Optical detection device and movable platform

Abstract

The embodiment of the application provides an optical detection device and a movable platform, and relates to the technical field of vehicle perception. The optical detection device comprises a front lens module, an image sensor, a laser receiver and a reflecting element. The front lens module is arranged close to an object space and is used for receiving a light beam from the object space. The front lens module has a negative focal length. The image sensor is arranged on the image side of the front lens module. The image sensor is used for receiving visible light to realize imaging. The laser receiver is arranged on the image side of the front lens module. The laser receiver is used for receiving near-infrared light to realize point cloud detection. The reflecting element is arranged on the light path from the front lens module to the laser receiver and / or on the light path from the front lens module to the image sensor. The embodiment of the application can improve the fusion accuracy of multiple sensors, simplify calibration, and be conducive to realizing miniaturization packaging and wide field coverage.

Description

Technical Field

[0001] This application relates to the field of vehicle sensing technology, and in particular to an optical detection device and a mobile platform. Background Technology

[0002] Accurate perception of the near blind spots on the sides of a vehicle is a key technological requirement for achieving safe autonomous driving. The detection device can achieve this perception requirement by setting up surround-view cameras and blind spot-filling lidar. The former is used to achieve visual imaging, and the latter is used for three-dimensional ranging.

[0003] The detection devices in related technologies are easily affected by the relative positions between sensors in near-range target perception, resulting in a decrease in fusion positioning accuracy. At the same time, the external parameter calibration process is complex and the stability is insufficient under long-term operation. Furthermore, the overall size of the module and the adaptability of the optical path layout are limited, making it difficult to meet the requirements of narrow installation space and ultra-wide-angle coverage.

[0004] Therefore, how to improve the accuracy of multi-sensor fusion, reduce calibration complexity, and balance miniaturized packaging with wide field of view detection in vehicle side blind spot perception has become a technical problem that needs to be solved. Summary of the Invention

[0005] This application provides an optical detection device and a mobile platform that can improve the fusion accuracy of multiple sensors, simplify calibration, and facilitate miniaturized packaging and wide field of view coverage.

[0006] In a first aspect, embodiments of this application provide an optical detection device, which includes:

[0007] The front-facing camera module is positioned close to the object space and is used to receive light beams from the object space. The front-facing camera module has negative optical power.

[0008] An image sensor is located on the image side of the front-facing camera module. The image sensor is used to receive visible light to achieve imaging.

[0009] A laser receiver is located on the image side of the front-facing lens module. The laser receiver is used to receive near-infrared light to achieve point cloud detection.

[0010] And reflective elements, which are disposed in the optical path from the front lens module to the laser receiver and / or from the front lens module to the image sensor.

[0011] According to the optical detection device described in the first aspect, by setting a front-facing lens module with negative optical power close to the object space, and respectively arranging an image sensor for receiving visible light, a laser receiver for receiving near-infrared light, and a reflective element arranged in the optical path from the front-facing lens module to the laser receiver and / or the image sensor, it is possible to simultaneously perform visible light imaging and near-infrared light point cloud detection within the same optical detection device, reduce the influence of the relative position difference of different sensors on the perception results, thereby improving the fusion accuracy of multiple sensors, simplifying calibration, and facilitating miniaturized packaging and wide field of view coverage.

[0012] In one possible embodiment, the optical detection device further includes a beam splitter disposed on the light-emitting side of the reflective element. The beam splitter is used to split the light beam into a first beam containing visible light and emitted from a first direction and a second beam containing near-infrared light and emitted from a second direction. An image sensor is disposed corresponding to the first beam and a laser receiver is disposed corresponding to the second beam.

[0013] In one possible embodiment, the reflective element has a first light-incident side corresponding to the image side of the front lens module, and the light-out side is disposed adjacent to the first light-incident side.

[0014] The light beam enters the reflecting element along the first incident direction and exits from the light-emitting side along the exit direction, with the first incident direction and the exit direction being perpendicular; or

[0015] The reflective element has a first light-incident side corresponding to the image side of the front lens module, and the light-out side is set opposite to the first light-incident side.

[0016] The light beam enters the reflective element along the first incident direction and exits from the light-emitting side along the exit direction. The first incident direction and the exit direction are parallel.

[0017] In one possible embodiment, when the first incident direction and the exit direction are parallel, the optical detection device further includes a first laser emitting component, and the reflective element also has a second incident side located between the first incident side and the exit side. The first laser emitting component is disposed corresponding to the second incident side and is used to emit laser light toward the second incident side and then emit it from the optical axis direction of the front lens module after passing through the reflective element.

[0018] In one possible embodiment, the first laser emitting assembly includes a first laser emitter and a first laser shaping lens group, the first laser shaping lens group being disposed between the first laser emitter and the second incident light side, and the first laser shaping lens group being used to shape and collimate the laser emitted by the first laser emitter.

[0019] In one possible embodiment, the optical detection device further includes a first shaping mirror group disposed in the optical path from the beam splitter to the image sensor, the first shaping mirror group being used to shape and collimate the first beam.

[0020] And / or, the optical detection device further includes a second shaping mirror group disposed in the optical path from the beam splitter to the laser receiver, the second shaping mirror group being used to shape and collimate the second beam.

[0021] In one possible embodiment, the optical detection device further includes a rear lens module having positive optical power, and the rear lens module is disposed in the optical path between the reflective element and the beam splitter.

[0022] In one possible embodiment, the beam-splitting element includes one of a dichroic beam-splitting prism, a polarizing beam-splitting mirror, a semi-transparent mirror, or a semi-transparent mirror with a bandpass filter.

[0023] In one possible embodiment, the reflecting element includes a reflecting prism or a plane mirror.

[0024] In one possible embodiment, the front-facing camera module includes a plurality of lenses arranged sequentially from the object side to the image side along its optical axis, with the outer surface of the lens closest to the object space being convex and facing the object space.

[0025] The focal length f of the front-facing camera module satisfies: -3mm ≤ f ≤ -1mm;

[0026] The diameter of the lens closest to the object space shall not exceed 22mm.

[0027] In one possible embodiment, the front-facing camera module includes a first lens module and a second lens module, the optical axis of the first lens module is parallel to the optical axis of the second lens module, the first lens module and the second lens module are arranged side by side and the distance between the first lens module and the second lens module does not exceed 30mm.

[0028] The image sensor is located on the image side of the first lens module, and the laser receiver is located on the image side of the second lens module.

[0029] In one possible embodiment, a reflective element is disposed in the optical path between the second lens module and the laser receiver. The optical detection device further includes a second laser emitting component. The reflective element has a first light-incident side, a light-outcident side, and a second light-incident side. The first light-incident side and the light-outcident side are disposed opposite to each other. The second light-incident side is disposed between the first light-incident side and the light-outcident side. The second laser emitting component is disposed corresponding to the second light-incident side. The second laser emitting component is used to emit laser light towards the second light-incident side and emit it from the optical axis direction of the second lens module after passing through the reflective element.

