Signal transmitting module, radar device and movable platform

Abstract

The utility model discloses a signal transmitting module, a radar device and a movable platform. The signal transmitting module comprises a light emitting module, a dodging module and a lens module. The light-emitting module forms an emergent light spot. The dodging module receives the emergent light spots and forms an equivalent light source array. The lens module receives and modulates the equivalent light source array to output a light beam array. The light uniformizing module can form the equivalent light source array by receiving the emergent light spots formed by the light emitting module, the assembling and debugging process can be simplified, the assembling and debugging difficulty is lowered, the requirement for the machining precision is lowered, and therefore the production cost is reduced.

Description

Technical Field

[0001] This application relates to the field of radar technology, and in particular to a signal transmitting module, radar device, and mobile platform. Background Technology

[0002] Mobile platforms can be equipped with radar devices to detect targets. The radar device emits a beam array via a signal transmitting module, and a receiving module receives the signals from the beam array reflected back by objects. After processing, the radar device obtains the object's distance or other information. The angular resolution of the radar device is positively correlated with the pixel density of the beam array. However, increasing the pixel density of the beam array is difficult and costly to manufacture. Utility Model Content

[0003] This application provides a signal transmitting module, a radar device, and a mobile platform.

[0004] In a first aspect, the signal transmitting module of the radar device provided in this application includes a light-emitting module, a light-homing module, and a lens module. The light-emitting module forms an emitted light spot S0. The light-homing module receives the emitted light spot S0 and forms an equivalent light source array. The lens module receives and modulates the equivalent light source array to output a beam array.

[0005] In some embodiments, the uniform light module receives the light beam corresponding to the emitted light spot S0 and performs total internal reflection on the light beam to form an equivalent light source array.

[0006] In some embodiments, the equivalent light source array includes the emitted light spot S0 and multiple virtual light spots Si.

[0007] In some embodiments, the lens module includes a first lens module and a second lens module. The first lens module is used to receive and reduce the equivalent light source array to form a light spot array, the light spot array including an image spot S0' formed by the emitted light spot S0 and an image spot Si' formed by the virtual light spot Si. The second lens module is used to receive and shape the beam corresponding to the image spot of the light spot array to form a beam array.

[0008] In some embodiments, the light-emitting module includes a light-emitting unit that emits light and forms the emitted light spot S0.

[0009] In some embodiments, the distance d1 between the light-emitting module and the first lens module on the first axis of the optical axis of the signal transmitting module, the distance d2 between any image spot in the light spot array and the first lens module on the second axis of the optical axis of the signal transmitting module, and the first focal length f1 of the first lens module satisfy the relationship: 1 / d1 + 1 / d2 = 1 / f1.

[0010] In some embodiments, the first vertical distance z1 between the light-emitting module and the adjacent virtual light source in the direction perpendicular to the optical axis of the signal transmitting module, the second vertical distance z2 between the image spot S0' and the adjacent image spot Si' in the direction perpendicular to the optical axis of the signal transmitting module, the first axial distance d1 between the light-emitting module and the first lens module on the optical axis of the signal transmitting module, and the second axial distance d2 between any image spot in the spot array and the first lens module on the optical axis of the signal transmitting module satisfy the relationship: z2 / z1=d2 / d1.

[0011] In some embodiments, the emitted light spot S0 corresponds to multiple light beams, and the interval angle θ1 between any two adjacent light beams, the second vertical distance z2 between the image spot S0' and the adjacent image spot Si' in the direction perpendicular to the optical axis of the signal transmitting module, and the second focal length f2 of the second lens module satisfy the relationship: tanθ1=z2 / f2.

[0012] In some embodiments, the light-emitting module includes a light-emitting unit and a third lens module. The light-emitting unit emits light and forms an initial light spot S00, and the third lens module is used to shape the light beam corresponding to the initial light spot S00 to form the outgoing light spot S0.

[0013] In some embodiments, the distance d3 between the initial light spot S00 and the third lens module on the third axis of the optical axis of the signal transmitting module, the distance d4 between the emitted light spot S0 and the third lens module on the second axis of the optical axis of the signal transmitting module, and the third focal length f3 of the third lens module satisfy the relationship: 1 / d3 + 1 / d4 = 1 / f3.

