Light receiving device and laser radar

Abstract

The utility model provides a light receiving device and a laser radar. The light receiving device comprises a receiving assembly, an adjusting assembly and a detection assembly. The receiving assembly is used for receiving incident light and emitting the incident light to the adjusting assembly. The adjusting assembly is used for obtaining a first light beam and a second light beam according to the incident light and emitting the first light beam and the second light beam to the detection assembly, the first light beam is in a first wave band, the second light beam is in a second wave band, and the first wave band is different from the second wave band. The detection assembly is used for converting the first light beam and the second light beam into electric signals. The light receiving device can detect the first light beam and the second light beam in different wavebands at the same time, so that the laser radar can detect the light beams in different wavebands through one group of light receiving devices, fusion of visible light and point cloud is realized, and the size and the cost of the laser radar are reduced.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of lidar, and in particular to an optical receiving device and a lidar. Background Art

[0002] Benefiting from the characteristics of high directivity, high monochromaticity, high coherence, etc. of laser, lidar technology can achieve long-distance anti-interference detection and is of great significance in medical treatment, atmospheric monitoring, geological mapping, urban modeling, intelligent driving, etc.

[0003] In existing lidars, as 3D detection devices, they can only detect the light beams corresponding to the wavebands of the echo beams, such as mainly detecting the echo beams in narrow wavebands such as 850nm, 905nm, 940nm, etc., and cannot detect the visible light beams in the visible light waveband. If it is necessary to detect the echo beams and visible light beams in different wavebands simultaneously, two sets of optical receiving devices need to be set up, which has the problems of large volume and high cost. Summary of the Invention

[0004] The embodiments of the present application provide an optical receiving device and a lidar, which can simultaneously detect two different waveband light beams through a set of optical receiving devices, reducing the volume and cost of the lidar.

[0005] In a first aspect, the embodiments of the present application provide an optical receiving device, which includes a receiving component, an adjusting component, and a detecting component. The receiving component is configured to receive incident light and output the incident light to the adjusting component. The adjusting component is configured to obtain a first light beam and a second light beam according to the incident light, and output the first light beam and the second light beam to the detecting component, where the first light beam is in a first waveband, the second light beam is in a second waveband, and the first waveband and the second waveband are different. The detecting component is configured to convert the first light beam and the second light beam into electrical signals.

[0006] In some embodiments, the adjusting component includes a first filter and a second filter. The first filter is configured to transmit the light beam in the first waveband and reflect the light beam in the second waveband; the second filter is configured to transmit the light beam in the second waveband and reflect the light beam in the first waveband. The first filter and the second filter can separate the light beam in the first waveband and the light beam in the second waveband in the incident light, so as to detect the first light beam and the second light beam separately later.

[0007] In some embodiments, the detection component includes a first detection unit and a second detection unit, and the adjustment component further includes a beam splitting unit. The beam splitting unit is configured to emit the first light beam to the first detection unit and the second light beam to the second detection unit. The beam splitting unit can change the propagation direction of the incident light and guide the incident light to a first filter and a second filter respectively, so as to guide the first light beam and the second light beam to different detection units for detection.

[0008] In some embodiments, the beam splitting unit includes a beam splitter. The first filter is disposed between the first light-emitting side of the beam splitter and the first detection unit, and the second filter is disposed between the second light-emitting side of the beam splitter and the second detection unit. The beam splitter can propagate part of the incident light to the first filter and the other part of the incident light to the second filter, so as to separate the first light beam and the second light beam to different detection units.

[0009] In some embodiments, the included angle between the beam splitter and the optical axis is 45 degrees. The above setting can make the emission direction of the light beam reflected by the beam splitter perpendicular to the optical axis. Furthermore, the detection unit can be arranged parallel to the optical axis, occupying a small internal space and being beneficial to reducing the volume of the light receiving device.

[0010] In some embodiments, the beam splitting unit includes a reflector and a first moving device. The first moving device is configured to move the reflector; the reflector is configured to reflect the incident light to the first filter or reflect the incident light to the second filter. By providing the reflector and the first moving device, the incident light can be propagated to different filters, so as to separate the first light beam and the second light beam.

[0011] In some embodiments, the adjustment component further includes a second moving device. The second moving device is respectively connected to the first filter and the second filter. The second moving device is configured to move the first filter and the second filter; wherein, the first filter is configured to obtain the first light beam according to the incident light and emit the first light beam to the detection component; the second filter is configured to obtain the second light beam according to the incident light and emit the second light beam to the detection component. By providing the second moving device, different filters can be moved to the light-emitting side of the receiving component, so that the first light beam and the second light beam reach the detection component at different times.

