodiments, the internal optical path unit 20 includes a plurality of reflective surfaces, and the reflectivity of each reflective surface of the internal optical path unit 20 is the same at all points. For example, the reflectivity of the first reflective surface 21 and the second reflective surface 22 is the same at all points.

[0238] Figure 14 This is a schematic diagram of a structure of the first reflective surface 21 provided in an embodiment of this application.

[0239] Alternatively, in some embodiments, any reflective surface of the internal optical path unit 20 includes multiple sub-reflective regions, and any two sub-reflective regions have different reflectivities. In this case, sub-reflective regions with the same reflectivity can constitute the light guiding region 25. For example, as shown... Figure 14As shown, the internal optical path unit 20 is composed of a first reflective surface 21 and a second reflective surface 22. Both the first reflective surface 21 and the second reflective surface 22 include a first sub-reflective region 261 and a second sub-reflective region 262. The two first sub-reflective regions 261 constitute a first light guiding region 25a, and the two second sub-reflective regions 262 constitute a second light guiding region 25b. The reflectivity of the first light guiding region 25a is different from that of the second light guiding region 25b.

[0240] Figure 15 This is another structural schematic diagram of the lidar 100 provided in an embodiment of this application.

[0241] See also some possible implementations. Figure 15 At least one internal optical path unit 20 includes a first reflector 23, which is fixedly connected to the carrier 10. The first reflector 23 is used to receive the laser beam emitted by the detection device 120. This arrangement reduces the structural requirements of the carrier 10 and simplifies the arrangement of the internal optical path unit 20. Furthermore, it also reduces the difficulty of setting the reflectivity of the internal optical path unit 20 to a preset reflectivity.

[0242] Figure 16 for Figure 15 A schematic diagram at point B in the middle.

[0243] In order for the internal optical path unit 20 to project the received laser beam onto the detection device 120, in some embodiments, see continue to the previous section. Figure 16 The internal optical path unit 20, which has a first reflector 23, also includes a second reflector 24. When the laser beam emitted by the detection device 120 illuminates the internal optical path unit 20, the first reflector 23 is used to reflect the laser beam emitted by the detection device 120 to the second reflector 24, and the second reflector 24 is used to reflect the laser beam from the first reflector 23 back to the detection device 120.

[0244] Of course, in addition to being constructed by the first reflector 23 and the second reflector 24, in some embodiments, the inner optical path unit 20 can also remove the second reflector 24. In this case, the inner optical path unit 20 is equivalent to being constructed by the first reflector 23, which can reflect the laser beam emitted by the detection device 120 back to the detection device 120.

[0245] Alternatively, in some embodiments, the internal optical path unit 20 may be composed of at least three reflectors. For example, the internal optical path unit 20 may also include a third reflector, which may reflect the laser beam from the first reflector 23 to the second reflector 24.

[0246] Therefore, the inner optical path unit 20 can be constructed by at least one reflector with the same reflectivity that is fixedly connected to the carrier 10. In addition, when the contact area between the inner optical path unit 20 and the laser beam is adjusted by rotating the inner optical path unit 20 around the second rotation axis, since the reflector is fixedly connected to the carrier 10, the carrier 10 can rotate around the second rotation axis, thereby enabling the inner optical path unit 20 to rotate around the second rotation axis.

[0247] In some implementations, the internal optical path unit 20 includes multiple reflectors, with at least two reflectors having the same reflectivity. For example, the second reflector 24 has the same reflectivity as the first reflector 23. This configuration allows the use of two reflectors with the same reflectivity as the first reflector 23 and the second reflector 24, eliminating the need to prepare two reflectors with different reflectivities and reducing the cost of the lidar 100.

[0248] Alternatively, in some embodiments, the internal optical path unit 20 includes a plurality of reflectors, any two of which have the same reflectivity. For example, the reflectivity of the second reflector 24 is different from that of the first reflector 23.

[0249] See also the following for some possible implementations. Figure 16 The support member 10 is provided with a second groove 12, and the first reflector 23 and the second reflector 24 are respectively fixedly connected to the two sidewalls of the second groove 12. This arrangement can reduce the impact of the first reflector 23 and the second reflector 24 on the volume of the lidar 100, which helps to miniaturize the lidar 100.