[0014] In some embodiments, the divergence angle of the beam corresponding to the initial light spot S00 is θ2, the divergence angle of the beam corresponding to the emitted light spot S0 is θ3, the distance d3 between the initial light spot S00 and the third lens module on the third axis of the optical axis of the signal transmitting module, and the distance d4 between the emitted light spot S0 and the third lens module on the second axis of the optical axis of the signal transmitting module satisfy the relationship: θ3 / θ2=d4 / d3.

[0015] In some embodiments, the homogenizing module includes a homogenizing rod, which has an incident surface near the light-emitting module and an exit surface away from the light-emitting module. The direction from the incident surface to the exit surface is the length direction of the homogenizing rod. The divergence angle of the light beam corresponding to the exit spot S0 formed by the light-emitting module is θ2. The refractive index n of the homogenizing rod, the length L of the homogenizing rod, the height Y of the incident surface of the homogenizing rod in the direction perpendicular to the optical axis of the signal transmitting module, and the number of times the light beam undergoes total internal reflection upon entering the homogenizing rod satisfy the relationship: m = θ1 / n * L / Y.

[0016] In some embodiments, the sum of the number S of the light-emitting modules and the plurality of virtual light sources in the equivalent light source array satisfies: S = (2m + 1)².

[0017] Secondly, this application provides a radar device. The radar device includes a signal transmitting module, a signal generating module, a receiving module, and a signal processing module as described in any of the above embodiments. The signal generating module is used to drive the light-emitting module to emit a light beam and to send a bypass signal to the signal processing module. The receiving module is used to receive light reflected back by an object. The signal processing module is used to receive the bypass signal and analyze the light reflected back by the object.

[0018] In some embodiments, the receiving module includes an area array detector comprising a plurality of pixel units, each of the pixel units receiving a beam from the beam array.

[0019] Thirdly, this application provides a mobile platform. The mobile platform includes a mobile platform body and the radar device described in any of the above embodiments. The radar device is mounted on the mobile platform body.

[0020] In some embodiments, the mobile platform includes at least one of an aircraft, vehicle, robot, ship, camera, and mobile phone.

[0021] In the signal transmission module, radar device, and mobile platform of this application, the uniform light module can form an equivalent light source array by receiving the emitted light spot formed by the light emission module, which can simplify the assembly and debugging process, reduce the difficulty of assembly and debugging and the requirements for processing accuracy, thereby reducing production costs.

[0022] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0023] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, wherein:

[0024] Figure 1 This is a perspective schematic diagram of a radar device according to some embodiments of this application;

[0025] Figure 2 yes Figure 1 A schematic diagram of part of the radar device shown.

[0026] Figure 3 This is a schematic diagram of an equivalent light source array according to some embodiments of this application;

[0027] Figure 4 This is a schematic diagram of an equivalent light source array for some other embodiments of this application;

[0028] Figure 5 This is a structural schematic diagram of a radar device according to other embodiments of this application;

[0029] Figure 6 This is a perspective view of a movable platform according to some embodiments of this application.

[0030] Explanation of key component designations:

[0031] 1000 mobile platforms; 100 radar devices;

[0032] Signal transmitting module 10; light emitting module 11; light emitting unit 111; light homogenizing module 13; first lens module 15; lens module 16; second lens module 17; third lens module 19; signal generating module 30; receiving module 50; area array detector 51; signal processing module 70; optical axis X. Detailed Implementation

[0033] In the description of this application, some of the disclosed content has been illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The following description with reference to the accompanying drawings is exemplary and is only used to explain this application, and should not be construed as limiting this application.

[0034] This application discloses numerous different contents or examples for implementing different structures. To simplify the disclosure of this application, the components and settings of specific examples are described below. Of course, these are merely examples and are not intended to limit this application.

[0035] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0036] In the description of this application, it should be understood that the terms used to indicate orientation or positional relationship (such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc.) are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this application and understanding the corresponding embodiments, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to indicate orientation or positional relationship should not be construed as limitations on this application.