[0030] The second laser emitting assembly includes a second laser emitter and a second laser shaping mirror group. The second laser shaping mirror group is disposed between the second laser emitter and the second light incident side. The second laser shaping mirror group is used to shape and collimate the laser emitted by the second laser emitter.

[0031] Secondly, embodiments of this application provide a mobile platform including the optical detection device described above. Attached Figure Description

[0032] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0033] Figure 1 This diagram illustrates the optical path of an optical detection device according to an embodiment of this application.

[0034] Figure 2 A schematic diagram of the optical path of another optical detection device provided according to an embodiment of this application is shown;

[0035] Figure 3 A schematic diagram of the optical path of another optical detection device provided according to an embodiment of this application is shown.

[0036] Figure label:

[0037] 100 - Front camera module; 110 - First camera module; 120 - Second camera module;

[0038] 200 - Image sensor;

[0039] 300-Laser Receiver;

[0040] 400 - Reflective element; 401 - Light emitting side; 402 - First light incident side; 403 - Second light incident side;

[0041] 500-Spectroradiometer;

[0042] 600 - First laser emitting assembly; 610 - First laser emitter; 620 - First laser shaping mirror assembly;

[0043] 700 - First Orthopaedic Lens Group;

[0044] 800 - Second Orthopaedic Lens Group;

[0045] 900 - Rear camera module;

[0046] 1000 - Second laser emitting assembly; 1100 - Second laser emitter; 1200 - Second laser shaping mirror assembly;

[0047] 10 - Beam; 11 - First beam; 12 - Second beam.

[0048] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0050] Accurate perception of near-field blind spots on the sides of intelligent driving vehicles is a key technological requirement for achieving safe autonomous driving. This primarily covers scenarios such as lane changes, turning, low-speed passing, narrow road maneuvering, parking, and reversing out of parking spaces. In these scenarios, near-field blind spots typically exist on the sides and rear of the vehicle, caused by a combination of vehicle structure, installation location, and field-of-view obstructions. This is especially true within 0 to 10 meters of the doors, fenders, and wheel arches, where pedestrians, bicycles, curbs, pillars, and low-reflectivity obstacles are likely to be present. To achieve stable perception in this area, relevant systems typically deploy surround-view cameras and blind-spot-filling LiDAR on the sides of the vehicle. The cameras provide visible light image information, while the LiDAR provides distance and spatial point cloud information corresponding to near-infrared echoes. The vehicle control system or driver assistance domain controller then performs target recognition, localization, and risk assessment to support functions such as blind spot warning, assisted lane changing, and near-field obstacle avoidance.

[0051] In related technologies, a common approach is to separate the surround-view camera and the blind-spot lidar. The surround-view camera typically uses a wide field-of-view lens to capture visible light images of the environment to the side of the vehicle, while the blind-spot lidar emits near-infrared detection signals and receives target echoes to obtain target distance, contours, and relative positions. These two types of sensors are functionally complementary; visual information is beneficial for target category recognition and texture understanding, while lidar ranging is beneficial for obtaining stable spatial depth information. Therefore, in practical applications, it is often necessary to fuse their outputs. However, in a separate design, the installation positions of the two sensors on the vehicle are usually inevitably spaced apart, leading to an increased baseline for observation of near-range targets. When the target is close, small, or at the edge of the field of view, significant parallax can easily occur, causing positional shifts between the image target and the point cloud target during fusion. To correct this deviation, the system usually needs to perform extrinsic parameter calibration. However, during long-term vehicle use, vibration, temperature changes, assembly tolerances, and aging factors can affect the relative positions of the sensors, causing slight changes in calibration parameters and impacting long-term stability. At the same time, the separate placement of cameras and lidar will take up more installation space, making it more difficult to integrate in narrow areas such as side door handles and fender recesses. The limited optical path layout will further affect the wide field of view coverage.

[0052] Although some solutions attempt to implement coaxial processing of the optical path to a certain extent, they still cannot meet the synergistic requirements of visible light imaging and near-infrared point cloud detection in actual structure, resulting in shortcomings in system fusion accuracy, miniaturized packaging, and installation adaptability.

[0053] In view of this, how to balance close-range fusion accuracy, calibration stability and compact layout in vehicle side blind spot perception has become an urgent technical problem to be solved.

[0054] Based on the above-mentioned situation and problems, this application provides an optical detection device. This device uses a front-facing lens module with negative optical power as a receiving component near the object space to receive light beams from the object space. An image sensor for receiving visible light to achieve imaging and a laser receiver for receiving near-infrared light to achieve point cloud detection are respectively arranged on the image side of the front-facing lens module. Reflective elements are also arranged on the optical path from the front-facing lens module to the laser receiver and / or from the front-facing lens module to the image sensor. Through this system architecture, visible light imaging and near-infrared detection paths can be integrated within the same optical detection device, improving the spatial layout adaptability in vehicle-side blind spot perception scenarios. It also provides a technical foundation for reducing near-range target perception deviation, reducing system calibration complexity, and achieving miniaturized integration.

[0055] Based on the aforementioned optical detection device, this application also provides a mobile platform, including the aforementioned optical detection device. The mobile platform can be, for example, a vehicle, ship, drone, robot, etc.

[0056] When the mobile platform is a vehicle, the optical detection device can be integrated into the side of the vehicle for joint perception of the side and rear near-field areas. Because the optical detection device integrates visible light imaging and near-infrared point cloud detection paths within the same structure, the vehicle can simultaneously acquire image information and spatial distance information in scenarios such as lane changing, turning, meeting oncoming traffic, parking, and reversing. This improves the ability to identify and locate pedestrians, bicycles, curbs, pillars, and low-reflectivity obstacles. Furthermore, since the relevant optical paths are collaboratively deployed within the device, the vehicle-mounted installation is more compact, reducing the parallax and calibration drift effects caused by separate arrangements. Therefore, it is beneficial to improve the accuracy of side blind spot perception, long-term stability, and overall vehicle layout adaptability.

[0057] Figure 1 This diagram illustrates the optical path of an optical detection device according to an embodiment of this application. Figure 2 A schematic diagram of the optical path of another optical detection device provided according to an embodiment of this application is shown; Figure 3 A schematic diagram of the optical path of another optical detection device provided according to an embodiment of this application is shown.

[0058] In the embodiments of this application, please refer to Figures 1 to 3 The optical detection device includes a front-facing lens module 100, an image sensor 200, a laser receiver 300, and a reflective element 400. The front-facing lens module 100 is positioned close to the object space and is used to receive a light beam 10 from the object space. The front-facing lens module 100 has negative optical power. The image sensor 200 is positioned on the image side of the front-facing lens module 100 and is used to receive visible light to achieve imaging. The laser receiver 300 is positioned on the image side of the front-facing lens module 100 and is used to receive near-infrared light to achieve point cloud detection. The reflective element 400 is positioned on the optical path from the front-facing lens module 100 to the laser receiver 300 and / or on the optical path from the front-facing lens module 100 to the image sensor 200 to deflect or guide the light beam 10, thereby adapting to a compact integrated layout.

