Ranging module, laser radar and terminal equipment

Abstract

The embodiment of the utility model provides a ranging module, a laser radar and terminal equipment, and relates to the field of optical devices. The objective of the utility model is to improve the precision of the distance measurement module. According to the specific scheme, the distance measuring module is used for measuring the distance of an object to be measured. The distance measuring module comprises a shell structure and a receiving unit. The shell structure comprises a light shading area and a light transmitting area which are connected. The receiving unit is located in the shell structure and used for receiving the light beams. The distance measuring module is in the first state and is used for measuring the distance of the to-be-measured object. And the distance measuring module is in the second state and is used for calibration. Wherein in the first state, the receiving efficiency of the receiving unit for receiving the light beam outside the shell structure is greater than the receiving efficiency in the second state. The distance measuring module effectively isolates external light interference, meanwhile, the size and attractiveness of the whole machine are prevented from being affected, dynamic temperature drift compensation is achieved, and therefore calibration precision and stability are improved.

Description

Technical Field

[0001] This application relates to the field of optical devices, and more particularly to a ranging module, lidar, and terminal equipment. Background Technology

[0002] A lidar (Light Detection and Ranging) system is a radar system that uses emitted laser beams to detect the position, velocity, and other characteristics of a target. Specifically, the lidar's laser emitting system emits a laser beam at a predetermined power towards the target. Upon encountering the target, the laser beam undergoes diffuse reflection and is received by the lidar's laser receiving system.

[0003] The ranging module is a key component in the optical path of a lidar system. The accuracy of the ranging module directly affects the ranging accuracy of the lidar. This application aims to improve the accuracy of the ranging module. Utility Model Content

[0004] This application provides a ranging module, a lidar, and a terminal device, aiming to improve the accuracy of the ranging module.

[0005] To achieve the above objectives, this application adopts the following technical solution.

[0006] In a first aspect, this application provides a ranging module for measuring the distance to an object. The ranging module includes a housing structure and a receiving unit. The housing structure includes a connected light-shielding area and a light-transmitting area; the light-transmitting area transmits a light beam from outside the housing structure into the housing structure, and the light-shielding area blocks a portion of the light beam from outside the housing structure. The receiving unit is located inside the housing structure and is used to receive the light beam. The ranging module is in a first state, used to measure the distance to the object. The ranging module is in a second state, used for calibration. In the first state, the receiving unit's efficiency in receiving the light beam from outside the housing structure is greater than [specified value], and in the second state, the receiving unit's efficiency in receiving the light beam from outside the housing structure is [specified value].

[0007] In the second state, the receiving unit receives a portion of the light beam from outside the housing structure; or, in the second state, the receiving unit does not receive the light beam from outside the housing structure.

[0008] Thus, in the second state of calibration for the ranging module, the receiving unit receives the calibration beam, and the receiving efficiency of the receiving unit receiving beams from outside the housing structure decreases. This reduces the amount of beams from outside the housing structure received by the receiving unit, thus reducing interference with the calibration beam. This reduced interference in the second state allows the ranging module to acquire more accurate beam information, improving its overall precision. When the ranging module is used with LiDAR, the LiDAR measurement data becomes more accurate.

[0009] In conjunction with the first aspect, in some feasible embodiments, the ranging module further includes a first light guide unit. In this second state, the receiving unit is used to receive a light beam from the first light guide unit.

[0010] Thus, in the second state, the calibration beam is transmitted by the first light guide unit, which can constrain the optical path of the calibration beam. This helps to increase the utilization rate of the calibration light and enhance the intensity of the optical signal received by the receiving unit in the second state.

[0011] In conjunction with the first aspect, in some feasible embodiments, the first light guiding unit includes a reflective structure. In this second state, the receiving unit is used to receive a light beam from the reflective structure.

[0012] Thus, the reflective structure folds the optical path in the second state, reducing the optical path distance of the calibration beam, which helps to reduce the size of the ranging module and miniaturize the ranging module.

[0013] In conjunction with the first aspect, in some feasible embodiments, the reflective structure includes a first reflective portion and a second reflective portion. In the second state, the second reflective portion is used to reflect the light beam from the first reflective portion to the receiving unit.

[0014] Thus, in the second state, the optical path is folded in the reflective structure, which helps to reduce the volume of the shell structure, thereby facilitating the miniaturization of the ranging module.

[0015] In conjunction with the first aspect, in some feasible embodiments, the housing structure is provided with a groove structure, the groove structure including a first sidewall and a second sidewall disposed opposite to each other, the first reflective part being located on the first sidewall and the second reflective part being located on the second sidewall.

[0016] In this way, the groove structure can accommodate the first and second reflective parts. The reflective structure occupies less space, and the groove structure can support the reflective structure, which is integrated into the housing structure, reducing the size of the ranging module.

[0017] In conjunction with the first aspect, in some feasible embodiments, the first reflective portion and the second reflective portion are connected as a single integrally formed part. Thus, the first and second reflective portions can be formed using the same process, resulting in a simple and uniform manufacturing process, which helps to save manufacturing costs. In some embodiments, the entire inner wall of the groove structure is provided with reflective portions.

[0018] In conjunction with the first aspect, in some feasible ways, the projection of the reflective structure onto the housing structure is located in the light-shielding area along the radial direction of the housing structure. Thus, a portion of the light beam originating from outside the housing structure may not be transmitted to the reflective structure, reducing the influence of the light beam originating from outside the housing structure on the calibration beam.

[0019] In conjunction with the first aspect, in some feasible ways, a portion of the projection of the reflective structure onto the housing structure is located within the light-shielding area along the radial direction of the housing structure. Thus, a portion of the light beam originating from outside the housing structure is transmitted to the reflective structure, reducing the influence of the light beam from outside the housing structure on the calibration beam.

[0020] In conjunction with the first aspect, in some feasible ways, the reflective structure is disposed outside the housing structure, and the projection of the reflective structure onto the housing structure is located in the light-transmitting area along the radial direction of the housing structure.

[0021] Thus, in the second state, the light-transmitting area transmits the light beam to the reflective structure, which then reflects the light beam back through the light-transmitting area to the receiving unit. In the second state, the reflective structure can also transmit the light beam to the receiving unit.

[0022] In conjunction with the first aspect, in some feasible implementations, the first light guiding unit includes an optical waveguide. In this second state, the receiving unit is used to receive a light beam from the optical waveguide. Thus, the optical waveguide functions to transmit the light beam in the second state.

[0023] In conjunction with the first aspect, in some feasible ways, the first light guide unit is directly or indirectly connected to the housing structure.

[0024] Thus, the first light guide unit and the housing structure have multiple connection methods, and the connection method of the first light guide unit and the housing structure can be set according to other structures connected to the housing structure, so the layout of the two is flexible.

[0025] In conjunction with the first aspect, in some feasible embodiments, the ranging module includes a plurality of light guide units. In a second state, the receiving unit is configured to receive a light beam from at least one of the plurality of light guide units; the plurality of light guide units includes the first light guide unit.

[0026] In this way, when the ranging module is in the second state, it can acquire multiple calibration information. By averaging the multiple calibration information, the data can be further calibrated more accurately.

[0027] In conjunction with the first aspect, in some feasible implementations, the ranging module further includes a transmitting unit and a first reflecting unit. In this first state, the light beam emitted by the transmitting unit is reflected by the first reflecting unit and transmitted through the light-transmitting area to the object under test, and the light beam reflected back from the object under test is transmitted to the receiving unit. In this second state, the light beam emitted by the transmitting unit is reflected by the first reflecting unit and transmitted to the receiving unit.

[0028] In this way, the optical path from the transmitting unit to the first reflecting unit can be shared in both the first and second states, making full use of the space of the ranging module.

[0029] In conjunction with the first aspect, in some feasible implementations, the ranging module further includes a second reflecting unit. In this first state, the light beam emitted by the transmitting unit is reflected by the first reflecting unit and transmitted through the light-transmitting area to the object under test. The light beam reflected back from the object under test passes through the light-transmitting area and is reflected by the second reflecting unit to the receiving unit. In this second state, the light beam emitted by the transmitting unit is reflected sequentially by the first reflecting unit and the second reflecting unit before being transmitted to the receiving unit.

[0030] Thus, the transmitting unit, the first reflecting unit, and the receiving unit can be shared in both the first and second states, making full use of the space of the ranging module.