[0037] In the description of this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0038] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection. They can refer to a mechanical connection or an electrical connection. They can refer to a direct connection or an indirect connection through an intermediate medium, and they can refer to the internal communication of two components or the interaction between two components. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0039] A radar device can emit light signals (such as a beam array) to the outside through a transmitting module and receive the light signals reflected back by an object through a receiving module. After processing by the radar device, the distance or other information of the object can be obtained. In implementations where the radar device is a lidar (Laser Detecting and Ranging) system, lidar is a sensing element that detects targets by emitting and receiving laser beams. Depending on the scanning method, lidar can be divided into three types: mechanical, semi-solid-state (also called hybrid solid-state), and all-solid-state. In mechanical lidar, both the transmitter and receiver rotate with the scanning components. In semi-solid-state lidar, the transmitter and receiver are fixed, and laser beam scanning is achieved only through a few moving parts. Because semi-solid-state lidar has both fixed and moving parts, it is also called hybrid solid-state lidar. All-solid-state lidar has no moving parts internally, only fixed transceiver modules. Compared to mechanical and semi-solid-state lidar, solid-state lidar does not need to consider the reliability and size issues caused by moving parts, and can meet the needs of different vehicle environments.

[0040] Currently, solid-state lidar is categorized into two types: Optical Phased Array (OPA) scanning lidar and Flash lidar. The signal transmission module of an OPA scanning lidar consists of multiple extremely small array units, placing extremely stringent requirements on materials and processes, making integration and production difficult. Flash lidar uses vertically oriented surface-emitting laser (VCSEL) chips as its signal transmission module. However, the large emitting area of ​​a single VCSEL limits its wavelength, resulting in low overall angular resolution. Increasing the pixel density of the VCSEL chips to improve angular resolution exponentially increases the technical difficulty and chip cost. Flash lidar also employs two-dimensional densities of optical arrays (DOEs) as beam generators. However, this approach requires precise beam collimation and incident angle, and the number of beams generated depends on the linewidth of the semiconductor fabrication; the more beams required, the more complex the fabrication becomes.

[0041] Please see Figure 1 This application provides a radar device 100. The radar device 100 includes a signal transmitting module 10, a signal generating module 30, a receiving module 50, and a signal processing module 70. The signal generating module 30 drives the light-emitting module 11 to emit a light beam and sends a bypass signal to the signal processing module 70. The receiving module 50 receives the light beam reflected back by an object. The signal processing module 70 receives the bypass signal and analyzes the light beam reflected back by the object.

[0042] Specifically, the signal generating module 30 drives the light-emitting module 11 of the signal transmitting module 10 to emit a light beam, and simultaneously sends a bypass signal to the signal processing module 70 for time synchronization. The signal transmitting module 10 emits a light beam with the required spectral band and spot characteristics for the radar device 100, and shapes and expands the emitted light beam to form a beam array C. The beam array C illuminates the target surface to form an area array spot and is reflected. The receiving module 50 captures and receives the light reflected back by the object. In some embodiments, the receiving module 50 includes an area array detector 51, which includes multiple pixel units, each pixel unit receiving a light beam from a beam array C. Each pixel unit in the area array detector corresponds one-to-one with each spot in the area array spot.

[0043] After the area array detector receives the scattered light wave, the signal processing module 70 can receive the bypass signal and analyze the beam reflected back by the object for signal processing. The signal processing process includes, but is not limited to, signal amplification, signal filtering, obtaining the time difference between the emitted and received beams, obtaining the phase difference between the emitted and received beams, or obtaining the frequency difference between the emitted and received beams. The object information includes, but is not limited to, the object's position and velocity. For example, the signal processing module 70 calculates the time difference t between the synchronization signal emitted by the signal generation module 30 and the received photoelectric signal, and uses the formula to calculate the target distance L = ct / 2, where c is the speed of light in air. Since the beam array C generated by the signal transmission module 10 can simultaneously cover the target surface, the target surface distance information can be obtained at once without rotating the radar device 100.