[0012] In some embodiments, the adjustment component further includes a third moving device, which is connected to the detection component and is used to move the detection component so that the detection component is located in the focal plane of the first light beam or the focal plane of the second light beam. By providing the third moving device, the detection component can be moved to the focal plane corresponding to the first light beam and the focal plane corresponding to the second light beam respectively, ensuring the clarity of imaging.

[0013] In some embodiments, the first wavelength band is a near-infrared light wavelength band, and the second wavelength band is a visible light wavelength band.

[0014] The light receiving device can simultaneously detect the first light beam in the near-infrared wavelength band and the second light beam in the visible light wavelength band. When applied to a lidar, it can simultaneously detect the echo light beam in the near-infrared wavelength band and the visible light beam in the visible light wavelength band. That is, using a set of light receiving devices can achieve three-dimensional detection of the lidar and visible light wavelength band detection, reducing the volume and cost of the lidar, and no additional calibration is required, facilitating the fusion of visible light images and lidar point clouds.

[0015] In a second aspect, the present application provides a lidar, which includes a transmitting device, a light receiving device as described in any one of the first aspects, and a housing. The transmitting device is used to emit a detection light beam to a target object; the light receiving device is used to receive the echo light beam reflected by the target object from the detection light beam, and the incident light of the light receiving device includes the echo light beam. The housing is used to mount the transmitting device and the light receiving device.

[0016] The light receiving device provided by the embodiments of the present application can simultaneously detect the first light beam and the second light beam in different wavelength bands. When applied to a lidar, it increases the range of wavelength bands that the lidar can detect. Compared with using different light receiving devices to detect light beams in different wavelength bands, the embodiments of the present application can reduce the volume and cost of the lidar. In addition, when the lidar uses this light receiving device to detect visible light beams and echo light beams in different wavelength bands, the lidar can use a set of light receiving devices to perform three-dimensional detection and visible light wavelength band detection, and subsequent direct fusion of visible light images and lidar point clouds can be carried out. Description of the Drawings

[0017] In one or more embodiments, exemplary illustrations are provided through the pictures in the corresponding drawings. These exemplary illustrations do not constitute limitations on the embodiments. Elements / modules and steps with the same reference numerals in the drawings are represented as similar elements / modules and steps. Unless otherwise stated, the drawings in the figures do not constitute a scale limitation.

[0018] Figure 1 It is a structural block diagram of a light receiving device provided by an embodiment of the present application;

[0019] Figure 2 It is a schematic structural diagram of a receiving component provided by an embodiment of the present application;

[0020] Figure 3 It is a structural block diagram of an optical receiving device provided by an embodiment of the present application;

[0021] Figure 4 It is a structural diagram of an optical receiving device provided by an embodiment of the present application;

[0022] Figure 5 It is a structural diagram of an optical receiving device provided by an embodiment of the present application;

[0023] Figure 6 It is Figure 4 An optical path schematic diagram of the shown structure;

[0024] Figure 7 It is Figure 4 An optical path schematic diagram of the shown structure;

[0025] Figure 8 It is a structural diagram of an optical receiving device provided by an embodiment of the present application;

[0026] Figure 9 It is Figure 8 An optical path schematic diagram of the shown structure;

[0027] Figure 10 It is Figure 8 An optical path schematic diagram of the shown structure;

[0028] Figure 11 It is a structural diagram of an optical receiving device provided by an embodiment of the present application;

[0029] Figure 12 It is an optical path schematic diagram of an optical receiving device provided by an embodiment of the present application;

[0030] Figure 13 It is an optical path schematic diagram of an optical receiving device provided by an embodiment of the present application;

[0031] Figure 14 It is a structural diagram of an optical receiving device provided by an embodiment of the present application;

[0032] Figure 15 It is a structural diagram of a second moving device provided by an embodiment of the present application;

[0033] Figure 16 It is Figure 14 An optical path analysis schematic diagram of the shown structure;

[0034] Figure 17 It is a structural block diagram of a lidar provided by an embodiment of the present application.

[0035] Description of reference numerals:

[0036] 100, optical receiving device; 10, receiving component; 20, adjustment component; 30, detection component; L, incident light; L1, first light beam; L2, second light beam; 11, first lens; 12, first cemented lens; 13, second cemented lens; 14, second lens; 15, aperture; O1, optical axis of the receiving component; 21, first filter; 22, second filter; 23, beam splitting unit; 31, first detection unit; 32, second detection unit; S1, object plane; 231, beam splitter; 232, reflector; 24, second moving device; 241, turntable; S2, first focal plane; S3, second focal plane; 200, transmitting device; 300, housing. Detailed implementation manners

[0037] The present application will be described in detail below with reference to specific embodiments. The following embodiments will help those skilled in the art to further understand the present application.