[0031] In conjunction with the first aspect, in some feasible ways, the first reflective unit is rotatably connected to the inside of the ranging module, and the second reflective unit is rotatably connected to the inside of the ranging module.

[0032] In this way, the first and second reflection units can rotate relative to the shell structure, allowing the ranging module to switch between the first and second states.

[0033] In conjunction with the first aspect, in some feasible embodiments, the ranging module further includes a driving element, wherein both the first reflecting unit and the second reflecting unit are rotatably connected to the inside of the ranging module via the driving element.

[0034] Thus, under the action of the driving component, the ranging module switches between the first state and the second state, and the first reflection unit and the second reflection unit can share a single driving component, reducing the number of devices in the ranging module.

[0035] In conjunction with the first aspect, in some feasible embodiments, the housing structure includes a light-shielding body and a transparent inner shell, the light-shielding body covering a portion of the transparent inner shell; the receiving unit is located within the transparent inner shell.

[0036] Thus, the portion of the transparent inner shell covered by the light-shielding cover forms a light-shielding area, through which light beams cannot pass. The portion of the transparent inner shell not covered by the light-shielding cover is a light-transmitting area, allowing light beams to pass through.

[0037] Secondly, this application provides a lidar. The lidar includes a processing circuit and any of the ranging modules provided in the first aspect. Both the transmitting unit and the receiving unit are electrically connected to the processing circuit. Because the accuracy of the optical signal acquired by the ranging module is improved, the information measured by the lidar is more accurate.

[0038] Thirdly, this application provides a terminal device. The terminal device includes a main body and any of the lidar provided in the second aspect above. The lidar is connected to the main body.

[0039] Because lidar measures more accurately, the terminal device provides users with more accurate information.

[0040] Regarding the beneficial effects of the second and third aspects, please refer to the description of any optional implementation method in the first aspect, which will not be repeated here. Based on the implementation methods provided in the above aspects, this application can also be further combined to provide more implementation methods. Attached Figure Description

[0041] Figure 1 This is a schematic diagram of the structure of a terminal device provided in an embodiment of this application.

[0042] Figure 2 This is a schematic diagram of the structure of a lidar provided in an embodiment of this application.

[0043] Figure 3 This is a schematic diagram of the ranging module provided in an embodiment of this application.

[0044] Figure 4 This is a schematic diagram of a calibration method for a reference signal and an echo signal.

[0045] Figure 5 This is a schematic diagram of the optical path of the ranging module provided in the embodiments of this application.

[0046] Figure 6 This is a schematic diagram of the structure of a first light guide unit provided in an embodiment of this application.

[0047] Figure 7 This is a schematic diagram of another first light guide unit provided in an embodiment of this application.

[0048] Figure 8 A schematic diagram of the structure of the first reflector, the second reflector, and the housing provided in the embodiments of this application.

[0049] Figure 9 This is an exploded structural diagram of a shell structure provided in an embodiment of this application.

[0050] Figure 10 This is a schematic diagram of the structure of a first light guiding unit, a first reflection unit, and a second reflection unit provided in an embodiment of this application.

[0051] Figure 11 This is a schematic diagram of another ranging module provided in an embodiment of this application.

[0052] Figure 12 This is a schematic diagram of the housing structure, the second light guide unit, and the first light guide unit provided in the embodiments of this application.

[0053] In the diagram: 10-Terminal device; 20-LiDAR; 11-Body; 101-Object under test; 010-Processing circuit; 100-Range measuring module; 201-Signal processing unit; 202-Drive circuit; 203-Time-to-digital converter; 204-Analog front end; 130-Housing structure; 140-Transmitting unit; 110-First reflecting unit; 120-Second reflecting unit; 150-Receiving unit; 160-First light guide unit; 131-Light-transmitting area; 132-Light-shielding area; 180-Lens group; 170-Driver; 165-Bracket; 1331-First sidewall; 1332-Second sidewall; 133-Groove structure; 161-First reflecting part; 162-Second reflecting part; 301-Light-shielding cover; 302-Transparent inner shell; 190-Second light guide unit. Detailed Implementation

[0054] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0055] In the description of the embodiments of this application, unless otherwise stated, "multiple" means two or more. "At least one" or similar expressions refer to any combination of these items, including any combination of a single item or a plurality of items. For example, at least one of a, b, and c can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be a single item or multiple items.

[0056] Furthermore, to facilitate a clear description of the technical solutions in the embodiments of this application, the terms "first" and "second" are used in the embodiments of this application to distinguish identical or similar items with substantially the same function and effect. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, and that "first" and "second" are not necessarily different. Meanwhile, in the embodiments of this application, words such as "exemplarily" or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design scheme described as "exemplarily" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design schemes. Specifically, the use of words such as "exemplarily" or "for example" is intended to present related concepts in a concrete manner for ease of understanding.

[0057] In describing some embodiments, the term "connection" and its derivative expressions are used. The term "connection" should be interpreted broadly; for example, "connection" can be a fixed connection, a detachable connection, or an integral part; it can be a direct connection or an indirect connection through an intermediate medium. Furthermore, the use of "based on" implies openness and inclusivity, because processes, steps, calculations, or other actions "based on" one or more of the stated conditions or values ​​may in practice be based on additional conditions or values ​​beyond those stated.

[0058] As used herein, “parallel,” “perpendicular,” and “equal” include the described situation and situations that are similar to the described situation, within an acceptable range of deviation, which is determined by those skilled in the art taking into account the measurement under discussion and the error associated with the measurement of a particular quantity (i.e., the limitations of the measurement system). For example, “parallel” includes absolute parallelism and approximate parallelism, where an acceptable range of deviation for approximate parallelism may be, for example, within 5°; “perpendicular” includes absolute perpendicularity and approximate perpendicularity, where an acceptable range of deviation for approximate perpendicularity may also be, for example, within 5°; “equal” includes absolute equality and approximate equality, where an acceptable range of deviation for approximate equality may be, for example, a difference between the two equals being less than or equal to 5% of either one.

[0059] In the embodiments of this application, "upper", "lower", "left" and "right" are not limited to the orientation of the components in the accompanying drawings. It should be understood that these directional terms can be relative concepts, used for relative description and clarification, and can change accordingly depending on the orientation of the components in the accompanying drawings.

[0060] In the accompanying drawings, the thickness of some layers or regions has been selectively exaggerated for clarity, and the dimensional proportions between the portions shown do not reflect actual dimensional proportions. Therefore, variations in shape relative to the drawings are conceivable due to factors such as manufacturing techniques and / or tolerances. Consequently, exemplary embodiments should not be construed as being limited to the shapes of the regions shown in this application, but rather include shape deviations caused, for example, by manufacturing processes. For instance, etched areas shown as rectangular would typically have curved features. Therefore, the regions shown in the drawings are schematic in nature, and their shapes are not intended to show the actual shapes of areas of the device, nor are they intended to limit the scope of the exemplary embodiments.

[0061] Figure 1 This is a schematic diagram of the structure of a terminal device 10 provided in an embodiment of this application. Please refer to... Figure 1 The terminal device 10 includes a main body 11 and a lidar 20, with the lidar 20 connected to the main body 11. The lidar 20 is used to measure information about the object 101 under test.

[0062] For example, the lidar 20 emits a measurement beam, which is diffusely reflected after encountering the object 101 and returns to the lidar 20 for reception. The lidar 20 determines the distance, orientation, height, velocity, attitude, shape, and other characteristics of the object 101 based on the emitted beam and the reflected beam.

[0063] This application does not limit the application scenarios of the LiDAR 20. For example, the LiDAR 20 can be used in intelligent interaction, autonomous driving, drone navigation, industrial automation, 3D printing, virtual reality (VR), augmented reality (AR), robotics, and other scenarios.

[0064] When the lidar 20 of this application embodiment is applied to electronic devices such as drones, smart furniture devices, or smart manufacturing equipment, the lidar 20 can be installed on the main body of the electronic device. When the lidar 20 provided in this application embodiment is applied to a vehicle, the lidar 20 can serve as an auxiliary component of an intelligent driving system for detecting surrounding vehicles, pedestrians, obstacles, etc.

[0065] The lidar 20 provided in this application embodiment has the advantage of high ranging accuracy, thereby improving the safety of the intelligent driving system. In scenarios where the lidar 20 is used for robot vision, it can improve the robot's environmental perception capabilities, thereby increasing the robot's work efficiency.