[0059] The front-facing lens module 100 is a front-end optical receiving component disposed on the object side of the device. Its function is to receive the light beam 10 from the object space and perform preliminary convergence, divergence compensation or field-of-view shaping on the incident light to form an intermediate optical path suitable for subsequent imaging and detection.

[0060] The front-facing camera module 100 is located in front of the image sensor 200 and the laser receiver 300, and its optical axis is aligned with the image-side device to facilitate the import of light information from the same external scene into different receiving paths.

[0061] In one possible embodiment, the front-facing lens module 100 may be composed of a plurality of lenses arranged sequentially from the object side to the image side along the optical axis. The outer surface of the lens closest to the object space may be a convex surface facing the object space, or it may be a meniscus, an aspherical surface, or a composite curved surface. Specifically, it may be any one or a combination of glass lenses, plastic lenses, or glass-plastic hybrid lenses. It may also be further adopted as a meniscus lens, a biconcave lens, or an aspherical negative lens to achieve negative optical power characteristics.

[0062] The front-facing lens module 100 can be miniaturized according to the installation space of the vehicle side blind spot. Its focal length can be set to a compact parameter within the negative focal length range. The diameter of the front lens close to the object space is usually not greater than the shape limit allowed by the installation area, and it forms a folded and compact spatial fit relationship with the subsequent image side device to reduce the front protrusion size and improve the overall layout adaptability.

[0063] The image sensor 200 is a visible light receiving and imaging device disposed on the image side of the front lens module 100. Its function is to receive visible light transmitted through the front lens module 100 and adjusted by the reflective element 400, thereby converting environmental information in the object space into an electrical signal image.

[0064] The image sensor 200 is located behind the front lens module 100 and is optically coupled to the front lens module 100 through a corresponding incident light path. If necessary, it can cooperate with the reflective element 400 to form a folded imaging path to adapt to the narrow lateral installation space in the vehicle.

[0065] In one possible embodiment, the image sensor 200 may be a CMOS (Complementary Metal-Oxide Semiconductor) image sensor 200, a CCD (Charge Coupled Device) image sensor 200, or other visible light imaging devices. The device body may be a bare chip, a chip package, or an integrated module. The packaging material may be a ceramic substrate, a metal shell, or a polymer packaging structure to meet the requirements of heat dissipation, mechanical strength, and assembly positioning.

[0066] The laser receiver 300 is a near-infrared light receiving and detection device located on the image side of the front lens module 100. Its function is to receive the near-infrared echo signal after it has been converged or guided by the front lens module 100, and to convert the target reflection information into an electrical signal for point cloud detection.

[0067] The laser receiver 300 is also located on the image side of the front lens module 100, but its receiving path can be spatially folded through the reflective element 400, so that it can obtain a receiving channel that matches the front optical aperture without significantly increasing the overall size of the device.

[0068] In one possible embodiment, the laser receiver 300 may employ near-infrared detectors such as SPAD (Single-Photon AvalancheDiode) array, APD (Avalanche Photodiode) array, SiPM (Silicon Photomultiplier) or MPPC (Multi-Pixel Photon Counter). It may be a single detector chip, an array module, or an integrated receiver component. Its packaging structure may be in the form of a semiconductor chip combined with a ceramic, metal, or polymer packaging substrate to meet the requirements for near-infrared echo sensitivity, stability, and vibration resistance.

[0069] The reflective element 400 is an optical path deflection or guiding component disposed between the front lens module 100 and the image sensor 200 and / or the laser receiver 300. Its function is to adjust the direction, reconstruct the optical path, or avoid space of the beam 10 output by the front lens module 100, so that the visible light imaging path and the near-infrared detection path reach the corresponding devices respectively within the limited housing space.

[0070] The reflective element 400 can be arranged in the optical path from the front lens module 100 to the laser receiver 300, or in the optical path from the front lens module 100 to the image sensor 200. It can also be arranged in both optical paths simultaneously according to the overall layout of the device to form a folded L-shaped or similar zigzag path.

[0071] In one possible embodiment, the reflective element 400 may be a reflective prism, a plane mirror, or a plane mirror structure, and in terms of shape, it may include a right-angle prism, a roof prism, a plane mirror, or an irregularly shaped folding element.

[0072] Based on the above analysis, the optical detection device provided in this application provides an image sensor 200 for visible light imaging and a laser receiver 300 for point cloud detection of near-infrared light, respectively arranged behind a front-facing lens module 100 with negative optical power, and a reflective element 400 refracts at least one beam 10, so that light information from the same object space can be distributed to different detection devices in the same device, thereby forming a compact and well-defined multimodal sensing front end.

[0073] During operation, visible light and near-infrared light from the external scene first enter the optical detection device through the front-facing lens module 100. The front-facing lens module 100 uses its negative optical power characteristics to preprocess the incident beam 10, enabling the front-end structure to obtain a suitable field of view coverage and optical path deployment under a small size. Subsequently, the beam 10 is guided to the working position corresponding to the image sensor 200 or the laser receiver 300 under the action of the reflective element 400. The visible light component is converted into an image signal by the image sensor 200 for identifying pedestrians, bicycles, curbs or other obstacles on the side of the vehicle. The near-infrared echo is received by the laser receiver 300 and forms distance and spatial distribution information for constructing a target point cloud and determining the relative position of the target. Because the two types of sensing functions are integrated into the same front-end optical structure, and the reflective element 400 folds the optical path in an orderly manner, the optical detection device can simultaneously meet imaging and detection requirements within a limited installation space. This reduces installation intervals and optical axis deviations caused by the separate arrangement, lowers the matching error between the image and point cloud for near-range targets, and mitigates long-term calibration drift caused by vibration, temperature changes, or assembly tolerances. Meanwhile, the negative optical power design of the front-facing lens module 100 helps to shorten the front-end extension size, and the placement of the reflective element 400 further improves layout freedom, allowing the device to better adapt to the installation requirements of narrow spaces near vehicle side doors, fenders, or wheel arches. This improves the stability, fusion consistency, and system integration of side blind spot perception without significantly increasing volume.

[0074] Therefore, the optical detection device in this application embodiment, by setting a front-facing lens module 100 with negative optical power close to the object space, and respectively arranging an image sensor 200 for receiving visible light, a laser receiver 300 for receiving near-infrared light, and a reflective element 400 arranged in the optical path from the front-facing lens module 100 to the laser receiver 300 and / or the image sensor 200 on its image side, can simultaneously perform visible light imaging and near-infrared light point cloud detection in the same optical detection device, reduce the influence of the relative position difference of different sensors on the perception results, thereby improving the fusion accuracy of multiple sensors, simplifying calibration, and facilitating miniaturized packaging and wide field of view coverage.