[0250] In this process, the distance between the first reflector 23 and the second reflector 24 gradually decreases along the direction from the opening to the bottom of the second groove 12, so that the reflecting surfaces of the first reflector 23 and the second reflector 24 are both inclined surfaces. This ensures that the first reflector 23 receives the laser beam emitted by the detection device 120, and that the second reflector 24 reflects the laser beam from the first reflector 23 back to the detection device 120.

[0251] One or more second grooves 12 may be provided on the carrier 10. When the carrier 10 has one second groove 12, at least one internal optical path unit 20 composed of a reflector is provided on the groove sidewall of the second groove 12. When the carrier 10 has multiple second grooves 12, at least one internal optical path unit 20 composed of a reflector may be provided on the groove wall of each second groove 12.

[0252] In some possible implementations, the first reflector 23 and the second reflector 24 are both mirrors. In this way, mirrors in the prior art can be used as the first reflector 23 and the second reflector 24, which can reduce the manufacturing difficulty of the internal optical path unit 20.

[0253] Of course, the first reflector 23 and the second reflector 24 can be other structures besides mirrors. For example, the first reflector 23 and the second reflector 24 can both be reflective films fixedly connected to the carrier 10.

[0254] The reflective film can be attached to the surface of the carrier 10 by adhesive bonding, which reduces the difficulty of connecting the reflective film to the carrier 10.

[0255] In some embodiments, the reflective surfaces of the first reflector 23 and the second reflector 24 are both planar, which can reduce the manufacturing difficulty of the first reflector 23 and the second reflector 24.

[0256] Of course, the reflecting surface of the first reflector 23 does not have to be a plane; for example, it can be a curved surface. Similarly, the reflecting surface of the second reflector 24 also does not have to be a plane; for example, it can be a curved surface.

[0257] In some embodiments, the shape of the orthographic projection of the reflecting surface of the first reflector 23 onto the projection plane may include, but is not limited to, regular shapes such as trapezoids, rectangles, circles, and regular pentagons, or it may also be an irregular shape. For example Figure 13 As shown, the shape of the orthographic projection of the reflecting surface of the first reflector 23 onto the projection plane is similar to a trapezoid.

[0258] When the internal optical path unit 20 is composed of multiple reflectors, the shape of the orthographic projection of the reflective surface of the other reflectors besides the first reflector 23 onto the projection plane can be, but is not limited to, a trapezoid, rectangle, circle, regular pentagon, or an irregular shape.

[0259] In some embodiments, the internal optical path unit 20 includes a plurality of reflectors, each of which has the same reflectivity at all points. For example, the first reflector 23 and the second reflector 24 have the same reflectivity at all points, so that the reflectivity of each of the reflectors in the internal optical path unit 20 is the same at all points.

[0260] Figure 17 This is a schematic diagram of another structure of the internal optical path unit 20 provided in an embodiment of this application.

[0261] Alternatively, in some embodiments, each reflector of the internal optical path unit 20 includes multiple reflective sub-sections, and any two reflective sub-sections have different reflectivities. In this case, reflective sub-sections with the same reflectivity constitute the light guiding region 25. For example, as... Figure 17As shown, both the first reflector 23 and the second reflector 24 include a first reflector sub-section 271 and a second reflector sub-section 272 with different reflectivities. The two first reflector sub-sections 271 constitute a first light guiding region 25a, and the two second reflector sub-sections 272 constitute a second light guiding region 25b. The reflectivity of the first light guiding region 25a is different from that of the second light guiding region 25b.

[0262] Figure 18 This is another structural schematic diagram of the lidar 100 provided in an embodiment of this application.

[0263] Of course, besides being constructed using the reflective surface or reflector described above, the internal optical path unit 20 can also be other structures. In some possible implementations, at least one internal optical path unit 20 may also be, but is not limited to, an optical fiber (such as... Figure 18 (As shown), glass rods or light guide pillars, etc. When the internal optical path unit 20 is an optical fiber, glass rod, or light guide pillar, etc., see [reference needed]. Figure 18 When the laser beam emitted by the detection device 120 irradiates the inner optical path unit 20, the laser beam emitted by the detection device 120 enters the interior of the inner optical path unit 20 from the light-inlet surface of the inner optical path unit 20, and the laser beam inside the inner optical path unit 20 exits from the light-outlet surface of the inner optical path unit 20 and is emitted back to the detection device 120.