[0066] Figure 1 Taking a smart screen as an example and a finger or stylus as an object to be tested 101, the interaction method provided in this application embodiment will be described in detail.

[0067] For example, users can control the smart screen by touching it with a stylus or finger, enhancing the user's interactive experience. Therefore, the smart screen also needs to detect the touch location of the stylus or finger to determine the corresponding touch event. For example, the touch event could be a control trigger event or a handwriting display event.

[0068] The smart screen uses LiDAR 20 to determine the touch position of a stylus or finger. Optionally, the LiDAR 20 is installed on the smart screen. Optionally, the LiDAR 20 can be pre-configured in the smart screen, or the user can choose to configure the LiDAR 20 separately. For example, the LiDAR 20 can be pre-embedded in the smart screen and integrated with the existing modules in the smart screen. For example, the LiDAR 20 can be integrated with the smart screen's camera or microphone modules into a single module. Alternatively, the LiDAR 20 can be a standalone accessory, which the user can choose to install or not. Optionally, the LiDAR 20 can be installed with the smart screen using various methods such as clip fixing, magnetic fixing, or lifting fixing.

[0069] Figure 1 In the example, the LiDAR 20 is mounted above the smart screen, for example, next to the camera on the smart screen. The LiDAR 20 can be based on technologies such as direct time-of-flight (DTOF) sensors or indirect time-of-flight (ITOF) sensors. Optionally, the DTOF sensor can be, for example, a mechanical single-wire sensor. The above types of sensors can be used to construct the LiDAR 20.

[0070] The lidar 20 emits a laser beam on a plane parallel (or nearly parallel) to and slightly above the surface of the touchscreen display to detect possible touch operations by the user on the display. Therefore, the position of the reflected laser beam approximates, for example, the actual touch position of a stylus or finger on the touchscreen.

[0071] For example, the lidar 20 emits laser beams at a high frequency to detect the distance and angle information of a target position relative to the stylus or finger. Optionally, the lidar 20 can also rotate to emit laser beams. In this way, as the laser beam rotates, single-line ranging can be changed to scanning of the laser surface.

[0072] Optionally, the LiDAR 20 is equipped with a motor and a rotating mirror to rotate the laser beam. Optionally, the LiDAR 20 is pre-configured with a rotation angle to ensure that the resulting laser scanning plane covers the entire display screen. Optionally, the LiDAR 20 is typically installed at an edge or corner of the smart screen, such as the center of the top bezel; alternatively, it can be located on other bezels of the smart screen. This rotation angle can be 360 ​​degrees, and the LiDAR 20 or the smart screen detects the target object through data filtering. Alternatively, the rotation angle can be less than or equal to 180 degrees, which can reduce the amount of captured data, but this places certain requirements on the design of the LiDAR 20's rotation actuator.

[0073] Alternatively, although Figure 1 The image shows the LiDAR 20 installed above the smart screen. The LiDAR 20 can also be installed in other suitable locations, such as below the smart screen.

[0074] The accuracy of LiDAR measurements directly affects the user experience of smart screens.

[0075] Figure 2 This is a schematic diagram of the structure of the lidar 20 provided in an embodiment of this application. Please refer to [link / reference]. Figure 2 The lidar 20 includes a processing circuit 010 and a ranging module 100, which are electrically connected. The processing circuit 010 sends electrical signals to the ranging module 100. The ranging module 100 sends electrical signals carrying information acquired during the distance measurement process to the processing circuit 010.

[0076] For example, the processing circuit 010 includes a signal processing circuit, a driving circuit, and a receiving circuit. The signal processing circuit includes a signal processing unit 201, and the receiving circuit includes a time-to-digital converter (TDC) 203 and an analog front-end 204. The signal processing unit 201, the driving circuit 202, the time-to-digital converter 203, and the analog front-end 204 are electrically connected.

[0077] The transmitting unit 140 and the driving circuit 202 are electrically connected. The driving circuit 202 sends a driving signal to the ranging module 100. The ranging module 100 receives the driving signal and emits a light beam according to the driving signal. The light beam returns to the ranging module 100 after passing through the optical path. The ranging module 100 converts the received light beam into information carrying the light beam signal and sends it to the analog front end 204. The analog front end 204 receives the electrical signal and transmits it to the time-to-digital converter 203. The time-to-digital converter 203 transmits the electrical signal to the signal processing unit 201. The signal processing unit 201 sends a start signal to the time-to-digital converter 203, which is the start time t0 of a Time of Flight (TOF) cycle.

[0078] Figure 2 In this process, the ranging module 100 has two operating states: a first operating state and a second operating state. In the first operating state, the time-to-digital converter 203 sends an echo signal to the distance compensation module. The echo signal includes information recording the time t2 and the pulse width τ2.

[0079] In the second operating state, the time-to-digital converter 203 sends a reference signal to the distance compensation module. The reference signal includes information recording time t1 and pulse width τ1.

[0080] The distance compensation module is used to analyze the circuit delay Δt(T) of the reference signal of the calibration optical path and periodically compensate for the distance drift Δd(T) at different temperatures, thereby improving the accuracy of ranging.

[0081] Typically, the processing circuit 010 is affected by the operating temperature of the lidar 20. Therefore, the lidar 20 needs to be calibrated during use.

[0082] For example, the beam emitted by the ranging module 100 has a calibration optical path and a ranging optical path. The processing circuit 010 analyzes the optical signal received by the ranging module 100 in the calibration optical path to obtain calibration information. The processing circuit 010 analyzes the optical signal received by the ranging module 100 in the ranging optical path to obtain ranging information, and uses the calibration information to calibrate the ranging information to obtain information about the object to be measured.

[0083] In embodiments of this application, there may be multiple test objects 101. Each of the multiple test objects 101 reflects the light beam from the light-transmitting area back to the light-transmitting area.

[0084] Figure 3 This is a schematic diagram of the structure of the ranging module 100 provided in an embodiment of this application. Figure 3 As shown, the ranging module 100 includes a receiving unit 150 and a housing structure 130, with the receiving unit 150 located within the housing structure 130. The housing structure 130 includes a light-transmitting area 131 and a light-shielding area 132. The light-transmitting area 131 transmits light beams from outside the housing structure 130 into the housing structure 130. The light-shielding area 132 blocks a portion of the light beams originating from outside the housing structure 130.

[0085] In some embodiments of this application, the shell structure 130 is a one-piece molded part.

[0086] In some embodiments of this application, the housing structure 130 is formed by directly or indirectly connecting multiple separate structures. For example, the housing structure 130 may include a base, a cover, and a support structure. The base and the cover are connected, and the base and the cover together form a cavity, in which the receiving unit 150 is located. The support structure is located in the cavity and is used to support the optical devices of the ranging module 100.

[0087] For example, the base can be a single molded part, or the base can be formed by connecting multiple structural parts.

[0088] For example, the cover may be a single molded part. Alternatively, the cover may be formed by connecting multiple structural members distributed circumferentially. Alternatively, the cover may include an inner structure and an outer structure, which may be directly connected, or there may be a gap between the inner and outer structures. The outer structure may cover part or all of the inner structure.

[0089] In some embodiments, at least one intermediate layer may be provided between the inner layer and the outer layer.

[0090] It is understood that the aforementioned base and support structure are not necessary, and in some embodiments, the housing structure 130 may consist only of the cover.

[0091] In some embodiments, depending on aesthetic or strength requirements, protrusions, grooves, or hollow structures may be provided on the base, cover, and support structure.

[0092] In the embodiments of this application, the light transmittance of the light-shielding area 132 is much smaller than that of the light-transmitting area 131. The embodiments of this application do not limit the light-shielding rate of the light-shielding area 132 to 100%. Some light can be allowed to pass through the light-shielding area 132. Similarly, the embodiments of this application do not limit the light transmittance of the light-transmitting area 131 to 100%, and the light-transmitting area 131 can be allowed to block some light.

[0093] In the first state, the ranging module 100 is used to measure the distance to the object being measured. In the second state, the ranging module 100 is used for calibration. In the first state, the receiving unit 150 receives the beam from the external light source of the housing structure 130 with a receiving efficiency greater than [value missing]. In the second state, the receiving unit 150 receives the beam from the external light source of the housing structure 130 with a receiving efficiency greater than [value missing].