[0038] To facilitate understanding of the present application, the present application will be described in more detail below with reference to the accompanying drawings and specific embodiments. Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by those skilled in the technical field to which the present application belongs. The terms used in the specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. The term "and / or" used in this specification includes any and all combinations of one or more of the related listed items.

[0039] It should be noted that if there is no conflict, the various features in the embodiments of the present application can be combined with each other, and all are within the protection scope of the present application. In addition, although the functional modules are divided in the device schematic diagram, in some cases, it can be different from the module division in the device. In addition, the terms "first", "second", etc. used herein do not limit the data and execution order, but only distinguish the same items or similar items with basically the same functions and effects.

[0040] LiDAR is a long-distance sensing technology that uses lasers to measure distance, speed, two-dimensional information, and other characteristics. With the development of autonomous driving, the demand for the fusion of point cloud information of LiDAR and color images in the visible light band has received more and more attention. However, existing LiDARs can only detect echo light beams in narrow bands such as 850nm, 905nm, and 940nm, and cannot detect visible light beams in the visible light band. For current LiDARs, if they want to detect light beams in the visible light band, they need to additionally set up an optical receiving device for detecting the visible light band, which will increase the volume and cost of the LiDAR.

[0041] To improve the above technical problems, an embodiment of the present application provides an optical receiving device and a lidar. The optical receiving device can detect two beams in different bands simultaneously. When applied to a lidar, the lidar can detect visible light beams and echo beams simultaneously through a set of optical receiving devices, which can reduce the volume and cost of the lidar.

[0042] In a first aspect, an embodiment of the present application provides an optical receiving device 100, which includes a receiving component 10, an adjustment component 20, and a detection component 30.

[0043] The receiving component 10 is configured to receive the incident light L and output the incident light L to the adjustment component 20. The adjustment component 20 is configured to obtain a first beam L1 and a second beam L2 based on the incident light L, and output the first beam L1 and the second beam L2 to the detection component 30, where the first beam L1 is in a first band, the second beam L2 is in a second band, and the first band and the second band are different. The detection component 30 is configured to convert the first beam L1 and the second beam L2 into electrical signals.

[0044] In some embodiments, the receiving component 10 can focus the incident light L. In some embodiments, referring to Figure 2 , the receiving component 10 may include a first lens 11, a first cemented lens 12, a diaphragm 15, a second cemented lens 13, and a second lens 14 arranged in sequence along the optical axis O1. By designing the optical parameters such as the radius of curvature, surface type, thickness, refractive index, and Abbe number of each lens, the incident light L passing through the receiving component 10 can be converged on the detection component 30. The optical parameters of the receiving component 10 can be set; in addition, the number and type of lenses can also be a lens group that can be used to focus the incident light L. When designing the receiving component 10, it should be capable of focusing beams in different bands simultaneously, and when coating the lenses, the beams in the first band and the second band should also be taken into account. In addition, the back focal length of the receiving component 10 should meet the requirements for placing subsequent optical elements.

[0045] In some embodiments, the adjustment component 20 can separate the incident light L into beams in different bands, or adjust the propagation directions of the beams in different bands in the incident light L, so as to obtain the first beam L1 and the second beam L2, and guide the first beam L1 and the second beam L2 to the detection component 30.

[0046] In some embodiments, the detection component 30 includes a photosensitive device, and the photosensitive device is a device that can respond to optical signals, such as converting optical signals into electrical signals.

[0047] The adjustment component 20 obtains a first light beam L1 and a second light beam L2 in different wavelength bands based on the incident light L, and respectively emits the first light beam L1 and the second light beam L2 to the detection component 30, so that the first light beam L1 and the second light beam L2 are detected by the same light receiving device 100. Then, a group of light receiving devices 100 can be used to detect two light beams in different wavelength bands, increasing the detectable wavelength band range of the lidar. In addition, by using this light receiving device to simultaneously detect visible light beams and near-infrared light beams in different wavelength bands, visible light image and lidar point cloud fusion can be achieved without additional calibration.

[0048] In some of these embodiments, the first wavelength band is the near-infrared light band and the second wavelength band is the visible light band, that is, the first light beam L1 is a near-infrared light beam and the second light beam L2 is a visible light beam.