[0264] It should be noted that the structure of the internal optical path unit 20 may include, but is not limited to, the structures described above. These will not be elaborated upon here, as long as the internal optical path unit 20 can project the laser beam emitted by the detection device 120 onto the detection device 120. Furthermore, when there are multiple internal optical path units 20, the structures of each internal optical path unit 20 may be the same or different; or, some of the multiple internal optical path units 20 may have the same structure while others may have different structures.

[0265] Figure 19 This is another schematic diagram of the structure of the lidar provided in the embodiments of this application.

[0266] See also some possible implementations. Figure 19 The laser beam emitted by the detection device 120 passes through the inner optical path unit 20 by refraction and reflection. Thus, the laser beam is refracted and reflected inside the inner optical path unit 20, so that multiple laser beams with different energies from the inner optical path unit 20 are sequentially projected onto the detection device 120.

[0267] When the laser beam is refracted and reflected inside the inner optical path unit 20, the positions of both the inner optical path unit 20 and the detection device 120 can remain unchanged.

[0268] The specific structure of the inner optical path unit 20, which can reflect and refract the laser beam, is not limited here. For example, see... Figure 19 The internal optical path unit 20 may include a first dielectric body 28 and a second dielectric body 29, with the first dielectric body 28 and the second dielectric body 29 bonded together. When the laser beam emitted by the detection device 120 irradiates the internal optical path unit 20, the laser beam enters the interior of the second dielectric body 20 from the surface of the second dielectric body 29. The laser beam passes through the bonding interface between the first dielectric body 28 and the second dielectric body 29 by refraction and enters the first dielectric body 28. The laser beam inside the first dielectric body 28 is reflected by the reflective surface of the first dielectric body 28 and enters the bonding interface between the first dielectric body 28 and the second dielectric body 29, and enters the interior of the second dielectric body 29 by refraction. Finally, it is transmitted to the detection device 120 through the surface of the second dielectric body 29.

[0269] In some possible implementations, the lidar 100 also includes a housing, which serves as a carrier 10; that is, the carrier 10 acts as the housing of the lidar 100. This arrangement reduces the number of parts in the lidar 100 and helps simplify its structure.

[0270] Of course, in addition to using the housing as the carrier 10, in some embodiments, the lidar 100 has both a housing and a carrier 10. The housing and the carrier 10 can be two separate parts, with the carrier 10 located inside the housing. In some embodiments, the housing can be fixedly connected to the carrier 10, for example, the carrier 10 can be fixedly connected to the housing by a threaded connection.

[0271] In some embodiments, see Figure 18 The detection device 120 may be located inside the housing. Alternatively, in some embodiments, a portion of the detection device 120 may be located inside the housing; for example, the scanning module 30 of the detection device 120 may be located inside the housing, while the detector 50 and laser emitter 40 of the detection device 120 may be located outside the housing.

[0272] In some possible implementations, the lidar 100 may further include a control device (not shown in the figure), wherein: when the laser beam emitted by the detection device 120 illuminates the inner optical path unit 20, the control device controls the detection device 120 to sequentially emit multiple laser beams of different energies, so that the multiple laser beams of different energies sequentially enter the inner optical path of the inner optical path unit 20. Alternatively, when the laser beam emitted by the detection device 120 illuminates the inner optical path unit 20, the control device controls the laser beam emitted by the detection device 120 to sequentially illuminate multiple areas of different sizes in the inner optical path unit 20, so that the multiple laser beams of different energies sequentially enter the inner optical path of the inner optical path unit 20.

[0273] When the control device controls the laser beam emitted by the detection device 120 to sequentially irradiate multiple areas of different sizes in the inner optical path unit 20, the control device can control the inner optical path unit 20 to move relative to the detection device 120, or control the detection device 120 to move, or control the reflective device 70 to move.

[0274] When the control device is used to control the detection device 120 to emit multiple laser beams with different energies in sequence, the control device can control the light emission power of the laser emitter 40 to change, so that the laser emitter 40 generates multiple laser beams with different energies in sequence.

[0275] This application also provides an electronic device, which includes the lidar 100 described above.

[0276] Among them, electronic equipment may include, but is not limited to, display devices, security equipment, drones, intelligent manufacturing equipment, vehicles, robots, terminal equipment, intelligent transportation equipment (such as automated guided vehicles (AGVs) or unmanned vehicles, etc.), etc.