[0094] The receiving efficiency of the receiving unit 150 in receiving the light beam from outside the housing structure 130 refers to the ratio of the power of the light beam transmitted from the housing structure 130 to the light beam transmitted from the housing structure 130 to the housing structure 130 to the housing structure 130 to the housing structure 130 to the housing structure 130 to the housing structure 130 to the housing structure 130 to the housing structure 130.

[0095] During the use of the ranging module 100, calibration is required based on its operating temperature. This reduces the impact of ambient temperature changes and the heat generated by the ranging module 100 on the measurement data. The ranging module 100 has both a calibration optical path and a measurement optical path.

[0096] In this document, the light beam received by the receiving unit 150 in the first state is also referred to as the ranging beam. In the first state, the path of beam transmission is called the ranging optical path. The ranging beam received by the receiving unit 150 carries information about the object to be measured 101.

[0097] In this document, in the second state, the receiving unit 150 receives calibration light. The path through which the calibration light is transmitted in the second state is referred to as the calibration optical path. The calibration beam received by the receiving unit 150 carries the information required by the calibration ranging module 100 at the current temperature.

[0098] For example, in the first state, the light-transmitting area receives a light beam reflected from the object under test 101. The light-transmitting area can also receive ambient light from outside the housing structure 130, such as lamplight, sunlight, and interference light from other lidar sources. The light beam from outside the housing structure 130 can include a light beam directly transmitted from the ambient light source, or a light beam reflected from environmental objects and the object under test.

[0099] In the second calibration state of the ranging module 100, the receiving unit 150 receives the calibration beam, and the receiving efficiency of the beam from outside the housing structure 130 is reduced. This means the receiving unit 150 receives less beam from outside the housing structure 130, reducing interference with the calibration beam. This reduced interference in the second state helps the ranging module acquire more accurate beam information, improving the precision of the ranging module 100. When the ranging module 100 is used with a lidar system, the lidar measurement data is more accurate.

[0100] For example, the receiving unit 150 may include a detector receiving device. The receiving unit 150 may also include a receiving optical lens for transmitting the shaped light beam to the detector.

[0101] Please return Figure 2 Temperature affects the time it takes for the processing circuit 010 to send electrical signals to the ranging module 100, and also affects the time it takes for the ranging module 100 to send electrical signals to the processing circuit 010.

[0102] The driving circuit 202 of the processing circuit 010 sends an electrical signal to the ranging module 100. The beam emitted by the transmitting unit 140 is transmitted to the receiving unit 150 through the calibration optical path. The receiving unit 150 receives the calibration beam and transmits the information carried by the calibration beam to the analog front end 204 of the processing circuit 010. The analog front end 204 processes the electrical signal by the time-to-digital converter 203 and then transmits it to the signal processing unit 201. During this process, the beam travels for the same duration in the calibration optical path, but the signal travels for different durations within the processing circuit 010 and between the processing circuit 010 and the ranging module 100. This time is temperature-dependent.

[0103] At the first temperature, the sum of the time for the electrical signal to travel within the processing circuit 010 and between the processing circuit 010 and the ranging module 100, and the time for the optical signal to travel within the ranging module 100, is taken as the first time.

[0104] At the second temperature, the sum of the time for the electrical signal to travel within the processing circuit 010 and between the processing circuit 010 and the ranging module 100, and the time for the optical signal to travel within the ranging module 100, is taken as the second time.

[0105] There is a time difference between the first and second times. Since the transmission time of the optical signal within the ranging module 100 remains constant, the time difference in the transmission of the electrical signal within the processing circuit 010 and between the processing circuit 010 and the ranging module 100 is the electrical signal delay caused by temperature. During the calculation of the distance to the object under test, this time difference is used to calibrate the measured distance to obtain the actual distance to the object under test.

[0106] After receiving the light beam, the receiving unit 150 converts it into an electrical signal. Temperature affects the transmission time of the electrical signal. The time it takes for the receiving unit 150 to receive the electrical signal in the second state under the first temperature is obtained. The time it takes for the receiving unit 150 to receive the electrical signal in the second state under the second temperature is also obtained. Based on the two time differences, the time delay of the ranging module 100 in the first state under the second temperature can be obtained, thereby accurately measuring the distance to the object 101.

[0107] Figure 4 This is a schematic diagram of a calibration method for a reference signal and an echo signal. Please refer to [link / reference]. Figure 4 LiDAR can monitor the circuit delay Δt(T) of the reference signal by calibrating the optical path, thereby achieving periodic self-checking and compensation for distance drift Δd(T) under different temperatures, and improving ranging accuracy.

[0108] For example, the lidar measurement process may include the following steps:

[0109] S1. At the first temperature, the time t1 and pulse width τ1 of the reference signal acquired by the signal processing unit under the second state of the lidar are obtained. The time of the reference signal is the sum of the time it takes for the driving circuit to send the driving signal to the transmitting unit and for the signal processing unit to receive the signal from the signal processing unit, and the time it takes for the light to travel in the calibration optical path.

[0110] S2. Under operating temperature, acquire the time t1' and pulse width τ1' of the reference signal acquired by the signal processing unit 201 in the second state of the ranging module 100.

[0111] S3. The distance compensation module of the signal processing unit calculates the calibration optical path distance d1' at the operating temperature based on the time delay Δt(T)=t1'-t1 and the pulse width τ1' of the reference signal. It subtracts the standard distance d1 at the first temperature and obtains the compensation distance value Δd(T) by averaging the results of one or more measurements.

[0112] S4. Under operating temperature, the arrival time t2 of the echo signal of the ranging module 100 in the first state is obtained. Compensation is performed based on the time delay Δt(T) of the reference signal to obtain the echo signal time t2'. The distance compensation module performs a distance correction value D' = d + Δd(T) on the echo signal, where d is the measured value corresponding to the arrival time t2 of the echo signal. The aforementioned arrival time of the echo signal refers to the sum of the time it takes for the driving circuit to send a driving signal to the transmitting unit and for the signal processing unit to receive the signal from the signal processing unit in the first state, and the time it takes for light to travel in the ranging optical path.

[0113] In some embodiments, the time t2 of the echo signal during ranging can be corrected based on the time delay Δt(T) of the reference signal, the time t2' of the echo signal can be obtained, and the distance to the object under test can be calculated based on the corrected time t2' and the pulse width information.

[0114] In the embodiments of this application, the aforementioned S2 and S3 can be measured multiple times, measured in real time, and dynamically compensated for temperature drift, thereby improving calibration accuracy and stability.

[0115] In the embodiments of this application, since in the second state, the receiving unit receives the light beam from the first light guide unit, and there is little or no light from the light-transmitting area, the receiving unit is less affected by interference, the time delay Δt(T) of the aforementioned reference signal is accurately measured, the compensation distance value calculated using the time delay Δt(T) of the reference signal is accurate, and the distance measured by the ranging module 100 in the first state is accurate.

[0116] like Figure 2 As shown, the ranging module 100 may further include a transmitting unit 140. The transmitting unit 140 is located within the housing structure 130 and is used to emit a light beam.

[0117] When the ranging module 100 is in the first state, the light beam emitted by the transmitting unit 140 is transmitted to the object under test 101 through the light-transmitting area 131. The light beam reflected back by the object under test 101 is reflected by the light-transmitting area 131 and received by the receiving unit 150.

[0118] The ranging module 100 is in the second state, and the beam emitted by the transmitting unit 140 is transmitted within the housing structure 130 and received by the receiving unit 150.

[0119] For example, the emitting unit 140 may include a laser emitter, such as a laser diode (LD) or an avalanche photodiode (APD).

[0120] In some embodiments, the emitting unit 140 may further include an emitting optical lens group for shaping the laser emitted from the laser emitter. For example, the emitting optical lens group is used to collimate the light emitted by the laser.

[0121] Figure 5 This is a schematic diagram of an optical path for a ranging module 100 provided in an embodiment of this application. Figure 5 As shown, the ranging module 100 may further include a first light guide unit 160. In the second state, the receiving unit 150 is used to receive the light beam from the first light guide unit 160.

[0122] Thus, in the second state, the calibration beam is transmitted by the first light guide unit 160, which can constrain the optical path of the calibration beam. This helps to increase the utilization rate of the calibration light and enhance the intensity of the optical signal received by the receiving unit 150 in the second state.