[0049] In some embodiments, the wavelength range of the near-infrared light band is between 780 nanometers and 2526 nanometers, and the wavelength range of the visible light band is between 380 and 780 nanometers. In some implementations, the wavelength range of the first wavelength band is between 470 nanometers and 650 nanometers, and the wavelength range of the second wavelength band is between 915 nanometers and 965 nanometers; or, the wavelength range of the first wavelength band is between 470 nanometers and 650 nanometers, and the wavelength range of the second wavelength band is between 885 nanometers and 930 nanometers; or, the wavelength range of the first wavelength band is between 470 nanometers and 650 nanometers, and the wavelength range of the second wavelength band is between 825 nanometers and 875 nanometers. In some embodiments, the first wavelength band can also be the visible light band, and the second wavelength band can also be the near-infrared band. In some embodiments, the near-infrared band is taken as the first wavelength band and the visible light band is taken as the second wavelength band for elaboration.

[0050] In some embodiments, the light receiving device 100 can simultaneously detect the first light beam in the near-infrared band and the second light beam in the visible light band. Subsequently, when applied to a lidar, the lidar can use a group of light receiving devices to detect the echo light beam in the near-infrared band and the visible light beam in the visible light band, that is, the lidar can use a group of light receiving devices to achieve three-dimensional detection of the lidar and detection in the visible light band, which can reduce the volume and cost of the lidar. Moreover, the echo light beam and the visible light beam share the same group of light receiving devices, and the subsequent lidar does not require additional calibration and can directly perform visible light image and lidar point cloud fusion.

[0051] In some of these embodiments, please refer to Figure 3 , the adjustment component 20 includes a first filter 21 and a second filter 22. The first filter 21 is used to transmit the light beam in the first wavelength band and reflect the light beam in the second wavelength band. The second filter 22 is used to transmit the light beam in the second wavelength band and reflect the light beam in the first wavelength band.

[0052] The filter can selectively transmit and block light within a specific wavelength range. In some embodiments, the transmittance of the first filter 21 for the light beam in the first band is close to 100%, the reflectance for the light beam in the first band is close to 0%, the transmittance for the light beam in the second band is close to 0%, and the reflectance for the light beam in the second band is close to 100%. The transmittance of the second filter 22 for the light beam in the second band is close to 100%, the reflectance for the light beam in the second band is close to 0%, the transmittance for the light beam in the first band is close to 0%, and the reflectance for the light beam in the first band is close to 100%. In some embodiments, if the first band is the near-infrared band and the second band is the visible light band, then the first filter 21 is a filter that transmits the echo light beam and reflects the visible light beam, and the second filter 22 is a filter that transmits the visible light beam and reflects the echo light beam.

[0053] In some embodiments, by setting the first filter 21, the light beam in the first band in the incident light L can be separated, and by setting the second filter 22, the light beam in the second band in the incident light L can be separated. That is, by setting the first filter 21 and the second filter 22, the first light beam L1 and the second light beam L2 are obtained, so as to detect the first light beam L1 and the second light beam L2 respectively. In some embodiments, the echo light beam and the visible light beam can be obtained through the first filter 21 and the second filter 22, so as to detect the echo light beam and the visible light beam respectively, and realize radar point cloud detection and visible light imaging.

[0054] In some of these embodiments, please refer to Figure 3 , the detection assembly 30 includes a first detection unit 31 and a second detection unit 32, and the adjustment assembly 20 further includes a beam splitting unit 23. The beam splitting unit 23 is configured to emit the first light beam L1 to the first detection unit 31 and emit the second light beam L2 to the second detection unit 32.

[0055] In some embodiments, if the first light beam L1 is a visible light beam and the second light beam L2 is an echo light beam, then the first detection unit 31 includes a Complementary Metal Oxide Semiconductor (CMOS) photosensitive array, and the second detection unit 32 includes a Single Photon Avalanche Diode (SPAD) photosensitive array. Among them, the CMOS photosensitive array includes CMOS sensors arranged in an array. When the visible light beam irradiates the CMOS photosensitive array, each CMOS sensor generates charges, and digital signals are obtained by processing the charges to form a visible light image. The SPAD photosensitive array includes SPAD sensors arranged in an array. When the echo light beam irradiates the SPAD photosensitive array, each SPAD sensor generates pulses, thereby obtaining a point cloud.

[0056] In some embodiments, the beam splitting unit 23 includes at least one optical element such as a beam splitter, a filter, a mirror, etc. In some embodiments, the beam splitting unit 23 can change the propagation direction of the incident light L, and respectively emit the incident light L to the first filter 21 and the second filter 22, so as to separate the first light beam L1 and the second light beam L2 in different wavelength bands, and then detect them in different detection units respectively.