[0277] The means of transportation can include cars, boats, recreational vehicles, amusement park vehicles, construction equipment, trams, golf carts, airplanes, and trains.

[0278] The display device can be a smart screen, monitor, or other device with a display screen 200. A smart screen can also be called a smart large screen or a television.

[0279] Figure 20 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application.

[0280] See also some possible implementations. Figure 20 The electronic device includes a display screen 200 and a lidar 100. The lidar 100 is set on the outer frame of the display screen 200. The target object can be a touch tool or a finger. At this time, the lidar 100 emits a detection beam into the surrounding space. After the detection beam shines on the target object, the distance and angle of the target object relative to the lidar 100 can be obtained after signal processing based on the reflected beam returning to the lidar 100, thereby realizing touch and handwriting functions to improve the user experience.

[0281] See also Figure 20 The lidar 100 is installed on the top side of the display screen 200. Of course, the lidar 100 can also be installed on the left, right or bottom side of the display screen 200.

[0282] For example, see [link to previous article] Figure 20The laser radar 100 can detect the light beam and perform 360° rotation scanning in the horizontal direction. At the same time, the laser radar 100 can receive the reflected light beam reflected back from the target object, so that the scanning range of the laser radar 100 covers the display area of ​​the display screen 200, which can improve the user experience.

[0283] Optionally, in some designs, the probe beam can also perform a 180° rotation scan, or perform rotation scans of other angle ranges depending on the specific application scenario and interactive experience; or even dynamically adjust the scanning angle range during execution in combination with changes in the interactive scenario or user intent.

[0284] This application also provides an electronic system, which includes an electronic device and a lidar 100 as described above, wherein the lidar 100 is communicatively connected to the electronic device. The electronic device can achieve corresponding functional scenarios through communication and interaction with the lidar 100. For example, when the electronic device is a smart screen, the smart screen can acquire real-time collected data through communication with the lidar 100 to enable handwriting or touch interaction between the user and the screen.

[0285] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, an indirect connection through an intermediate medium, or the internal connection of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application according to the specific circumstances. The terms "first," "second," "third," "fourth," etc. (if present) are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0286] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the embodiments of this application, and are not intended to limit them. Although the embodiments of this application have been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A lidar (100), characterized in that, include: An optical path assembly (110) includes a carrier (10) and at least one inner optical path unit (20), wherein the inner optical path unit (20) is disposed on the carrier (10) and the reflectivity of the inner optical path unit (20) is different from that of the carrier (10); A detection device (120) is used to emit and receive laser beams; When the detection device (120) sequentially emits multiple laser beams that illuminate the inner optical path unit (20), the multiple laser beams sequentially form multiple outgoing beams with different energies after passing through the inner optical path unit (20), and the detection device (120) sequentially receives the multiple outgoing beams with different energies.

2. The lidar (100) according to claim 1, characterized in that, When the laser beam emitted by the detection device (120) irradiates the inner optical path unit (20), the laser beam emitted by the detection device (120) is used to sequentially irradiate multiple areas of different sizes of the inner optical path unit (20), so that the multiple laser beams sequentially form multiple outgoing beams of different energies after passing through the inner optical path unit (20).

3. The lidar (100) according to claim 2, characterized in that, When the laser beam emitted by the detection device (120) irradiates the inner optical path unit (20), multiple relative movements of light are constructed between the detection device (120) and the inner optical path unit (20) over a period of time to form multiple outgoing beams with different energies.

4. The lidar (100) according to claim 2 or 3, characterized in that, When the laser beam emitted by the detection device (120) irradiates the inner optical path unit (20), the movement of the detection device (120) causes the laser beam emitted by the detection device (120) to sequentially irradiate multiple areas of different sizes of the inner optical path unit (20).

5. The lidar (100) according to claim 4, characterized in that, When the laser beam emitted by the detection device (120) irradiates the inner optical path unit (20), the laser beam emitted by the detection device (120) is used to rotate around the first rotation axis so that the laser beam emitted by the detection device (120) sequentially irradiates multiple areas of different sizes of the inner optical path unit (20).

6. The lidar (100) according to claim 5, characterized in that, The detection device (120) includes a scanning module (30), a laser emitter (40), and a detector (50); The scanning module (30) is used to project the laser beam emitted by the laser emitter (40) onto the target object or the internal optical path unit (20). The scanning module (30) is also used to project the laser beam from the target object or the internal optical path unit (20) onto the detector (50). When the scanning module (30) projects the laser beam from the laser emitter (40) onto the inner optical path unit (20), the scanning module (30) is used to rotate around the first rotation axis so that the laser beam emitted by the detection device (120) sequentially irradiates multiple areas of different sizes of the inner optical path unit (20).