[0075] In some embodiments, please refer to Figure 1 and Figure 2 The optical detection device also includes a beam splitter 500, which is disposed on the light-emitting side 401 of the reflector 400. The beam splitter 500 is used to split the beam 10 into a first beam 11 containing visible light and emitted from a first direction and a second beam 12 containing near-infrared light and emitted from a second direction. The image sensor 200 is disposed corresponding to the first beam 11 and the laser receiver 300 is disposed corresponding to the second beam 12.

[0076] The beam splitter 500 is an optical device used to separate the incident beam 10 into bands according to its spectral characteristics. Its function is to split the mixed beam 10 guided by the reflector 400 into a visible light channel suitable for imaging and a near-infrared channel suitable for point cloud detection within the same incident channel, so that the image sensor 200 receives only the visible light component and the laser receiver 300 receives only the near-infrared light component.

[0077] The beam splitter 500 is located on the light-emitting side 401 of the reflector 400. It is usually arranged in series downstream of the reflector 400 along the optical path and forms two output interfaces with the image sensor 200 and the laser receiver 300, respectively, so as to independently receive and process the two separated beams 10.

[0078] Structurally, the beam splitter 500 can be mounted on a bracket, housing partition or optical base, and its optical axis attitude is kept stable by positioning pins, screws, adhesive fixing or snap-fit ​​structure, and its beam splitter surface and the light output direction of the reflector 400 satisfy a predetermined angle relationship.

[0079] Depending on different assembly requirements, the beam splitter 500 can be implemented in the form of a dichroic beam splitter prism, a polarizing beam splitter, a semi-transparent and semi-reflective mirror, or a semi-transparent and semi-reflective mirror with a bandpass filter. The dichroic beam splitter prism can be a cubic prism or a cemented prism structure, the polarizing beam splitter can be a flat coated structure, the semi-transparent and semi-reflective mirror can be a sheet substrate structure, and the bandpass filter can be used as an additional filter layer in conjunction with the beam splitter substrate.

[0080] To match the front-facing lens module 100 and the subsequent detector, the effective aperture of the beam splitter 500 is usually adapted to the beam diameter of the incident beam 10. Its thickness, prism side length or sheet size can be adjusted according to the miniaturization requirements of the device, for example, it can be set to the range of several millimeters to tens of millimeters. It should also ensure that the visible light channel and the near-infrared channel have sufficient edge shielding margin after separation to reduce crosstalk and stray light effects.

[0081] In some specific embodiments, the first direction and the second direction may be designed to be perpendicular to each other or to have a preset deflection angle, in order to accommodate the compact arrangement of the image sensor 200 and the laser receiver 300 within the housing.

[0082] When the beam splitter 500 is working, the mixed beam 10 from the front lens module 100 and guided by the reflector 400 first enters the beam splitter interface. Light with wavelengths in the visible range is selectively transmitted or reflected to form a first beam 11 that enters the image sensor 200, while light with wavelengths in the near-infrared range forms a second beam 12 in another direction that enters the laser receiver 300. Thus, the synchronous distribution of the two types of optical signals is achieved without adding an independent external mounting position.

[0083] Based on the above structure, it can be seen that the beam splitter 500 can complete band splitting and channel isolation within the same optical detection device, which is beneficial to improve the coordination and consistency between visible light imaging and near-infrared detection, reduce the deviation of the two detection results in spatial mapping, and provide conditions for miniaturization and integration of the whole device, optimization of optical path layout, and stable perception in vehicle side blind spot scenarios.

[0084] In some embodiments, please refer to Figure 1 The reflective element 400 has a first light-incident side 402 corresponding to the image side of the front lens module 100, and a light-outceasing side 401 is disposed adjacent to the first light-incident side; the light beam 10 enters the reflective element 400 along the first incident direction, and the light beam 10 is emitted from the light-outceasing side 401 along the emission direction, with the first incident direction and the emission direction being perpendicular.

[0085] The reflective element 400 has a first light-incident side 402 corresponding to the image side of the front-facing lens module 100, indicating that its light-incident interface is arranged facing the image plane of the front-facing lens module 100, thereby being able to receive the light beam 10 after it has been converged or transmitted by the front-facing lens module 100. The light-exiting side 401 of the reflective element 400 is arranged adjacent to the first light-incident side 402, indicating that the incident surface and the exit surface are structurally close to each other and form a compact turning interface, so that the light beam 10 can be turned within a short path and exited from the light-exiting side 401 after entering. By allowing the light beam 10 to enter the reflective element 400 along the first incident direction and then exit from the light-exiting side 401 along the exit direction, and making the first incident direction and the exit direction perpendicular, the reflective element 400 achieves a 90-degree turning of the light path, thus making it suitable for L-shaped or approximately L-shaped arrangement in vehicle-mounted blind spot sensing devices.

[0086] During operation, the light beam 10 from the object space is first transmitted to the image side of the front lens module 100, and enters the first light-incident side 402 of the reflective element 400 with a first incident direction. After the light beam 10 completes a direction change inside the reflective element 400 or at its reflective interface, it is emitted from the light-out side 401 adjacent to the first light-incident side 402 along the emission direction, wherein the first incident direction and the emission direction are perpendicular to each other. Since this reflection process is a fixed optical path deflection, it can convert the original straight-line optical path into a vertically oriented arrangement without changing the basic optical relationship of imaging and detection of the front lens module 100. This allows the subsequent image sensor 200 or laser receiver 300 to be placed in different directions according to the space conditions of the vehicle, thereby reducing spatial conflicts in sensor installation, reducing structural stacking height, and helping to shorten the optomechanical coupling path.

[0087] In some embodiments, please refer to Figure 3The reflective element 400 has a first light-incident side 402 corresponding to the image side of the front lens module 100, and the light-out side 401 is disposed opposite to the first light-incident side 402; the light beam 10 enters the reflective element 400 along the first incident direction, and the light beam 10 is emitted from the light-out side 401 along the emission direction, with the first incident direction and the emission direction being parallel.

[0088] Since the first light-incident side 402 of the reflective element 400 is positioned corresponding to the image side of the front-facing lens module 100, it can directly receive the converging beam 10 or collimated beam 10 output by the front-facing lens module 100, and guide the beam 10 into the interior of the reflective structure or onto the reflective surface. Then, it is output via the light-exiting side 401 to the location of the image sensor 200 or laser receiver 300 in the subsequent optical path, thus adapting to the arrangement requirements of narrow, flat, or constrained installation spaces in vehicle-mounted blind spot perception devices. The fact that the light-exiting side 401 and the first light-incident side 402 are positioned opposite each other means that after the beam 10 completes its direction conversion within the reflective element 400, it can leave from the opposite side to the first light-incident side 402, forming a unidirectional translational optical path transfer, which facilitates guiding the visible light imaging path or near-infrared detection path to a more suitable installation area.