[0057] In some of these embodiments, refer to Figure 4 or Figure 5 , the beam splitting unit 23 includes a beam splitter 231, the first filter 21 is arranged between the first light output side of the beam splitter 231 and the first detection unit 31, and the second filter 22 is arranged between the second light output side of the beam splitter 231 and the second detection unit 32.

[0058] The beam splitter 231 is an optical device that can partially reflect and partially transmit the incident light L. In some implementations, its reflectivity and transmittance are 50% respectively.

[0059] In some implementations, refer to Figure 4 , the first light output side of the beam splitter 231 is in the propagation direction of the incident light L after being reflected by the beam splitter 231, and the second light output side of the beam splitter 231 is in the propagation direction of the incident light L after being transmitted by the beam splitter 231. The first filter 21 is arranged on the path of the incident light L reflected by the beam splitter 231, the first detection unit 31 is arranged on the light output side of the first filter 21, the second filter 22 is arranged on the path of the incident light L transmitted by the beam splitter 231 through the beam splitter 231, and the second detection unit 32 is arranged on the light output side of the second filter 22. Refer to Figure 6 , the incident light L propagates through the object surface S1 to the receiving component 10, and is transmitted through the receiving component 10 to the beam splitter 231. Then, part of the incident light L is reflected by the beam splitter 231 to the first filter 21, and the part of the incident light L reflected by the beam splitter 231 is transmitted through the first filter 21 to obtain the first light beam L1, and the first light beam L1 is emitted from the first filter 21 to the first detection unit 31. At the same time, another part of the incident light L is transmitted by the beam splitter 231 to the second filter 22, and the part of the incident light L transmitted by the beam splitter 231 is transmitted through the second filter 22 to obtain the second light beam L2, and the second light beam L2 is emitted from the second filter 22 to the second detection unit.

[0060] In some implementations, refer to Figure 5, the first light-emitting side of the beam splitter 231 is in the transmission direction of the incident light L through the beam splitter 231, and the second light-emitting side of the beam splitter 231 is in the reflection direction of the incident light L through the beam splitter 231. The first filter 21 is disposed on the path of the incident light L transmitted through the beam splitter 231, the first detection unit 31 is disposed on the light-emitting side of the first filter 21, the second filter 22 is disposed on the path of the incident light L reflected by the beam splitter 231, and the second detection unit 32 is disposed on the light-emitting side of the second filter 22. In this optical receiving device, the incident light L propagates through the object surface S1 to the receiving assembly 10, and is transmitted through the receiving assembly 10 to the beam splitter 231, and then is partially reflected by the beam splitter 231 to the second filter 22. Under the action of the second filter 22, the second light beam L2 is transmitted through the second filter 22 to the second detection unit 32, and another part of the incident light L is emitted from the beam splitter 231 to the first filter 21. Under the action of the first filter 21, the first light beam L1 is emitted from the first filter 21 to the first detection unit 31.

[0061] In this optical receiving device 100, after the receiving assembly 10 receives the incident light L, part of the incident light L propagates through the beam splitter 231 to the first filter 21, and part of the incident light L is transmitted through the first filter 21 to obtain the first light beam L1. The first light beam L1 (such as a near-infrared light beam) is emitted from the first filter 21 to the first detection unit 31 (such as a SPAD photosensitive array), so that the first detection unit 31 can detect the first light beam L1. Another part of the incident light L will propagate through the beam splitter 231 to the second filter 22, and part of the incident light L is transmitted through the second filter 22 to obtain the second light beam L2. The second light beam L2 (such as a visible light beam) is emitted from the second filter 22 to the second detection unit 32 (such as a CMOS photosensitive array), so that the second detection unit 32 can detect the second light beam L2. In this embodiment, the beam splitter 231 can change the propagation direction of the incident light, so that part of the incident light propagates to the first filter 21, and part of the incident light propagates to the second filter 22. Under the action of the first filter 21 and the second filter 22, the first light beam L1 and the second light beam L2 in the incident light L are respectively propagated to different detection units for detection. In some embodiments, the near-infrared light beam enters the SPAD photosensitive array for detection, and the visible light beam enters the CMOS photosensitive array for detection. The SPAD has the characteristics of high time resolution and high sensitivity, which is beneficial to the imaging of the laser point cloud; while the CMOS has low cost, high efficiency, and a wide dynamic range that can be captured, and is suitable for image imaging with continuously changing light intensity.