[0044] The type of radar device 100 in this application is not limited. In embodiments where the radar device 100 is a lidar, lidar can be classified according to its measurement method as either time-of-flight (ToF) radar or frequency-modulated continuous wave (FMCW) radar. Time-of-flight radar obtains the distance information of an object by measuring the time difference between the light signal emitted by the transmitting module and the light signal reflected back from the object by the receiving module. Time-of-flight radar has the advantages of fast response speed and high detection accuracy. Frequency-modulated continuous wave radar linearly modulates the light signal emitted by the transmitting module and obtains the frequency difference by coherently beating the light signal reflected back from the object by the receiving module with a reference light, thereby indirectly obtaining the distance information of the object. Frequency-modulated continuous wave radar has the advantages of directly measuring speed information and strong anti-interference. It is understood that the radar device 100 includes a signal transmitting module 10, therefore, the radar device 100 also includes the beneficial effects of the signal transmitting module 10 described below.

[0045] Please see Figure 1 and Figure 2 The radar device 100 provided in this application includes a signal transmitting module 10 comprising a light-emitting module 11, a light-uniforming module 13, and a lens module 16. The light-emitting module 11 forms an emitted light spot S0. The light-uniforming module 13 receives the emitted light spot S0 and forms an equivalent light source array. The lens module 16 receives and modulates the equivalent light source array to output a beam array.

[0046] The light-emitting module 11 serves as the light source for the signal transmitting module 10, emitting light and forming an output light spot S0. The light-emitting module 11 can employ various types of light sources, such as a vertical-cavity surface-emitting laser (VCSEL), an edge-emitting laser (EEL), or a fiber laser. In one embodiment, the light-emitting module 11 can directly emit the light spot S0. In another embodiment, the light-emitting module 11 can be shaped using optical elements (such as the third lens module 16) to form the output light spot S0. This design flexibility allows the light-emitting module 11 to be adjusted and optimized according to specific application requirements.

[0047] The homogenizing module 13 receives the beam corresponding to the outgoing light spot S0 formed by the light-emitting module 11 and processes the beam to form an equivalent light source array. When the beam of the outgoing light spot S0 enters the homogenizing module 13, the homogenizing module 13 enables the incoming beam to propagate and distribute according to a certain pattern, thereby forming multiple effective light source points and constituting an equivalent light source array. The homogenizing module 13 can take the form of a homogenizing rod, homogenizing plate, or homogenizing sheet. The homogenizing module 13 can form an equivalent light source array through various methods such as reflection and diffraction. For example, the homogenizing module 13 has multiple reflecting surfaces inside, which can be optical mirrors or other surfaces with high reflectivity. When the beam undergoes total internal reflection at the reflecting surface, its propagation direction changes and combines with other beams, thereby forming multiple beams in different directions, thereby increasing the number of virtual light sources and improving the complexity and uniformity of the light source array. In the case of an equivalent light source array formed by total internal reflection, the energy escape rate approaches zero, ensuring the generation efficiency of the equivalent light source array while avoiding signal attenuation due to refraction or scattering.

[0048] The lens module 16 performs optical processing on the equivalent light source array to achieve beam shaping, focusing, and collimation operations, thereby forming a beam array with certain characteristics and distribution. The lens module 16 can include multiple lenses or only one lens. In embodiments with multiple lenses, the lens module 16 can control parameters such as the beam propagation direction, spot size, and energy distribution by configuring the lens parameters and arrangement, meeting the requirements of the radar device 100 for the beam array and improving the radar's detection accuracy and coverage.

[0049] The radar device 100 provided in this application can form an equivalent light source array A by receiving the emitted light spot S0 through the uniform light module 13. It does not require the use of a beam array generator, nor does it require high-precision assembly and adjustment of the beam array generator, which can reduce the difficulty of processing and assembly and lower the cost.

[0050] Please see Figure 1 and Figure 2 The radar device 100 provided in this application includes a signal transmitting module 10 comprising a light-emitting module 11, a light-uniforming module 13, a first lens module 15, and a second lens module 17. The light-emitting module 11 emits light and forms an outgoing light spot S0. The light-uniforming module 13 receives the light beam corresponding to the outgoing light spot S0 formed by the light-emitting module 11 and performs total internal reflection of the light beam to form an equivalent light source array A. The equivalent light source array A includes the light-emitting module 11 and multiple virtual light sources, each virtual light source having a corresponding virtual light spot Si. The first lens module 15 receives the light emitted from the light-uniforming module 13 and reduces the equivalent light source array A to form a light spot array B. The light spot array B includes an image point light spot S0' formed by the outgoing light spot S0 and a virtual light spot S0' formed by the virtual light spots S0'. i The formed dotted light spot S i The second lens module 17 is used to receive and shape the beam corresponding to the image spot of the beam array B to form the beam array C.