[0089] In some embodiments, please refer to Figure 2 The optical detection device also includes a first laser emitting component 600, and the reflective element 400 further has a second light-incident side 403 located between the first light-incident side 402 and the light-outcident side 401. The first laser emitting component 600 is disposed corresponding to the second light-incident side 403. The first laser emitting component 600 is used to emit laser light toward the second light-incident side 403 and emit it out from the optical axis direction of the front lens module 100 after passing through the reflective element 400.

[0090] The first laser emitting component 600 is an emitting unit for generating and outputting a near-infrared laser beam 10. Essentially, the first laser emitting component 600 converts an electrical signal into a laser beam 10 with a predetermined wavelength, power, and divergence characteristics for subsequent optical path deflection and emission. The function of this first laser emitting component 600 is to provide an active illumination or detection light source for the device, enabling the laser to be emitted in a direction aligned with or approximately aligned with the optical axis of the front-facing lens module 100, in cooperation with the reflective element 400. This facilitates spatial coordination with the receiving field of view of the front-facing lens module 100 and improves the compactness of the arrangement during near-field detection and vehicle-mounted side blind spot perception.

[0091] The first laser emitting component 600 is typically installed at the corresponding position on the second light-incident side 403 of the reflective element 400. The relative position of the two components can be constrained by a bracket, positioning step, snap-fit ​​structure or screw, so as to ensure that the laser incident direction meets the preset angle requirements and is stably coupled to the effective optical area of ​​the reflective element 400.

[0092] The second light-incident side 403 can be configured as an independent opening, coupling window, or light-transmitting aperture for the laser beam 10 to enter the reflective element 400. Its position is usually located on the side, top, or bottom of the reflective element 400 to avoid the main optical path where the image sensor 200 and the laser receiver 300 are located, while forming a reasonable turning path.

[0093] The first laser emitting component 600 can be implemented in various forms. For example, it can be packaged into a surface emitting module by VCSEL (Vertical-Cavity Surface-Emitting Laser) array, or it can be composed of an edge-emitting laser or an EEL (Edge Emitting Laser) laser to form a linear emitting module. It can also be an integrated emitting box, a modular board, or a packaging unit with a collimating lens.

[0094] To ensure that the laser can be emitted from the optical axis of the front lens module 100 after passing through the reflective element 400, the first laser emitting component 600 and the second light-incident side 403 usually need to meet a predetermined divergence angle, incident angle and spot coverage relationship. The emission aperture can be matched according to the effective reflective surface size of the reflective element 400. Usually, its emission surface size is smaller than the light-incident area size of the reflective element 400 so as to ensure sufficient incident margin within the assembly tolerance range.

[0095] During operation, the first laser emitting component 600 first outputs a laser beam 10 of a predetermined wavelength under the control of the driving circuit. The laser beam 10 enters the reflective element 400 along the incident path corresponding to the second incident side 403, and changes its propagation direction under the action of the internal or surface reflection structure of the reflective element 400, so that the originally lateral or offset emission light path is transformed into an output light path propagating along the optical axis of the front lens module 100. Since the first laser emitting component 600 and the second incident side 403 of the reflective element 400 are arranged correspondingly to each other, the laser can maintain a good spatial alignment relationship when entering the reflective element 400, thereby reducing the beam truncation and energy loss caused by assembly deviation; at the same time, the reflected laser can be emitted along the optical axis of the front lens module 100, so that the emission direction and the receiving light path form a higher degree of coordination in structure, which facilitates the coaxial or quasi-coaxial arrangement in the narrow installation space on the side of the vehicle. In this way, during the actual detection process, the laser beam 10 can be stably projected along the target area. Combined with the reception of the external beam 10 by the front lens module 100 and the collaborative work of the image sensor 200 and the laser receiver 300, the device can meet the needs of active illumination, distance detection and image imaging in a small volume, and helps to reduce the problems of installation dispersion, optical path misalignment and calibration drift caused by traditional split-type arrangements.

[0096] In some embodiments, please refer to Figure 2 The first laser emitting assembly 600 includes a first laser emitter 610 and a first laser shaping lens group 620. The first laser shaping lens group 620 is disposed between the first laser emitter 610 and the second incident light side 403. The first laser shaping lens group 620 is used to shape and collimate the laser emitted by the first laser emitter 610.

[0097] The first laser emitter 610 is an emitting unit for outputting a near-infrared detection beam 10. It is typically capable of emitting pulsed lasers or modulated continuous lasers according to a preset timing sequence to meet the requirements of point cloud detection for distance measurement and echo acquisition. The first laser shaping mirror group 620 is a beam 10 control component disposed in the laser emission path. Its function is to correct the beam 10 shape of the original diverging beam 10 output by the emitter so that it meets the requirements of angle, aperture, and energy distribution when it enters the second incident side 403 through the reflective element 400.

[0098] The first laser emitter 610 is typically installed inside the emitter bracket, laser substrate, or module housing of the optical detection device. The first laser shaping lens group 620 is arranged between the light-emitting end of the first laser emitter 610 and the second light-incident side 403 along the laser emission direction. It can be fixedly fitted by positioning steps, pressure frames, adhesive or screw connection, so that its optical axis is coaxial or nearly coaxial with the light-emitting axis of the first laser emitter 610, thereby ensuring that the shaped laser can be stably coupled to the light-incident position corresponding to the reflective element 400.

[0099] The first laser reshaping lens group 620 can be structured as a combination of one or more lenses, including collimating lenses, cylindrical lenses, aspherical lenses, microlens arrays or freeform reshaping lenses, or it can be made into a cemented lens group, an independent lens group or an integrated lens box structure according to the overall space arrangement.

[0100] The first laser shaping lens group 620 is disposed between the light-emitting side 401 of the first laser emitter 610 and the second light-incident side 403 of the reflective element 400. When the first laser emitter 610 outputs laser light, the laser light first enters the first laser shaping lens group 620 and undergoes beam cross-section correction, divergence angle compression and wavefront shaping, so that the original beam 10 with large angular diffusion and uneven energy distribution is transformed into a more stable collimated beam 10. Then, the collimated beam 10 is directed to the second light-incident side 403 and guided by the reflective element 400 to the optical axis direction of the front lens module 100.

[0101] As the divergence angle of the beam 10 decreases after the beam is shaped and collimated, the spread of the beam spot during propagation decreases, the effective utilization rate of the laser at the reflective element 400 is correspondingly improved, and the incident conditions of the beam 10 entering the laser receiver 300 after passing through the reflection path are more stable, which is beneficial to improving the echo reception consistency of targets at long distances or edge fields of view.

[0102] In some embodiments, please refer to Figure 1 The optical detection device further includes a first shaping mirror group 700, which is disposed in the optical path between the beam splitter 500 and the image sensor 200, and is used to shape and collimate the first beam 11; and / or, the optical detection device further includes a second shaping mirror group 800, which is disposed in the optical path between the beam splitter 500 and the laser receiver 300, and is used to shape and collimate the second beam 12.