[0123] In some embodiments of this application, the first light guide unit 160 and the housing structure 130 are directly connected, for example, by snap-fitting. In some embodiments, the first light guide unit 160 and the housing structure 130 are indirectly connected, for example, by adhesive layer.

[0124] Thus, the first light guide unit 160 and the housing structure 130 have multiple connection methods. The connection method of the first light guide unit 160 and the housing structure 130 can be set according to other structures connected to the housing structure 130, making their layout flexible.

[0125] In the embodiments of this application, the first light guide unit 160 may have various structures.

[0126] Figure 6 This is a schematic diagram of the structure of a first light guide unit 160 provided in an embodiment of this application. Please refer to... Figure 6 In some embodiments of this application, the first light guiding unit 160 includes an optical waveguide. In a second state, the optical waveguide is used to transmit a light beam to the receiving unit 150.

[0127] Thus, the first light guide unit 160 functions to transmit the light beam in the second state. Furthermore, the first light beam transmitted from the light-transmitting area 131 to the housing structure 130 has a relatively small impact on the light beam transmitted by the first light guide unit 160, further reducing the influence of ambient light on the calibration beam.

[0128] For example, an optical waveguide can be a structure such as an optical fiber, a glass rod, or a light guide column.

[0129] Figure 6 For the remaining structures, please refer to the foregoing. Figure 5The description in the text will not be repeated here.

[0130] In some embodiments of this application, the first light guide unit 160 may be a reflective structure.

[0131] Figure 7 This is a schematic diagram of another first light guide unit 160 provided in an embodiment of this application. Please refer to... Figure 7 The first light guiding unit 160 includes a reflective structure. In the second state, the reflective structure is used to reflect the light beam to the receiving unit 150.

[0132] Thus, the reflective structure folds the optical path in the second state, reducing the optical path distance of the calibration beam, which helps to reduce the size of the ranging module 100 and miniaturize the ranging module 100.

[0133] In some embodiments, the projection of the reflective structure onto the housing structure 130 along the radial direction of the housing structure 130 is located in the light-shielding area 132. Thus, the light-shielding area 132 can reduce the transmission of light beams outside the housing structure 130 to the reflective structure, preventing light beams outside the housing structure 130 from affecting the light beam received by the receiving unit in the second state, reducing interference from light beams outside the housing structure 130 on the calibration beam, and improving calibration accuracy.

[0134] The radial direction of the aforementioned shell structure 130 refers to the direction from the geometric center of the cavity enclosed by the shell structure 130 to the outer periphery of the shell structure 130.

[0135] In some embodiments, along the radial direction of the housing structure 130, a portion of the projection of the reflective structure onto the housing structure 130 is located in the light-shielding area 132, and a portion is located in the light-transmitting area. Thus, the light-shielding area 132 can block a portion of the light beam projected onto the reflective structure from outside the housing structure 130, reducing interference from light beams outside the housing structure 130 on the calibration beam and improving calibration accuracy.

[0136] In some embodiments, the reflective structure is disposed outside the housing structure 130, and its projection onto the housing structure 130 along the radial direction of the housing structure 130 is located in the light-transmitting area 131. Thus, in the second state, the light-transmitting area 131 transmits the light beam to the reflective structure, which reflects the light beam back through the light-transmitting area 131 to the receiving unit 150. In the second state, the reflective structure can also transmit the light beam to the receiving unit 150.

[0137] In some embodiments of this application, the light beam from the first reflecting unit 110 is transmitted to the second reflecting unit 120 after being reflected twice on the reflecting structure.

[0138] Figure 7In the second state, the reflective structure includes a first reflective portion 161 and a second reflective portion 162. In the second state, the second reflective portion 162 reflects the light beam from the first reflective portion 161 to the receiving unit 150. Thus, in the second state, the optical path is folded within the reflective structure, which helps to reduce the volume of the housing structure 130, thereby helping to reduce the volume of the ranging module 100.

[0139] Figure 8 A schematic diagram of the structure of the first reflective part 161, the second reflective part 162, and the housing structure 130 provided for embodiments of this application. Please refer to... Figure 8 In some embodiments of this application, the housing structure 130 is provided with a groove structure 133, the groove structure 133 includes a first sidewall 1331 and a second sidewall 1332 disposed opposite to each other, the first reflective part 161 is located on the first sidewall 1331, and the second reflective part 162 is located on the second sidewall 1332.

[0140] Thus, the groove structure 133 can accommodate the first reflector 161 and the second reflector 162. The reflector structure occupies less space, and the groove structure 133 can support the reflector structure. The reflector structure is integrated on the housing structure 130, reducing the volume of the ranging module 100.

[0141] The opening size of the groove structure 133 is larger than the bottom size of the groove structure 133, and the groove structure 133 is a wedge-shaped groove. For example, the included angle between the first sidewall 1331 and the second sidewall 1332 can be 60° (degrees) to 110°, such as 60°, 70°, 80°, 90°, 100° or 110°.

[0142] In the embodiments of this application, the first reflective portion 161 can be a reflective mirror, or the first reflective portion 161 can be a high-reflection coating. Similarly, the second reflective portion 162 can be a reflective mirror or a high-reflection coating.

[0143] In some embodiments of this application, the first reflective portion 161 and the second reflective portion 162 are connected as a single integral molded part. Thus, the first reflective portion 161 and the second reflective portion 162 can be formed using the same process, resulting in a simple and uniform manufacturing process, which helps to save manufacturing costs. In some embodiments, the entire inner wall of the groove structure 133 is provided with reflective portions.

[0144] For example, the bottom wall of the groove structure 133 is also provided with a reflective portion, through which the first reflective portion 161 and the second reflective portion 162 are connected. In this way, during the fabrication of the reflective structure, it is not necessary to avoid the bottom wall of the groove structure 133, and the reflective portion can be provided on the entire inner wall of the groove structure 133.

[0145] In some embodiments, a reflective film is provided on the inner wall of the housing structure, and the inner wall of the housing structure can be a smooth curved surface or a smooth plane.

[0146] In the embodiments of this application, the housing structure 130 can have various structures. The housing structure 130 is configured as a receiving cavity, and the transmitting unit 140, the receiving unit 150, the first reflecting unit 110, and the second reflecting unit 120 are all located within the receiving cavity.

[0147] In some embodiments of this application, the housing structure 130 includes a first part and a second part. The first part is made of a transparent material, and the second part is made of a light-shielding material. The first part is a light-shielding area, and the second part is a light-transmitting area.

[0148] In some embodiments of this application, the light-shielding area 132 of the housing structure 130 may include an anti-light material, which can prevent stray light from entering the receiving unit 150. Alternatively, the light-shielding area 132 of the housing structure 130 may be provided with an anti-light layer to reduce the stray light received by the receiving unit 150.

[0149] Figure 9 This is an exploded structural diagram of a shell structure 130 provided in an embodiment of this application. Figure 9 In this design, the housing structure 130 may include a light-shielding cover 301 and a transparent inner shell 302, with the light-shielding cover 301 covering a portion of the transparent inner shell 302. Thus, the portion of the transparent inner shell 302 covered by the light-shielding cover 301 forms a light-shielding area, through which light beams cannot pass. The portion of the transparent inner shell 302 not covered by the light-shielding cover 301 is a light-transmitting area, allowing light beams to pass through.

[0150] In some embodiments of this application, the light-shielding cover 301 and the transparent inner shell 302 are detachably connected, facilitating their installation and removal. In some embodiments of this application, the light-shielding cover 301 and the transparent inner shell 302 are fixedly connected.

[0151] The shape of the transparent inner shell 302 is not limited in this application embodiment. For example, the transparent inner shell 302 can be square, cylindrical or irregular in shape, etc.

[0152] In some embodiments of this application, the first light guide unit may be disposed on the inner surface of the transparent inner shell 302; the first light guide unit may also be disposed on the outer surface of the transparent inner shell 302. Furthermore, the light shield 301 covers the first light guide unit. Thus, the light shield 301 can reduce the influence of ambient light beams on the first light guide unit.

[0153] For example, the aforementioned groove structure can be disposed on the transparent inner shell 302.

[0154] In some embodiments of this application, a protrusion may be provided on the transparent inner shell 302, which protrudes towards the light-shielding cover 301. A reflective structure is provided on the protrusion. In the second state, the light beam is transmitted through the transparent inner shell 302 to the reflective structure, reflected by the reflective structure, and then transmitted again through the transparent inner shell 302 to the second reflective element.