[0051] The homogenizing module 13 receives the beam corresponding to the outgoing light spot S0. The beam undergoes multiple total internal reflections within the homogenizing module 13, thereby generating an equivalent light source array A. Specifically, after the beam from the outgoing light spot S0 enters the homogenizing module 13, it has multiple reflecting surfaces inside the module. These reflecting surfaces can be optical mirrors or other surfaces with high reflectivity. After total internal reflection at the reflecting surfaces, the beam's propagation direction changes, and it combines with other beams to form multiple beams in different directions. These multiple beams in different directions correspond to multiple virtual light sources. Each virtual light source corresponds to a virtual light spot S0. i Virtual light sources are not real light sources, but rather "images" formed by the reflection of light beams. Therefore, multiple light beams from different directions can be considered to originate from these virtual light sources, thus forming an equivalent light source array A. The equivalent light source array A consists of a light-emitting module 11 and virtual light sources, S +1 With S -1 These are the virtual light spots corresponding to the two virtual light sources in the equivalent light source array A. In reality, there are many virtual light sources. The number of virtual light sources is related to the number of total internal reflections of the beam inside the homogenizing module 13. The more times the beam undergoes total internal reflections inside the homogenizing module 13, the more virtual light sources are formed by the homogenizing module 13. The homogenizing module 13 can take different forms such as homogenizing rods, homogenizing plates, or homogenizing sheets to ensure that the beam can undergo multiple total internal reflections. The shape of the light spot array B is related to the shape of the end face of the homogenizing module 13.

[0052] Figure 3 This is an embodiment of an equivalent light source array A in this application, wherein the virtual light source is for illustrative purposes only, and the actual number of virtual light sources formed is far greater than that shown. Figure 3 The quantity shown in this application refers to S in a virtual light source. +1 With S -1 This will be explained later. Figure 3 In this embodiment, the end face of the light-diffusing module 13 is square, and the light spot array B formed by the light-diffusing rods on the square end face is arranged in a square-spaced pattern. Figure 3 The virtual light source S shown in the diagram + 1 and S -1 and Figure 2 Correspondingly, in the equivalent light source array A, the solid circle represents the emitted light spot S0, which has one and only one occurrence, while the dashed circle represents the virtual light spot Si corresponding to the virtual light source.

[0053] Figure 4 This is another equivalent light source array embodiment of this application. Figure 4 In this embodiment, the end face of the light-uniforming module 13 is hexagonal, and the light spot array B formed by the hexagonal end face light-uniforming rod is arranged in a hexagonal pattern. The solid circle represents S0, which is the main light source, and there is only one of them. The dashed circle represents the virtual light source formed by the light-uniforming module 13. Figure 4 The virtual light source S shown in the diagram + 1 and S -1 and Figure 2 Correspondingly, the remaining virtual light sources are not labeled, and the number of virtual light sources is related to the length of the uniform light module 13 and the divergence angle of the light source S0. Figure 4 The number of virtual light sources shown is for illustrative purposes only; the actual number of virtual light sources formed is far greater than that shown. Figure 4 The illustrations are numerous.

[0054] The first lens module 15 is used to modulate the equivalent light source array A to form a light spot array B. The modulation of the light emitted from the homogenizing module 13 by the first lens module 15 includes, but is not limited to, range modulation, intensity modulation, frequency modulation, phase modulation, and amplitude modulation of the light signal. For example, range modulation of the light emitted from the homogenizing module 13 includes, but is not limited to, focusing the light signal and diverging the light signal. Specifically, the first lens module 15 of this application reduces the equivalent light source to form the light spot array B. The light spot array B is composed of S... ’ 0, S ’ +1 With S ’ -1 The image is composed of 15 pairs of S0 and S1 points of light from the first lens module. +1 With S -1The resulting image spot has the same number of images as the number of light sources in the equivalent light source array A. The position of the image spot is inverted and reduced relative to the position of the corresponding equivalent light source. Therefore, the area of ​​the image spot array B is smaller than that of the equivalent light source array A, and the pixel density of the image spot array B is greater than that of the equivalent light source array A, which can improve the angular resolution of the radar device 100.