[0103] The first shaping lens group 700 is an optical shaping component located in the visible light imaging branch. Its function is to converge, correct, or collimate the first beam 11 split by the beam splitter 500, so that the light beam entering the image sensor 200 meets the imaging requirements in terms of angular distribution, image plane coverage, and edge aberrations. The second shaping lens group 800 is an optical shaping component located in the near-infrared point cloud detection branch. Its function is to perform wavefront shaping, divergence angle control, or collimation correction on the second beam 12, so as to improve the receiving efficiency and spatial matching accuracy of the laser receiver 300 for near-infrared echoes.

[0104] The two shaping mirror groups are respectively arranged on the independent optical path after beam splitting. They are usually in a cooperative relationship with the corresponding sensor, with the optical axis in the same direction or after reflection and then in the same direction. One of them can be configured alone according to system requirements, or the first shaping mirror group 700 and the second shaping mirror group 800 can be configured at the same time, thereby forming optical channels optimized for the visible light and near-infrared bands respectively.

[0105] The first reshaping lens group 700 and the second reshaping lens group 800 can be fixed inside the housing by means of a lens barrel, pressure ring, bracket or integrated module, and form a stable optical path coupling relationship with the beam splitter 500, the reflector 400 and the corresponding sensor.

[0106] In one possible embodiment, the first orthopedic lens group 700 and the second orthopedic lens group 800 may take the form of a field lens, collimating lens, distortion correction lens, aspherical lens or compound lens group, or may be composed of a single lens, a double lens combination, a cemented lens group or an adjustable lens group.

[0107] For the first reshaping lens group 700, its aperture is typically matched with the effective image plane size of the image sensor 200 and the beam diameter of the first beam 11. The focal length and image distance can be set according to the imaging magnification and field of view of the lens assembly to ensure the edge sharpness, distortion level, and illuminance distribution of the visible light image. For the second reshaping lens group 800, its aperture, focal length, and collimation accuracy are typically matched according to the receiving aperture, detection angle, and near-infrared band characteristics of the laser receiver 300 to reduce energy loss caused by echo divergence and improve the stability of point cloud sampling. Generally, the effective light-passing aperture of the first reshaping lens group 700 and the second reshaping lens group 800 can be slightly larger than the maximum beam diameter of the corresponding beam 10 at that location to allow for assembly tolerances and temperature drift margins. The thickness of the lens group can be compressed as much as possible while meeting the requirements of strength and optical performance, thereby facilitating a compact arrangement in the vehicle environment.

[0108] During operation, the mixed beam 10 from the object space enters the interior of the optical detection device through the front lens module 100 and changes its propagation direction under the action of the reflective element 400. Then, the beam 10 is separated into a first beam 11 containing visible light and a second beam 12 containing near-infrared light by the beam splitter 500. After the first beam 11 enters the first shaping lens group 700 set behind it, its beam divergence state, aberration distribution and image plane illumination are corrected. Then, it is incident on the image sensor 200 in a more stable optical path state, thereby improving the clarity, edge consistency and target contour recognition of the visible light image. The second beam 12 enters the second shaping lens group 800 set behind it and is shaped into a collimated beam 10 or a near-collimated beam 10 that matches the receiving aperture of the laser receiver 300, so that it can be received by the laser receiver 300 more effectively and converted into distance and spatial information.

[0109] In the above embodiments, since the two optical paths are respectively equipped with corresponding shaping mirror groups, the optical detection device can compensate and correct for the different optical requirements of visible light imaging and near-infrared light detection, so that the imaging branch and the point cloud branch are improved in terms of wavefront quality, receiving angle and energy utilization, which helps to reduce the fusion deviation of close-range targets and improve the target recognition stability and spatial positioning accuracy when the vehicle side blind spot perception is used.

[0110] In some embodiments, please refer to Figure 1 and Figure 2 The optical detection device also includes a rear lens module 900, which has positive optical power and is disposed in the optical path between the reflective element 400 and the beam splitter 500.

[0111] The rear lens module 900 is an optical component located between the reflective element 400 and the beam splitter 500, used to further converge and correct aberrations of the reflected incident beam 10. Essentially, it belongs to the positive optical power imaging unit connected in series in the main optical path. The function of the rear lens module 900 is to perform secondary shaping on the refracted beam 10 from the reflective element 400, so that the beam 10 obtains a more suitable convergence state and a more stable wavefront distribution before entering the beam splitter 500. This, in conjunction with the negative optical power design of the front lens module 100, improves the imaging quality, detection consistency, and separation and matching accuracy of visible light and near-infrared light in the entire optical path.

[0112] The rear lens module 900 is typically installed between the light-emitting side 401 of the reflective element 400 and the light-incident side of the beam splitter 500, and is connected to the housing or optical base of the optical detection device by means of lens barrel, bracket, snap, threaded connection or adhesive fixation, so as to ensure that its optical axis is coaxial with the light path emitted by the reflective element 400 and the light path received by the beam splitter 500 or maintains a predetermined bias relationship.

[0113] The internal structure of the rear camera module 900 can adopt different forms such as a single positive lens, a double cemented lens group, an aspherical positive lens group, or a multi-element correction lens group. In terms of materials, optical glass, low dispersion glass, infrared transmitting materials, optical plastics, or glass-plastic hybrid structures can be selected. Anti-reflective coatings, filter films, or dustproof protective layers can be set on the lens surface to meet the requirements of visible light imaging and near-infrared detection for transmittance, aberrations, and environmental adaptability.

[0114] In one possible implementation, the reflecting element 400 includes a reflecting prism or a plane mirror.

[0115] As described above, the reflective element 400 is an optical reflective component used to deflect the direction of the incident beam 10. Its function is to change the propagation path of the output beam 10 of the front lens module 100 within the limited vehicle installation space, so that the subsequent image sensor 200, laser receiver 300 or its corresponding optical shaping component can be arranged in a more compact manner inside the device.

[0116] In one possible embodiment, the reflecting prism can be a right-angle prism, a roof prism, a wedge prism, or an irregularly shaped folding prism. The right-angle prism can achieve a 90-degree turn through a single total internal reflection, the roof prism can be used to compensate for image plane flipping and stabilize the folding direction, the wedge prism can be used to achieve micro-angle deflection in narrow spaces, and the irregularly shaped folding prism can be customized according to the overall vehicle structure space.