[0155] Please return Figure 5 In the embodiments of this application, the ranging module 100 further includes a first reflection unit 110.

[0156] In the first state, the light beam emitted by the transmitting unit 140 is reflected by the first reflecting unit 110 and transmitted through the light-transmitting area 131 to the object under test 101. The light beam reflected back from the object under test 101 is transmitted to the receiving unit 150. In the second state, the light beam emitted by the transmitting unit 140 is reflected by the first reflecting unit 110 and transmitted to the receiving unit 150.

[0157] Thus, in both the first and second states, the optical path from the transmitting unit 140 to the first reflecting unit 110 can be shared, making full use of the space of the ranging module 100.

[0158] In some embodiments of this application, the ranging optical path of the ranging module 100 can be a coaxial optical path. The transmitting unit 140 and the receiving unit 150 are directly connected, and the light beam emitted by the transmitting unit 140 and the light beam received by the receiving unit 150 share the same optical path. In this way, the number of optical devices in the ranging module 100 can be reduced.

[0159] In some embodiments of this application, the ranging optical path of the ranging module 100 can be an off-axis optical path. The transmitting unit 140 and the receiving unit 150 are not directly connected. The light beam emitted by the transmitting unit 140 and the light beam received by the receiving unit 150 do not share the same optical path. In this way, the optical path is folded, which can reduce the optical path length of the optical path in the ranging module 100, which is beneficial to the miniaturization of the ranging module 100.

[0160] Figure 5 In the example, the ranging optical path of the ranging module 100 can be an off-axis optical path. For example... Figure 5 As shown, the ranging module 100 also includes a second reflection unit 120.

[0161] In the first state, the light beam emitted by the transmitting unit 140 is reflected by the first reflecting unit 110 and transmitted through the light-transmitting area 131 to the object under test 101. The light beam reflected back from the object under test 101 is reflected by the second reflecting unit 120 through the light-transmitting area 131 and transmitted to the receiving unit 150. In the second state, the light beam emitted by the transmitting unit 140 is reflected sequentially by the first reflecting unit 110 and the second reflecting unit 120 and transmitted to the receiving unit 150.

[0162] Thus, the transmitting unit 140, the first reflecting unit 110, and the receiving unit 150 can be shared in both the first and second states, making full use of the space of the ranging module 100.

[0163] like Figure 5 As shown, in the first state, the transmitting unit 140 emits a light beam, and the first reflecting unit 110 reflects the light beam from the transmitting unit 140 to the light-transmitting area 131. The light-transmitting area 131 transmits the light beam from the first reflecting unit 110 to the object under test 101. The object under test 101 reflects the light beam from the light-transmitting area 131 back to the light-transmitting area 131. The light-transmitting area 131 transmits the light beam reflected back by the object under test 101 to the second reflecting unit 120. The second reflecting unit 120 is used to reflect the light beam from the light-transmitting area 131 to the receiving unit 150. The receiving unit 150 is used to receive the light beam from the second reflecting unit 120.

[0164] like Figure 5 As shown, the ranging module 100 is in the second state, and the light beam emitted by the transmitting unit 140 is reflected by the first reflecting unit 110 and then transmitted to the receiving unit 150 by the first light guiding unit 160.

[0165] In the second state, the emitting unit 140 emits a light beam, the first reflecting unit 110 reflects the light beam from the emitting unit 140 to the first light guiding unit 160, the first light guiding unit 160 transmits the light beam from the first reflecting unit 110 to the receiving unit 150, and the receiving unit 150 is used to receive the light beam from the first light guiding unit 160.

[0166] The light-transmitting area 131 is also used to transmit light beams from outside the housing structure 130 into the housing structure 130. In the second state, the receiving unit 150 receives some or no light beams transmitted into the housing structure 130. Therefore, in the second state, the receiving unit 150 receives light beams from the first light-guiding unit 160, and does not receive or only receives light beams transmitted into the housing structure 130 through the light-transmitting area 131. Only a small amount of light beams or no light beams interfere with the light beams received by the receiving unit 150 in the second state. Reducing stray light interference to the receiving unit 150 in the second state helps the ranging module 100 obtain more accurate information about the light beams in the second state. When the ranging module 100 is used for lidar, the lidar measurement data is more accurate.

[0167] In some embodiments of this application, the light-transmitting area 131 transmits a light beam from outside the housing structure 130 to a first region inside the housing structure. In the second state, at least a portion of the second reflecting unit 120 is located outside the first region. Thus, in the second state, the receiving unit 150 receives a light beam from the first light guiding unit 160, and only a small amount or no light beam from the light beam entering the housing structure 130 through the light-transmitting area 131 is transmitted to the second reflecting unit 120, and only a small amount or no light beam is reflected by the second reflecting unit 120 to the receiving unit 150. In the second state, the receiving unit 150 receives fewer or no light beams other than the light beam transmitted by the first light guiding unit 160, resulting in less interference to the receiving unit 150. Less interference received by the ranging module 100 reduces the interference of ambient light on the calibration beam of the ranging module 100, improving the calibration accuracy of the ranging module 100 and consequently improving the measurement accuracy of the ranging module 100.

[0168] In the embodiments of this application, at least a portion of the second reflective unit 120 being located outside the first region means that at least a portion of the optical part of the second reflective unit 120 is located outside the first region, that is, at least a portion of the part used to reflect the light beam is located outside the first region.

[0169] In some embodiments, a portion of the optical portion of the second reflective unit 120 is located outside the first region, and a portion is located within the first region. Compared to having the entire optical portion of the second reflective unit 120 located within the first region, less light beam is reflected by the second reflective unit 120 and received by the receiving unit 150, reducing stray light interference with the calibration beam and improving the calibration accuracy of the ranging module 100. In some embodiments, the entire optical portion of the second reflective unit 120 is located outside the first region, avoiding interference from light beams outside the housing structure 130 with the calibration beam and improving the calibration accuracy of the ranging module 100.

[0170] In the embodiments of this application, the first reflective unit 110 is rotatably connected to the inside of the housing structure 130, and the second reflective unit 120 is rotatably connected to the inside of the housing structure 130. Thus, the first reflective unit 110 and the second reflective unit 120 can rotate relative to the housing structure 130, allowing the ranging module 100 to switch between a first state and a second state.

[0171] In some embodiments of this application, the ranging module 100 further includes a driving element 170, and the first reflection unit 110 and the second reflection unit 120 are rotatably connected to the inside of the housing structure 130 through the driving element 170.

[0172] For example, in the first state, the driving member 170 drives the first reflecting unit 110 to move, so that the light beam emitted from the transmitting unit 140 is reflected by the first reflecting unit 110 to the light-transmitting area 131. The driving member 170 drives the second reflecting unit 120 toward the light-transmitting area 131 to receive the light beam from the light-transmitting area 131 and reflect the light beam to the receiving unit 150.

[0173] In the second state, the driving member 170 drives the first reflecting unit 110 to move, so that the light beam emitted from the emitting unit 140 is reflected by the first reflecting unit 110 to the first light guiding unit 160. The driving member 170 drives the second reflecting unit 120 to rotate relative to the housing structure 130, so that the second reflecting unit 120 deviates from the position of the second reflecting unit 120 in the first state.

[0174] Thus, in the second state, the second reflective unit 120 will not be able to receive the light beam from the light-transmitting area 131, or will only be able to receive a portion of the light beam from the light-transmitting area 131, thereby reducing the influence of the portion of the light beam from the light-transmitting area 131 on the light beam transmitted by the first light-guiding unit 160.

[0175] During the transition from the first state to the second state, both the first reflection unit 110 and the second reflection unit 120 rotate relative to the housing structure 130.

[0176] In some embodiments of this application, the first reflecting unit 110 and the second reflecting unit 120 share a driving member 170. In other words, the driving member 170 drives the first reflecting unit 110 and the second reflecting unit 120 to rotate synchronously.

[0177] In some embodiments of this application, the first reflective unit 110 and the second reflective unit 120 are each driven by a driver 170.