[0055] The first lens module 15 may include one or more lenses. In this application, in embodiments where the first lens module 15 includes multiple lenses, the modulation content of the multiple lenses may be different. The shape of the lens may be circular, elliptical, triangular, quadrilateral, or other polygonal. The material of the lens is not limited in this application. In embodiments where the lens material is glass, glass lenses have low temperature drift and can form clear images even at extremely high temperatures, thereby improving the resolution accuracy of the radar device 100; plastic lenses are low-cost, thereby reducing the cost of the radar device 100. The materials of the multiple lenses in the first lens module 15 may be the same, all different, or partially different.

[0056] The second lens module 17 is used to shape the light spot array B to form a beam array C. Shaping is equivalent to modulation. The modulation of the light emitted from the homogenizing module 13 by the second lens module 17 includes, but is not limited to, range modulation, intensity modulation, frequency modulation, phase modulation, and amplitude modulation of the optical signal. For example, range modulation of the light emitted from the homogenizing module 13 includes, but is not limited to, focusing the optical signal and diverging the optical signal. Specifically, the second lens module 17 of this application shapes the beam into a collimated beam to form the beam array C. The divergence angle of each sub-beam in the beam array C is effectively suppressed, which is beneficial for the radar device 100 to detect distant targets.

[0057] The second lens module 17 may include one or more lenses. In this application, in embodiments where the second lens module 17 includes multiple lenses, the modulation content of the multiple lenses may be different. The shape of the lens may be circular, elliptical, triangular, quadrilateral, or other polygonal. The material of the lens is not limited in this application. In embodiments where the lens material is glass, glass lenses have low temperature drift and can form clear images even at extremely high temperatures, thereby improving the resolution accuracy of the radar device 100; plastic lenses are low-cost, thereby reducing the cost of the radar device 100. The materials of the multiple lenses in the second lens module 17 may be the same, all different, or partially different.

[0058] The first lens module 15 pairs of equivalent light source array A are reduced to form a light spot array B. Therefore, the pixel density of the light spot array B is greater than that of the equivalent light source array A, which can improve the angular resolution of the radar device 100.

[0059] Please see Figure 2 In one embodiment of the light-emitting module 11, the light-emitting module 11 includes a light-emitting unit 111, which emits light and forms an outgoing light spot S0.

[0060] Specifically, the light-emitting unit 111 is the structure in the light-emitting module 11 that emits light, that is, the light-emitting unit 111 is a light source. There can be one or more light-emitting units 111, but this application describes it as one light-emitting unit 111. The light beam corresponding to the emitted light spot S0 formed by the light-emitting unit 111 directly enters the uniform light module 13, which can reduce the loss of the light beam during the transmission process.

[0061] Please see Figure 1 and Figure 2 In some embodiments, the first axial distance d1 between the light-emitting module 11 and the first lens module 15 on the optical axis X of the signal transmitting module 10, the second axial distance d2 between any image point in the light spot array B and the first lens module 15 on the optical axis X of the signal transmitting module 10, and the first focal length f1 of the first lens module 15 satisfy the following relationship: 1 / d1 + 1 / d2 = 1 / f1.

[0062] Specifically, in an embodiment where the first lens module 15 includes a single lens, the first focal length f1 of the first lens module 15 is the focal length of the lens itself. In an embodiment where the first lens module 15 is a combination of multiple lenses, the first focal length f1 of the first lens module 15 is the equivalent focal length of the multiple lenses. The relationship 1 / d1 + 1 / d2 = 1 / f1 characterizes the relationship between the distance between the light source and the first lens module 15 and the focal length of the first lens module 15, ensuring that the light emitted by the light-emitting module 11 can be focused after passing through the first lens module 15 and form a clear image. That is, the light beam emitted after the outgoing light spot S0 undergoes total internal reflection by the uniform light module 13 will diverge in different directions. By adjusting the distance d1 on the first axis and the first focal length f1 of the first lens module 15 to satisfy 1 / d1 + 1 / d2 = 1 / f1, the outgoing light spot S0 in the equivalent light source array A can be focused and imaged by the first lens module 15 to form an image point light spot S0', and ensuring that the virtual light spot S in the equivalent light source array A... i It can focus and image through the first lens module 15 to form an image spot S. i This ensures the formation of the light spot array B. The position of the image spot is inverted and reduced relative to the position of the corresponding equivalent light source. Therefore, the area of ​​the light spot array B is smaller than the area of ​​the equivalent light source array A, and the pixel density of the light spot array B is greater than that of the equivalent light source array A, which can improve the angular resolution of the radar device 100.