[0062] In some embodiments, the included angle between the beam splitter 231 and the optical axis is 45 degrees, and the optical axis is the optical axis O1 of the receiving assembly. The included angle between the beam splitter 231 and the optical axis is 45 degrees, that is, the included angle between the plane where the beam splitter 231 is located and the optical axis is 45 degrees.

[0063] In some embodiments, the angle between the beam splitter 231 and the optical axis can also be an appropriate angle such as 30 degrees or 60 degrees. In one embodiment, by placing the beam splitter 231 at an angle of 45 degrees with respect to the optical axis, compared with the embodiments where the angle between the beam splitter 231 and the optical axis is 60 degrees or 30 degrees, it is convenient to place subsequent devices. For example, subsequent devices can be arranged perpendicular or parallel to the optical axis, reducing the occupied internal space and improving space utilization. When applied to a lidar, the volume of the lidar can be reduced.

[0064] In some embodiments, referring to Figure 8 , the splitting unit 23 includes a mirror 232 and a first moving device for moving the mirror 232. The mirror 232 is configured to reflect the incident light L to the first filter 21 or to the second filter 22. The first moving device may include a motor or other devices that can be used to change the position of the mirror 232.

[0065] In some embodiments, the first moving device is configured to move the mirror 232 to a position between the light-emitting side of the receiving component 10 and the second filter 22, and the incident light L is reflected by the mirror 232 to the first filter 21. The first moving device is further configured to move the mirror 232 out of the position between the light-emitting side of the receiving component 10 and the second filter 22, and the incident light L reaches the second filter 22 after exiting from the light-emitting side of the receiving component 10.

[0066] In some embodiments, as Figure 8 shown, the second filter 22 is disposed on the light-emitting side of the receiving component 10, the second detection unit 32 is disposed on the light-emitting side of the second filter 22, the first moving device can move the mirror 232 to a position between the light-emitting side of the receiving component 10 and the second filter 22, the first filter 21 is disposed on the path of the incident light L reflected by the mirror 232, and the first detection unit 31 is disposed on the light-emitting side of the first filter 21.

[0067] When the mirror 232 is moved to a position between the light-emitting side of the receiving component 10 and the second filter 22 by the first moving device, as Figure 9 shown, after the incident light L propagates through the receiving component 10 and reaches the mirror 232, it will be reflected by the mirror 232 to the first filter 21, and under the action of the first filter 21, the first light beam L1 is separated. The first light beam L1 exits from the first filter 21 and reaches the first detection unit 31. When the mirror 232 is moved out of the position between the light-emitting side of the receiving component 10 and the second filter 22 by the first moving device, as Figure 10 shown, the incident light L will directly reach the second filter 22, and the incident light L is acted on by the second filter 22 to obtain the second light beam L2. The second light beam L2 exits from the second filter 22 and reaches the second detection unit 32.

[0068] In some embodiments, the first moving device is configured to move the mirror 232 to a position between the light-emitting side of the receiving component 10 and the first filter 21, and the incident light L is reflected by the mirror 232 to the second filter 22; in addition, the first moving device is further configured to move the mirror 232 out of the position between the light-emitting side of the receiving component 10 and the first filter 21, and the incident light L reaches the first filter 21 after being emitted from the light-emitting side of the receiving component 10.

[0069] In some embodiments, as Figure 11 shown, the first filter 21 can be disposed on the light-emitting side of the receiving component 10, the first detection unit 31 is disposed on the light-emitting side of the first filter 21, the first moving device can move the mirror 232 to a position between the light-emitting side of the receiving component 10 and the first filter 21, the second filter 22 is disposed on the propagation path of the incident light L reflected by the mirror 232, and the second detection unit 32 is disposed on the light-emitting side of the second filter 22.

[0070] In some embodiments, when the mirror 232 is moved to a position between the light-emitting side of the receiving component 10 and the first filter 21 by the first moving device, after the incident light L propagates through the receiving component 10 to the mirror 232, it is then reflected by the mirror 232 to the second filter 22. The second filter 22 transmits the incident light L to obtain the second light beam L2 and emits the second light beam L2 to the second detection unit 32. When the mirror 232 is moved out of the position between the light-emitting side of the receiving component 10 and the first filter 21 by the first moving device, the incident light L will directly reach the first filter 21. The first filter 21 transmits the incident light L to obtain the first light beam L1 and emits the first light beam L1 to the first detection unit 31.