[0178] In the first state, the first reflecting unit 110 can have multiple orientations relative to the transmitting unit 140. For example, the driving member 170 drives the first reflecting unit 110 and the second reflecting unit 120 to rotate, and within a first angle range, the ranging module 100 remains in the first state. In other words, the light beam reflected by the first reflecting unit 110 to the light-transmitting area 131 can have multiple transmission directions.

[0179] Similarly, in the second state, the first reflecting unit 110 can have multiple orientations relative to the emitting unit 140. For example, the driving member 170 drives the first reflecting unit 110 and the second reflecting unit 120 to rotate, and within the rotation range of the second angle, the ranging module 100 remains in the second state. In other words, the light beam reflected by the first reflecting unit 110 to the first light guiding unit 160 can have multiple transmission directions.

[0180] In some embodiments, the angle at which the driving member 170 drives the first reflecting unit 110 and the second reflecting unit 120 to rotate can also be called the scanning angle. When the scanning angle of the driving member 170 is within the first angle range, the receiving unit 150 can receive the light beam transmitted by the light-transmitting area 131, and the ranging module 100 can obtain the distance of the object to be measured 101.

[0181] The scanning angle of the driving unit 170 is within the second angle range. The receiving unit 150 can receive the light beam transmitted by the first light guiding unit 160, and the ranging module 100 can acquire calibration information. Furthermore, the receiving unit 150 cannot receive the light beam transmitted by the light-transmitting area 131, or can only receive a portion of the light beam transmitted by the light-transmitting area 131, which greatly reduces the influence of the light beam transmitted by the light-transmitting area 131 on the calibration beam and helps to improve calibration accuracy.

[0182] In some embodiments of this application, the first angle and the second angle do not overlap.

[0183] The embodiments of the application do not limit the aforementioned first angle range and second angle range. In some embodiments, the first angle range can be 180° to 360°, and the second angle range can be 0° to 180°.

[0184] In some embodiments, the driving member 170 drives the first reflecting unit 110 and the second reflecting unit 120 to rotate in a circular motion.

[0185] For example, the receiving unit 150 receives the reference signal of the calibration optical path and the echo signal of the object under test in different TOF cycles.

[0186] For example, in the second state, the driving unit 170 drives the first reflecting unit 110 and the second reflecting unit 120 to rotate to an angle within the second angle range, and the emitting unit 140 actively emits a light beam. The light beam is transmitted to the receiving unit 150 through the light guiding unit to generate a reference signal.

[0187] In the first state, the driving unit 170 drives the first reflecting unit 110 and the second reflecting unit 120 to rotate to an angle within the first angle range, and the transmitting unit 140 actively emits a light beam. The light beam is reflected by the object under test to the receiving unit 150 to obtain an echo signal.

[0188] The calibration optical path in the second state can monitor the circuit delay Δt(T) and pulse width information of the reference signal in real time, and periodically self-check to compensate for the distance drift Δd(T) of the echo signal at different temperatures, thereby reducing the impact of ambient temperature changes on measurement accuracy.

[0189] In the second state, the driving unit 170 drives the first reflecting unit 110 and the second reflecting unit 120 to rotate to multiple angles within the second angle range, forming multiple calibration optical path paths. The path distances of the multiple calibration optical paths can be equal or unequal. The multiple calibration optical paths will generate different reference signals. By measuring multiple different reference signals, the average value of the temperature drift compensation can be obtained, thereby further improving the ranging accuracy.

[0190] In some embodiments of this application, in a first state, the driving member 170 drives the second reflecting unit 120 to face the light-transmitting area 131, and the second reflecting unit 120 can receive the light beam from the light-transmitting area 131. In a second state, the driving member 170 drives the second reflecting unit 120 to face the light-shielding area 132. This reduces the amount of light beam transmitted from the light-transmitting area to the second reflecting unit 120 in the second state, thus reducing the impact of this light beam on the calibration beam.

[0191] For example, the drive unit 170 includes a motor, and in some embodiments, the drive unit 170 may also include a speed reducer connected to the motor.

[0192] like Figure 5 As shown, in some embodiments of this application, the ranging module 100 may further include a lens group 180, which is located within the housing structure 130.

[0193] In the first state, the light beam transmitted from the object under test through the light-transmitting area 131 is transmitted to the second reflecting unit 120 via the lens group 180. In other words, in the first state, the lens group 180 is located in the optical path between the light-transmitting area 131 and the second reflecting unit 120. Thus, the lens group 180 can shape the light beam received by the light-transmitting area 131 from outside the housing structure 130 in the first state.

[0194] This application does not limit the type of lens group 180. For example, lens group 180 may include focusing lenses, collimating lenses, etc.

[0195] The lens assembly 180 and the housing structure 130 are rotatably connected. In a first state, the lens assembly 180 is located in the optical path between the light-transmitting area 131 and the second reflecting unit 120. In a second state, the lens assembly 180 is located in the optical path between the first light-guiding unit 160 and the second reflecting unit 120. Thus, the lens assembly 180 can shape the light beam transmitted by the first light-guiding unit 160 in the second state.

[0196] In other words, in the second state, the light beam output by the first light guiding unit 160 is transmitted to the second reflection unit 120 through the lens group 180.

[0197] In the second state, the receiving unit 150 may partially or not receive the light beam transmitted from the light-transmitting area 131 by the lens group 180, thereby reducing the interference of the light beam on the receiving unit 150 in the second state.

[0198] In some embodiments, the lens group 180 and the second reflecting unit 120 move synchronously. In other words, the lens group 180 and the second reflecting unit 120 do not move relative to each other. The lens group 180 and the second reflecting unit 120 share a driving member, which is used to drive the lens group 180 and the second reflecting unit 120 to rotate together relative to the housing structure 130.

[0199] In some embodiments of this application, the lens group 180 and the housing structure 130 are fixedly connected.

[0200] In some embodiments, the lens group 180 is located in the optical path between the light-transmitting area 131 and the second reflection unit 120 in the first state.

[0201] In some embodiments, the lens group 180 is located in the optical path between the second reflecting unit 120 and the receiving unit 150 in the first state.

[0202] In some embodiments of this application, the lens group 180 is not necessary, and the ranging module 100 may not have the lens group 180.

[0203] In some embodiments of this application, the first light guide unit 160 can be connected to the housing structure 130 via an adhesive layer. In some embodiments, the first light guide unit 160 can be connected to the housing structure 130 via a bracket 165. The shape of the bracket 165 is not limited in the embodiments of this application and can be configured according to the shape within the housing structure. In some embodiments, the bracket 165 and the housing structure 130 are connected as a single molded part.

[0204] In some embodiments of this application, the first light guide unit 160 is disposed within the housing structure 130, which can avoid affecting the size and aesthetics of the ranging module 100.

[0205] In embodiments where the ranging module includes a first reflection unit and a second reflection unit, the reflection structure may not be disposed on the aforementioned slot structure. Figure 10 This is a schematic diagram of the structure of a first light guiding unit, a first reflection unit, and a second reflection unit provided in an embodiment of this application. Figure 10 The optical path diagram in the image is the optical path diagram in the second state.

[0206] Figure 10In the second state, the light beam reflected by the first reflecting unit 110 illuminates region A, and the light beam reflected from region B can be transmitted to the second reflecting unit 120. In other words, the field of view of the light beam reflected by the first reflecting unit 110 is located in region A. Due to the reversibility of the optical path, the field of view of the light beam reflected by the second reflecting unit 120 is located in region B. Regions A and B overlap, and the overlapping area is region C.

[0207] The first light guiding unit 160 includes a reflective structure. The reflective structure covers region C. Thus, in the second state, the light beam reflected by the first reflective unit 110 is transmitted to region C, reflected by the reflective structure in region C, and then transmitted to the second reflective unit 120, and then reflected by the second reflective unit 120 to the receiving unit.

[0208] It is understandable that the reflective structure covers area C, and the reflective structure can also cover areas outside of area C. For example, the reflective structure can cover the aforementioned areas A and B.

[0209] In an embodiment where the reflective structure and the housing structure 130 are directly connected, the aforementioned regions A and B may be on the surface of the housing structure 130.

[0210] In some embodiments, the reflective structure can be a high-reflectivity screen-printed coating structure or a dielectric film. The screen-printed coating structure can be a high-contrast dot matrix structure or special markings, which can achieve laser reflection at different angles, corresponding to different calibration optical path paths. For example, the aforementioned special markings can be, for instance, a "+" or a "△" mark, etc., and this application embodiment does not limit this.