7. The lidar (100) according to claim 6, characterized in that, The detection device (120) is a coaxial detection device (120), or the detection device (120) is a paraaxial detection device (120).

8. The lidar (100) according to claim 7, characterized in that, When the detection device (120) is a paraxial structure detection device (120), the scanning module (30) includes: The emission and reflection element (31) is used to reflect the laser beam emitted by the laser emitter (40) to the target object or the internal optical path unit (20); A receiving reflective element (32) is used to reflect a laser beam from the target object or the internal optical path unit (20) to the detector (50).

9. The lidar (100) according to claim 2 or 3, characterized in that, When the laser beam emitted by the detection device (120) irradiates the inner optical path unit (20), the inner optical path unit (20) is used to move relative to the detection device (120) so that the laser beam emitted by the detection device (120) sequentially irradiates multiple areas of different sizes of the inner optical path unit (20).

10. The lidar (100) according to claim 9, characterized in that, When the laser beam emitted by the detection device (120) irradiates the inner optical path unit (20), the inner optical path unit (20) is used to rotate around the second rotation axis so that the laser beam emitted by the detection device (120) sequentially irradiates multiple areas of different sizes of the inner optical path unit (20).

11. The lidar (100) according to claim 2 or 3, characterized in that, The lidar (100) further includes a reflective device (70) for reflecting the laser beam emitted by the detection device (120) to the internal optical path unit (20); When the laser beam emitted by the detection device (120) irradiates the inner optical path unit (20), the reflective device (70) is used to move relative to the inner optical path unit (20) so that the laser beam emitted by the detection device (120) sequentially irradiates multiple areas of different sizes of the inner optical path unit (20).

12. The lidar (100) according to claim 11, characterized in that, When the laser beam emitted by the detection device (120) irradiates the inner optical path unit (20), the reflective device (70) is used to rotate around the third rotation axis so that the laser beam emitted by the detection device (120) sequentially irradiates multiple areas of different sizes of the inner optical path unit (20).

13. The lidar (100) according to claim 1, characterized in that, When the laser beam emitted by the detection device (120) illuminates the inner optical path unit (20), the detection device (120) is used to sequentially emit multiple laser beams with different energies, and the multiple laser beams with different energies sequentially correspond to the multiple emitted beams emitted by the inner optical path unit (20).

14. The lidar (100) according to claim 13, characterized in that, When the laser beam emitted by the detection device (120) illuminates the internal optical path unit (20), the laser emitter (40) of the detection device (120) sequentially generates multiple laser beams with different energies via the optical processing unit.

15. The lidar (100) according to claim 14, characterized in that, The light processing unit includes a grating and / or a light-shielding sheet having multiple regions with different transmittance.

16. The lidar (100) according to any one of claims 1-15, characterized in that, The reflectivity is the same at all points in at least one of the internal optical path units (20).

17. The lidar (100) according to any one of claims 1-16, characterized in that, At least one of the internal optical path units (20) includes a plurality of light guiding regions (25), wherein at least two of the light guiding regions (25) have different reflectivities.

18. The lidar (100) according to any one of claims 1-17, characterized in that, The number of internal optical path units (20) is multiple, wherein at least two of the internal optical path units (20) have different reflectivities.

19. The lidar (100) according to any one of claims 1-18, characterized in that, At least one of the internal optical path units (20) includes a first reflective surface (21) for receiving a laser beam emitted by the detection device (120), and a portion of the surface of the carrier (10) is the first reflective surface (21).

20. The lidar (100) according to claim 19, characterized in that, A portion of the surface of the carrier (10) is polished to form the first reflective surface (21).

21. The lidar (100) according to claim 19 or 20, characterized in that, The inner optical path unit (20) having the first reflective surface (21) further includes a second reflective surface (22), and a portion of the surface of the carrier (10) is the second reflective surface (22); When the laser beam emitted by the detection device (120) illuminates the internal optical path unit (20), the first reflective surface (21) is used to reflect the laser beam emitted by the detection device (120) to the second reflective surface (22), and the second reflective surface (22) is used to reflect the laser beam from the first reflective surface (21) back to the detection device (120).