[0071] In some embodiments, the mirror 232 is disposed on the light-emitting side of the receiving component 10, and the first moving device can move the mirror 232 to a first position, as Figure 12 shown, the incident light L is reflected by the mirror 232 to the first filter 21. Under the action of the first filter 21, the first light beam L1 is transmitted through the first filter 21 to the first detection unit 31. The first moving device can also move the mirror 232 to a second position, as Figure 13 shown, the incident light L is reflected by the mirror 232 to the second filter 22. Under the action of the second filter 22, the second light beam L2 is transmitted through the second filter 22 to the second detection unit 32.

[0072] By providing the first moving device and the mirror 232, the incident light L can be guided to different filters. After the incident light L is filtered by different filters, the light beams in the corresponding bands are transmitted to the corresponding detection units, realizing the detection of light beams in different bands respectively.

[0073] In some embodiments, referring to Figure 14, the adjustment component 20 further includes a second moving device 24. The second moving device 24 is respectively connected to the first filter 21 and the second filter 22, and the second moving device 24 is used to move the first filter 21 and the second filter 22. Wherein, the first filter 21 is used to obtain a first light beam L1 according to the incident light L, and emit the first light beam L1 to the detection component 30. The second filter 22 is used to obtain a second light beam L2 according to the incident light L, and emit the second light beam L2 to the detection component 30.

[0074] The detection component 30 includes a SPAD photosensitive array. The SPAD photosensitive array includes SPAD sensors arranged in an array, which is applied to a lidar. When the echo light beam irradiates the SPAD photosensitive array, each SPAD sensor generates a pulse for point cloud detection; when the visible light beam irradiates the SPAD photosensitive array, each SPAD sensor generates a pulse for visible light imaging.

[0075] The second moving device 24 includes devices such as a motor and a turntable that can be used to change the position of the mirror 232. In some embodiments, refer to Figure 15 , the second moving device 24 includes a turntable 241. The turntable 241 has a first through hole and a second through hole. Wherein, the first filter 21 is arranged in the first through hole, and the second filter 22 is arranged in the second through hole. During the rotation of the turntable 241, the positions of the first filter 21 and the second filter 22 can be changed. If the turntable 241 rotates the first filter 21 to a position between the light output side of the receiving component 10 and the detection component 30, and rotates the second filter 22 out of the position between the light output side of the receiving component 10 and the detection component 30, the incident light L propagates through the receiving component 10 to the first filter 21 and is filtered by the first filter 21 to obtain the first light beam L1. The first filter 21 emits the first light beam L1 to the detection component 30. For example, the echo light beam in the near-infrared band is emitted to the detection component 30 to achieve point cloud detection. If the turntable 241 rotates the second filter 22 to a position between the light output side of the receiving component 10 and the detection component 30, and rotates the first filter 21 out of the position between the light output side of the receiving component 10 and the detection component 30, the incident light L propagates through the receiving component 10 to the second filter 22 and is filtered by the second filter 22 to obtain the second light beam L2. The second filter 22 emits the second light beam L2 to the detection component 30. For example, the visible light beam in the visible light band is emitted to the detection component 30 to achieve visible light imaging.

[0076] In some embodiments, by setting the second moving device 24, the positions of the first filter 21 and the second filter 22 can be changed, so that the first filter 21 and the second filter 22 are respectively moved to positions between the light output side of the receiving component 10 and the detection component 30, so as to allow the light beams of corresponding bands to enter the detection component 30 and achieve the detection of light beams of different bands.

[0077] Since the light beams of different wavelength bands will be focused on different focal planes after being focused by the receiving component 10, as Figure 16 shown, the first light beam is focused on the focal plane S2, the second light beam is focused on the focal plane S3, or, the second light beam is focused on the focal plane S2, the first light beam is focused on the focal plane S3. In order to improve the detection accuracy of the detection component 30, in some embodiments, the adjustment component 20 further includes a third moving device, the third moving device is connected to the detection component 30, and the third moving device is used to move the detection component 30 so that the detection component 30 is located on the focal plane of the first light beam L1 or the focal plane of the second light beam L2.

[0078] In some embodiments, the third moving device includes a device such as a motor that can be used to change the position of the detection component 30. The distance between the focal plane of the first light beam and the focal plane of the second light beam is less than 1 mm, such as 0.5 mm or 0.6 mm, which is related to the parameters of the receiving component 10.

[0079] In some embodiments, by setting the third moving device, when the optical receiving device detects the first light beam, the third moving device can be used to move the detection component 30 to the focal plane of the first light beam, and when the optical receiving device detects the second light beam, the third moving device can be used to move the detection component 30 to the focal plane of the second light beam, so as to improve the detection accuracy and ensure clear imaging.