[0211] The processing technology for screen-printed coating structures or dielectric films is simple and does not require very high alignment precision. The intensity of the light beam received by the receiving unit can be controlled by controlling the reflectivity of the screen-printed coating structure or dielectric film.

[0212] In the aforementioned embodiments, the ranging module 100 includes a light guide unit, namely the first light guide unit.

[0213] In some embodiments of this application, the ranging module 100 may include multiple light guide units.

[0214] Figure 11 This is a schematic diagram of another ranging module 100 provided in an embodiment of this application. Please refer to... Figure 11 In some embodiments of this application, the ranging module 100 may include a plurality of light guide units. In a second state, the receiving unit 150 is used to receive a light beam from at least one of the plurality of light guide units. The plurality of light guide units includes the first light guide unit 160 mentioned above.

[0215] In the embodiments of this application, the number of light guide units can be one, two, three or more.

[0216] Figure 11 In this example, a ranging module 100 comprising two light guide units is used for illustration. The multiple light guide units include a first light guide unit 160 and a second light guide unit 190.

[0217] In the second state, the ranging module 100 emits a light beam from the transmitting unit 140, which is reflected by the first reflecting unit 110 and then transmitted to the receiving unit 150 by the second light guiding unit 190. In the first state, the receiving unit 150 receives a light beam from outside the housing structure 130 with a receiving efficiency greater than [previous state]. In the second state, the receiving unit 150 receives a light beam from outside the housing structure 130 with a receiving efficiency [previous state]. The receiving unit 150 may receive some or not receive the first light beam transmitted into the housing structure 130.

[0218] The receiving unit 150 receives the light beam transmitted by the first light guide unit 160, and can acquire calibration information. The receiving unit 150 also receives the light beam transmitted by the second light guide unit 190, and can acquire calibration information thereafter. By averaging multiple calibration information values, the calibration data can be further refined.

[0219] In the embodiments of this application, the structure of the second light guide unit 190, the connection relationship between the second light guide unit 190 and the housing structure 130, and the function of the second light guide unit 190 in the optical path are described in the aforementioned description of the first light guide unit 160.

[0220] In some embodiments of this application, the second light guide unit 190 and the first light guide unit 160 are spaced apart.

[0221] Figure 12 This is a schematic diagram of the housing structure 130, the second light guide unit 190, and the first light guide unit 160 provided in an embodiment of this application. Figure 12 As shown, the second light guide unit 190 and the first light guide unit 160 are distributed at intervals on the housing structure 130.

[0222] In some embodiments, the second light guide unit 190 and the first light guide unit 160 may both be disposed within the housing structure 130. In embodiments where the housing structure 130 includes a transparent inner shell, the second light guide unit 190 and the first light guide unit 160 may both be disposed on the outer surface of the transparent inner shell. This application does not impose any limitations on this.

[0223] In some embodiments of this application, the ranging module 100 may include three, four, or more light guiding units. The receiving unit 150 acquires a calibration light signal from one light guiding unit and analyzes multiple calibration light signals to obtain the average value of the calibration. This helps to improve the accuracy of the ranging module 100.

[0224] In some embodiments of this application, the ranging module 100 may include only one light guide unit. The second light guide unit 190 is not necessary and may be omitted.

[0225] The ranging module provided in this application embodiment has a calibration optical path and a ranging optical path. By setting up two optical paths, external light interference with the calibration optical path is effectively avoided, enhancing the stability and reliability of the system. The lidar including this ranging module can adapt to different ambient temperature changes, thereby improving the performance and applicability of the lidar system in complex environments.

[0226] It also enables dynamic temperature drift compensation, thereby improving calibration accuracy and stability.

[0227] The light guide unit is located inside the ranging module 100. In the second state, the working angle range of the first reflection unit does not overlap with that in the first state, effectively isolating external light from interfering with the information collected in the second state. The internal location of the light guide unit avoids affecting the overall size and aesthetics of the device and enables dynamic temperature drift compensation, thereby improving calibration accuracy and stability.

[0228] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A distance measuring module, characterized in that, The ranging module is used to measure the distance to an object, and includes: A housing structure, the housing structure including a connected light-shielding area and a light-transmitting area; the light-transmitting area is used to transmit light beams from outside the housing structure to inside the housing structure, and the light-shielding area is used to block part of the light beams from outside the housing structure; A receiving unit, located within the housing structure, is used to receive a light beam; The ranging module is in the first state, and the ranging module is used to measure the distance to the object to be measured; The ranging module is in the second state, and the ranging module is used for calibration; In the first state, the receiving efficiency of the receiving unit in receiving the light beam from outside the housing structure is greater than that in the second state.

2. The ranging module of claim 1, wherein, The ranging module further includes: a first light guide unit; In the second state, the receiving unit is used to receive the light beam from the first light guide unit.

3. The ranging module of claim 2, wherein, The first light guiding unit includes a reflective structure; in the second state, the receiving unit is used to receive a light beam from the reflective structure.

4. The ranging module of claim 3, wherein, The reflective structure includes a first reflective part and a second reflective part; In the second state, the second reflector is used to reflect the light beam from the first reflector to the receiving unit.

5. The ranging module of claim 4, wherein, The shell structure is provided with a groove structure, the groove structure includes a first sidewall and a second sidewall disposed opposite to each other, the first reflective part is located on the first sidewall, and the second reflective part is located on the second sidewall.

6. The distance measuring module according to claim 4 or 5, characterized in that The first reflective part and the second reflective part are connected as an integral molded part.

7. The distance measuring module according to any of claims 3-6, characterized in that, Along the radial direction of the housing structure, the projection of the reflective structure onto the housing structure is located in the light-shielding area.

8. The ranging module according to any one of claims 3-6, characterized in that, Along the radial direction of the housing structure, a portion of the projection of the reflective structure onto the housing structure lies within the light-shielding area.

9. The ranging module of any of claims 3-6, wherein, The reflective structure is disposed outside the housing structure, and along the radial direction of the housing structure, the projection of the reflective structure on the housing structure is located in the light-transmitting area.

10. The ranging module of claim 2, wherein, The first light guiding unit includes: an optical waveguide; In the second state, the receiving unit is used to receive a light beam from the optical waveguide.

11. The ranging module of any one of claims 3-6, wherein, The first light guide unit is directly or indirectly connected to the housing structure.

12. The ranging module of any of claims 2-11, wherein, The ranging module includes multiple light guide units; In the second state, the receiving unit is used to receive a light beam from at least one of the plurality of light guiding units; The plurality of light guide units include the first light guide unit.

13. The ranging module of any of claims 1-12, wherein, The ranging module further includes: a transmitting unit and a first reflecting unit; In the first state, the light beam emitted by the transmitting unit is reflected by the first reflecting unit and transmitted through the light-transmitting area to the object under test, and the light beam reflected back by the object under test is transmitted to the receiving unit. In the second state, the light beam emitted by the transmitting unit is reflected by the first reflecting unit and then transmitted to the receiving unit.

14. The ranging module of claim 13, wherein, The ranging module further includes: a second reflection unit; In the first state, the light beam emitted by the transmitting unit is reflected by the first reflecting unit and transmitted through the light-transmitting area to the object under test. The light beam reflected back by the object under test is reflected by the second reflecting unit through the light-transmitting area to the receiving unit. In the second state, the light beam emitted by the transmitting unit is reflected sequentially by the first reflecting unit and the second reflecting unit and then transmitted to the receiving unit.

15. The ranging module of claim 14, wherein, The first reflective unit is rotatably connected to the inside of the ranging module, and the second reflective unit is rotatably connected to the inside of the ranging module.

16. The ranging module of claim 15, wherein, The ranging module further includes a driving component, wherein the first reflecting unit and the second reflecting unit are rotatably connected to the inside of the ranging module via the driving component.

17. The ranging module according to any one of claims 1-16, characterized in that, The housing structure includes a light-shielding cover and a transparent inner shell, with the light-shielding cover partially covering the transparent inner shell; the receiving unit is located inside the transparent inner shell.

18. A lidar, comprising: The lidar includes: a processing circuit and a ranging module as described in any one of claims 1-17, wherein the receiving unit is electrically connected to the processing circuit.

19. A terminal device, comprising: The terminal device includes: a body and the lidar as described in claim 18, wherein the lidar is connected to the body.

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