[0117] In one possible embodiment, the plane mirror can be a plane mirror, a curved mirror, or a reflective sheet with a reflective coating. The plane mirror is suitable for achieving regular folding, while the curved mirror can adjust the focusing or divergence of the beam 10 during folding. The reflective sheet can be made of metal with aluminum plating, silver plating, or multilayer dielectric film to form a high reflectivity surface. The material of the reflective element 400 can be optical glass, quartz, ceramic substrate, metal substrate with a reflective film coating, or a polymer transparent substrate with a film coating structure, to balance optical stability, processing accuracy, and vibration resistance in the automotive environment. Its size is usually set according to the aperture of the incident beam 10, the folding angle, the effective light transmission aperture of the reflective surface, and the internal space of the overall housing. The side length or effective reflection width of the reflective surface can maintain an appropriate margin with the beam diameter of the beam 10, while the thickness can be minimized while ensuring mechanical strength and assembly rigidity to meet the requirements of compact packaging.

[0118] In one possible implementation, the front-facing lens module 100 includes a plurality of lenses arranged sequentially from the object side to the image side along its optical axis. The outer surface of the lens closest to the object space is convex and faces the object space. The focal length f of the front-facing lens module 100 satisfies: -3mm≤f≤-1mm. The aperture of the lens closest to the object space does not exceed 22mm.

[0119] The lens closest to the object space can be understood as the first lens located at the very front of the entire front-facing lens module 100, directly facing the external environment. Its outer surface is set as a convex surface facing the object space, thereby improving the incident reception capability of the edge field of view and increasing the focusing or steering efficiency of the large-angle beam 10 in a miniaturized structure. The focal length f of the front-facing lens module 100 is negative and meets the range of -3mm to -1mm, indicating that the module has negative optical power characteristics, which is suitable for forming a wide-angle or even ultra-wide-angle receiving field of view, thereby meeting the application requirements of close-range, large-angle observation in the side blind spots of the vehicle. The aperture of the lens closest to the object space does not exceed 22mm, which limits the size of the front-end optical system, allowing it to be adapted to side doors, fenders or other small installation areas on the vehicle body, and facilitating compact integration with the reflective element 400, the beam splitter 500 and the subsequent sensors.

[0120] In one possible embodiment, the front-facing camera module 100 includes two, three, or four lenses, which may be composed of meniscus lenses, biconcave lenses, aspherical lenses, resin lenses, glass lenses, or glass-plastic hybrid lenses. Each lens is arranged sequentially along the optical axis by air gaps or bonding to take into account field coverage, aberration correction, and structural thickness control.

[0121] The first lens closest to the object space preferably adopts a meniscus structure with a raised outer surface, and the inner surface can be concave, approximately flat, or free-form, so as to increase the incident cone angle while maintaining a small aperture. Subsequent lenses can be made of high-refractive-index glass or low-dispersion materials to compensate for spherical aberration, astigmatism, and field curvature that may occur under large field-of-view conditions at the front end.

[0122] During operation, visible and near-infrared light from the vehicle's blind spot environment first enters the front-facing lens module 100. The lens closest to the object space initially converges or diverges the incident light across the large field of view. Subsequent lenses arranged along the optical axis then continue to shape the optical path and correct aberrations, ensuring the beam 10 is output in a manner suitable for subsequent receivers. Because the front-facing lens module 100 employs a negative focal length design with a focal length ranging from -3mm to -1mm, it can achieve a large field of view coverage within a short optical length while maintaining a small front-end aperture, thus adapting to narrow installation areas on the vehicle body and reducing the occupancy of external structures. With the lens aperture closest to the object space not exceeding 22mm, the entire front-end optical system can meet wide-angle detection requirements within a limited space. It also works in conjunction with the image sensor 200 and laser receiver 300 located on the image side, ensuring stable and continuous incident conditions for both visible light imaging and near-infrared point cloud detection.

[0123] In some embodiments, please refer to Figure 3 The front-facing camera module 100 includes a first lens module 110 and a second lens module 120. The optical axis of the first lens module 110 is parallel to the optical axis of the second lens module 120. The first lens module 110 and the second lens module 120 are arranged side by side and the distance between the first lens module 110 and the second lens module 120 does not exceed 30mm. The image sensor 200 is disposed on the image side of the first lens module 110, and the laser receiver 300 is disposed on the image side of the second lens module 120.

[0124] It should be noted that the first lens module 110 and the second lens module 120 can be as follows: Figure 3 The first lens module 110 and the second lens module 120 can be arranged side by side along a direction perpendicular to the optical axis, or they can be arranged side by side along a direction parallel to the optical axis. The specific arrangement can be determined according to the installation constraints of different vehicle models to adapt to the corresponding vehicle model installation.

[0125] The first lens module 110 and the second lens module 120 respectively constitute the front-end receiving components of the visible light imaging channel and the near-infrared detection channel. Both are used to converge or guide the light beam 10 from the object space to the corresponding image-side device, thereby achieving a compact side-by-side arrangement while maintaining the relative independence of the two optical paths.

[0126] Based on the above structure, the optical axis of the first lens module 110 is arranged parallel to the optical axis of the second lens module 120, which helps to reduce geometric cross-interference between the two channels and places the image sensor 200 and the laser receiver 300 near the imaging focal plane of their respective lens modules, thereby improving the consistency and stability of visible light image acquisition and near-infrared echo reception. The first lens module 110 and the second lens module 120 are arranged side by side with a distance of no more than 30mm between them, which allows the entire front lens module 100 to be integrated with a small lateral dimension in the installation space on the side or rear of the vehicle, making it easy to adapt to narrow installation positions in door panels, fenders, or side trim panels. It also helps to reduce the optical path difference between the two channels and reduce the parallax offset between near-range target imaging and point cloud detection.

[0127] The image sensor 200 is located on the image side of the first lens module 110, and the laser receiver 300 is located on the image side of the second lens module 120. This means that the two devices receive the emitted light beam 10 after being processed by the corresponding lens modules. The image sensor 200 can be a CMOS or CCD device for acquiring visible light images, and the laser receiver 300 can be a photodiode array, a single-point detector, or a multi-pixel receiver for receiving near-infrared echo signals.

[0128] During operation, light beams 10 from the side or rear of the vehicle enter the front-facing lens module 100 via the first lens module 110 and the second lens module 120, respectively. The two optical paths are independently transmitted under the constraint of their respective parallel optical axes, forming image plane distributions suitable for subsequent device reception. The visible light component is received by the image sensor 200 located on the image side of the first lens module 110 to output an environmental image, while the near-infrared component is received by the laser receiver 300 located on the image side of the second lens module 120 to form the echo signal required for distance detection. Since the two lens modules are arranged side-by-side with a spacing limited to no more than 30mm, dual-channel front-end integration can be achieved without significantly increasing the lateral size of the device. This maintains high spatial consistency between visible light imaging and near-infrared point cloud detection, reducing the problems of excessive baseline and parallax shift caused by separate installations. Meanwhile, the parallel optical axis and compact side-by-side arrangement make the relative positional relationship of each channel more stable during subsequent calibration, reducing the risk of long-term drift caused by vehicle vibration, thermal expansion and contraction and assembly errors, thereby improving the fusion accuracy and installation adaptability of the side blind spot perception system in scenarios such as lane changing, meeting oncoming traffic, narrow road passage and parking.