[0080] In a second aspect, the present application provides a lidar, please refer to Figure 17 . The lidar 1000 includes: a transmitting device 200, an optical receiving device 100 as described in any one of the embodiments of the first aspect, and a housing 300. The transmitting device 200 is used to emit a detection light beam to a target object. The optical receiving device 100 is used to receive the echo light beam reflected by the target object from the detection light beam, and the incident light of the optical receiving device 100 includes the echo light beam. The housing 300 is used to mount the transmitting device 200 and the optical receiving device 100.

[0081] In some embodiments, the optical receiving device 100 has the same structure and function as the optical receiving device 100 in the above embodiments.

[0082] In some implementations, the transmitting device 200 includes at least one laser source. In some implementations, the transmitting device 200 includes a plurality of laser sources, and the plurality of laser sources are arranged in a one-dimensional or two-dimensional manner. In some implementations, the above laser source can be a continuous light source, such as a light-emitting diode (LED), or a pulsed light source, such as a laser diode (LD).

[0083] The housing 300 is used to install the transmitting device 200 and the optical receiving device 100 to support and protect the transmitting device 200 and the optical receiving device 100.

[0084] In some embodiments, the lidar 1000 simultaneously detects the visible light beam and the echo beam through a set of optical receiving devices 100. Compared with using two sets of receiving devices to detect light of different bands respectively, the volume and cost of the lidar 1000 can be reduced.

[0085] It should be noted that the device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0086] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application and are not intended to limit them; under the idea of the present application, the technical features in the above embodiments or different embodiments can also be combined, and the steps can be implemented in any order, and there are many other variations in different aspects of the present application as described above. For the sake of brevity, they are not provided in detail; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments or equivalently replace some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A light receiving device, characterized in that: The optical receiving device comprises a receiving component, an adjusting component and a detecting component; The receiving component is used to receive incident light and emit the incident light to the adjusting component; The adjustment component is used to obtain a first light beam and a second light beam according to the incident light, and emit the first light beam and the second light beam to the detection component, wherein the first light beam is in a first wave band, the second light beam is in a second wave band, and the first wave band and the second wave band are different; The detection component is used to convert the first light beam and the second light beam into electrical signals.

2. The optical receiving device according to claim 1, characterized in that: The adjustment assembly includes a first filter and a second filter; The first filter is used to transmit the light beam in the first wavelength band and reflect the light beam in the second wavelength band; The second filter is used for transmitting the light beam in the second wavelength band and reflecting the light beam in the first wavelength band.

3. The light receiving device according to claim 2, characterized in that: The detection assembly includes a first detection unit and a second detection unit, and the adjustment assembly also includes a spectroscopic unit; The light splitting unit is used to emit the first light beam to the first detection unit, and emit the second light beam to the second detection unit.

4. The light receiving device according to claim 3, characterized in that: The spectroscopic unit comprises a spectroscope, the first filter is arranged between a first light-emitting side of the spectroscope and the first detection unit, and the second filter is arranged between a second light-emitting side of the spectroscope and the second detection unit.

5. The light receiving device according to claim 4, characterized in that: The included angle between the beam splitter and the optical axis is 45 degrees.

6. The light receiving device according to claim 3, characterized in that The light splitting unit comprises a reflector and a first moving device, wherein the first moving device is used to move the reflector; The reflector is used to reflect the incident light to the first filter, or to reflect the incident light to the second filter.

7. The light receiving device according to claim 2, characterized in that: The adjustment component further includes a second moving device, the second moving device is respectively connected to the first filter and the second filter, and the second moving device is used to move the first filter and the second filter; wherein, The first filter is used to obtain the first light beam according to the incident light, and emit the first light beam to the detection component; The second filter is used to obtain the second light beam according to the incident light, and emit the second light beam to the detection component.

8. The light receiving device according to claim 7, characterized in that: The adjustment component also includes a third moving device, which is connected to the detection component and is used to move the detection component so that the detection component is located in the focal plane of the first light beam or the focal plane of the second light beam.

9. The optical receiving device according to any one of claims 1 to 8, characterized in that: The first waveband is a near-infrared light waveband, and the second waveband is a visible light waveband.

10. A laser radar, characterized in that: include: A transmitting device for transmitting a detection beam to a target object ； The optical receiving device according to any one of claims 1 to 9, used to receive an echo beam reflected by the target object from the detection beam, wherein the incident light of the optical receiving device includes the echo beam; The housing is used for installing the transmitting device and the light receiving device.

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