22. The lidar (100) according to claim 21, characterized in that, A portion of the surface of the carrier (10) is polished to form the second reflective surface (22); and / or, The second reflective surface (22) has the same reflectivity as the first reflective surface (21).

23. The lidar (100) according to claim 21 or 22, characterized in that, The support member (10) is provided with a first groove (11), the first groove sidewall of the first groove (11) forms the first reflective surface (21), and the second groove sidewall of the first groove (11) forms the second reflective surface (22).

24. The lidar (100) according to any one of claims 1-23, characterized in that, At least one of the internal optical path units (20) includes a first reflector (23), which is fixedly connected to the carrier (10) and is used to receive the laser beam emitted by the detection device (120).

25. The lidar (100) according to claim 24, characterized in that, The internal optical path unit (20) having the first reflector (23) further includes a second reflector (24); When the laser beam emitted by the detection device (120) illuminates the internal optical path unit (20), the first reflector (23) is used to reflect the laser beam emitted by the detection device (120) to the second reflector (24), and the second reflector (24) is used to reflect the laser beam from the first reflector (23) to the detection device (120).

26. The lidar (100) according to claim 25, characterized in that, Both the first reflector (23) and the second reflector (24) are mirrors; or, The first reflector (23) and the second reflector (24) are both reflective films fixedly connected to the carrier (10).

27. The lidar (100) according to claim 25 or 26, characterized in that, The reflectivity of the second reflector (24) is the same as that of the first reflector (23); and / or, The support member (10) is provided with a second groove (12), and the first reflector (23) and the second reflector (24) are respectively fixedly connected to the two sidewalls of the second groove (12).

28. The lidar (100) according to any one of claims 1-27, characterized in that, At least one of the internal optical path units (20) includes one of the following structures: optical fiber, glass rod, or light guide column; When the laser beam emitted by the detection device (120) irradiates the inner optical path unit (20), the laser beam emitted by the detection device (120) enters the interior of the inner optical path unit (20) from the light-inlet surface of the inner optical path unit (20), and the laser beam inside the inner optical path unit (20) exits from the light-outlet surface of the inner optical path unit (20) and is emitted to the detection device (120).

29. The lidar (100) according to any one of claims 1-19, characterized in that, The laser beam emitted by the detection device (120) passes through the internal optical path unit (20) by refraction and reflection.

30. The lidar (100) according to any one of claims 1-29, characterized in that, The internal optical path unit (20) is located outside the area corresponding to the working angle of the detection device (120).

31. The lidar (100) according to any one of claims 1-30, characterized in that, The lidar (100) also includes a housing, which serves as the carrier (10).

32. The lidar (100) according to any one of claims 1-31, characterized in that, The detection device (120) is also used for: Based on the multiple emitted beams with different energies received sequentially by the detection device (120), the first ranging error compensation value corresponding to the target object with the first reflectivity in the current working environment is determined.

33. The lidar (100) according to claim 32, characterized in that, The detection device (120) is also used for: Based on the multiple emitted beams with different energies received sequentially by the detection device (120), the second ranging error compensation value corresponding to the target object with the second reflectivity in the current working environment is determined.

34. The lidar (100) according to claim 32 or 33, characterized in that, Before determining the ranging error compensation value corresponding to the target object with the first reflectivity in the current working environment, the detection device (120) is also used for: Based on the multiple emitted beams with different energies received sequentially by the detection device (120), the compensation curves corresponding to different reflectivities and ranging error compensation values ​​under the current environment are determined; The compensation curve is used to compensate for the actual distance measurement value of the target object collected by the detection device (120) in the current environment.

35. The lidar (100) according to any one of claims 32-34, characterized in that, The current environment includes at least one of the following parameters: temperature, humidity, or pressure.

36. An electronic device, characterized in that, Including the lidar (100) as described in any one of claims 1-35.

37. The electronic device according to claim 36, characterized in that, The electronic device also includes a display screen (200), and the lidar (100) is disposed on the outer frame of the display screen (200).

38. The electronic device according to claim 37, characterized in that, The electronic device is a smart screen.

39. An electronic system, characterized in that, Includes electronic equipment and a lidar (100) as claimed in any one of claims 1-35, wherein the lidar (100) is communicatively connected to the electronic equipment.

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