[0129] In some embodiments, please refer to Figure 3The reflective element 400 is disposed in the optical path between the second lens module 120 and the laser receiver 300. The optical detection device also includes a second laser emitting component 1000. The reflective element 400 has a first light-incident side 402, a light-outcident side 401 and a second light-incident side 403. The first light-incident side 402 and the light-outcident side 401 are disposed opposite to each other. The second light-incident side 403 is disposed between the first light-incident side 402 and the light-outcident side 401. The second laser emitting component 1000 is disposed corresponding to the second light-incident side 403. The second laser emitting component 1000 is used to emit laser light toward the second light-incident side 403 and emit it out from the optical axis direction of the second lens module 120 after passing through the reflective element 400.

[0130] The second laser emitting assembly 1000 is used to provide a near-infrared detection beam 10 to the laser receiver 300. It is essentially an emitting unit that works in conjunction with the reflective element 400. It typically includes a laser body, a driving circuit, and a mounting structure for fixing and guiding light. Its function is to introduce the emitted beam 10 into the second light-incident side 403 of the reflective element 400, and after reflection, to make the beam 10 propagate along the optical axis of the second lens module 120, thereby realizing the spatial integration of the emission path and the receiving path of the second lens module 120.

[0131] The second laser emitting assembly 1000 is typically mounted on the side or above the reflective element 400 and is fixedly connected to the housing of the optical detection device by means of brackets, screws or clips. The second light-incident side 403 is arranged on the side of the reflective element 400 close to the emitting assembly so that the emitted laser can be incident on the reflective element 400 with a shorter propagation path.

[0132] The second laser emitting assembly 1000 may include a second laser emitter 1100 and a second laser shaping lens group 1200. The structure and principle of the second laser emitting assembly 1000 can be understood with reference to the first laser emitting assembly 600 mentioned above, and will not be repeated here.

[0133] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0134] In the description of this application, it should be understood that the terms "comprising" and "having" and any variations thereof used in the embodiments of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product, or device.

[0135] Unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the connection within two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated.

[0136] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has 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. An optical detection device, characterized in that, include: A front-facing camera module is positioned close to the object space and is used to receive light beams from the object space; the front-facing camera module has negative optical power. An image sensor is disposed on the image side of the front-facing lens module, and the image sensor is used to receive visible light to achieve imaging; A laser receiver is disposed on the image side of the front-facing lens module. The laser receiver is used to receive near-infrared light to achieve point cloud detection. And reflective elements, disposed in the optical path from the front lens module to the laser receiver and / or from the front lens module to the image sensor.

2. The optical detection device according to claim 1, characterized in that, The optical detection device further includes a beam splitter, which is disposed on the light-emitting side of the reflective element. The beam splitter is used to split the light beam into a first beam containing visible light and emitted from a first direction and a second beam containing near-infrared light and emitted from a second direction. The image sensor is disposed corresponding to the first beam and the laser receiver is disposed corresponding to the second beam.

3. The optical detection device according to claim 2, characterized in that, The reflective element has a first light-incident side corresponding to the image side of the front lens module, and the light-out side is disposed adjacent to the first light-incident side. The light beam enters the reflective element along a first incident direction, and exits from the light-emitting side along an exit direction, wherein the first incident direction and the exit direction are perpendicular to each other; or The reflective element has a first light-incident side corresponding to the image side of the front lens module, and the light-out side is disposed opposite to the first light-incident side. The light beam enters the reflective element along the first incident direction and exits from the light-emitting side along the exit direction, wherein the first incident direction and the exit direction are parallel.

4. The optical detection device according to claim 3, characterized in that, When the first incident direction and the exit direction are parallel, the optical detection device further includes a first laser emitting component, and the reflective element further has a second incident side located between the first incident side and the exit side. The first laser emitting component is disposed corresponding to the second incident side, and the first laser emitting component is used to emit laser light toward the second incident side and exit from the optical axis direction of the front lens module after passing through the reflective element.

5. The optical detection device according to claim 4, characterized in that, The first laser emitting assembly includes a first laser emitter and a first laser shaping lens group. The first laser shaping lens group is disposed between the first laser emitter and the second light incident side. The first laser shaping lens group is used to shape and collimate the laser emitted by the first laser emitter.

6. The optical detection device according to any one of claims 2 to 5, characterized in that, The optical detection device further includes a first shaping lens group, which is disposed in the optical path from the beam splitter to the image sensor, and is used to shape and collimate the first beam. And / or, the optical detection device further includes a second shaping lens group, which is disposed in the optical path from the beam splitter to the laser receiver, and is used to shape and collimate the second beam.

7. The optical detection device according to any one of claims 2 to 5, characterized in that, The optical detection device further includes a rear lens module, which has positive optical power and is disposed in the optical path between the reflective element and the beam splitter.

8. The optical detection device according to any one of claims 2 to 5, characterized in that, The beam splitting element includes one of a dichroic beam splitter prism, a polarizing beam splitter, a semi-transparent mirror, or a semi-transparent mirror with a pass filter.

9. The optical detection device according to any one of claims 1 to 5, characterized in that, The reflective element includes a reflective prism or a plane reflector.

10. The optical detection device according to any one of claims 1 to 5, characterized in that, The front-facing lens module includes multiple lenses arranged sequentially from the object side to the image side along its optical axis. The outer surface of the lens closest to the object space is convex, and the outer surface faces the object space. The focal length f of the front-facing camera module satisfies: -3mm ≤ f ≤ -1mm; The diameter of the lens near the object space does not exceed 22mm.

11. The optical detection device according to claim 1, characterized in that, The front-facing camera module includes a first lens module and a second lens module. The optical axis of the first lens module is parallel to the optical axis of the second lens module. The first lens module and the second lens module are arranged side by side and the distance between the first lens module and the second lens module does not exceed 30mm. The image sensor is disposed on the image side of the first lens module, and the laser receiver is disposed on the image side of the second lens module.

12. The optical detection device according to claim 11, characterized in that, The reflective element is disposed in the optical path between the second lens module and the laser receiver. The optical detection device further includes a second laser emitting component. The reflective element has a first light-incident side, a light-outcident side, and a second light-incident side. The first light-incident side and the light-outcident side are disposed opposite to each other. The second light-incident side is disposed between the first light-incident side and the light-outcident side. The second laser emitting component is disposed corresponding to the second light-incident side. The second laser emitting component is used to emit laser light towards the second light-incident side and emit it from the optical axis direction of the second lens module after passing through the reflective element. The second laser emitting assembly includes a second laser emitter and a second laser shaping mirror group. The second laser shaping mirror group is disposed between the second laser emitter and the second light incident side. The second laser shaping mirror group is used to shape and collimate the laser emitted by the second laser emitter.

13. A mobile platform, characterized in that, Includes the optical detection device according to any one of claims 1 to 12.

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