[0063] Please see Figure 1 and Figure 2In some embodiments, the first vertical distance z1 between the light-emitting module 11 and the adjacent virtual light source in the direction of the optical axis X of the vertical signal emission module 10, and the distance between the image spot S0' and the adjacent image spot S i The second vertical distance z2 in the direction of the optical axis X of the vertical signal transmitting module 10, the first axial distance d1 between the light-emitting module 11 and the first lens module 15 on the optical axis X of the signal transmitting module 10, and the second axial distance d2 between any image point in the light spot array B and the first lens module 15 on the optical axis X of the signal transmitting module 10 satisfy the following relationship: z2 / z1=d2 / d1.

[0064] Specifically, the first vertical distance z1 characterizes the distribution of virtual light sources along the X-axis of the vertical signal transmitting module 10. A smaller first vertical distance z1 indicates that the virtual light sources are close together and have a high density. The second vertical distance z2 characterizes the distribution of image spot patterns along the X-axis of the vertical signal transmitting module 10. A smaller second vertical distance z2 indicates that the image spot patterns are close together and have a high density. By adjusting the distances d1 and d2 on the first and second axes, the spacing between image spots in the spot array B can be controlled, thereby controlling the beam spacing of the final beam array C and ensuring the formation of a uniform beam array C.

[0065] Please see Figure 1 and Figure 2 In some embodiments, the emitted light spot S0 corresponds to multiple light beams, and the interval angle θ1 between any two adjacent light beams, the image spot S0' and the adjacent image spot S i The second vertical distance z2 in the X direction of the optical axis of the vertical signal transmitting module 10 and the second focal length f2 of the second lens module 17 satisfy the relationship: tanθ1=z2 / f2.

[0066] Specifically, in an embodiment where the second lens module 17 includes a single lens, the second focal length f2 of the second lens module 17 is the focal length of the lens itself. In an embodiment where the second lens module 17 is a combination of multiple lenses, the second focal length f2 of the second lens module 17 is the equivalent focal length of the multiple lenses. The interval angle θ1 represents the angular interval between the emitted light spots S0, i.e., the difference in emission direction between any two adjacent light beams. The second vertical distance z2 is the vertical interval between adjacent image point spots in the direction of the optical axis X of the vertical signal transmitting module 10, characterizing the image point spot density in the output of the signal transmitting module 10. By controlling the interval angle θ1, the angular resolution of the signal transmitting module 10 can be adjusted. The relationship tanθ1=z2 / f2 shows that there is a relationship between the interval angle θ1, the second vertical distance z2, and the second focal length f2. Therefore, by adjusting the second focal length f2 or changing the second vertical distance z2, the interval angle θ1 can be controlled, thereby affecting the shape and range of the beam array C and ensuring that the beam can effectively cover the target area.

[0067] Please see Figure 2 and Figure 5 In another embodiment of the light-emitting module 11, the light-emitting module 11 includes a light-emitting unit 111 and a third lens module 19. The light-emitting unit 111 emits light and forms an initial light spot S. 00 The third lens module 19 is used to focus the initial light spot S 00 The corresponding beam is shaped to form the outgoing beam spot S0.

[0068] Specifically, the initial light spot S formed by the light-emitting unit 111 00 The corresponding light beam, after being shaped into an outgoing light spot S0 by the third lens module 19, enters the homogenizing module 13. The third lens module 19 is used to shape the initial light spot S0. 00 Corresponding beam modulation. Modulation includes, but is not limited to, range modulation, intensity modulation, frequency modulation, phase modulation, amplitude modulation, etc. of the optical signal. For example, for the initial beam S... 00 The corresponding beam modulation range includes, but is not limited to, focusing and diverging beams. Specifically, the third lens module of this application has 19 pairs of initial light spots S. 00 The corresponding beam is initially focused. The initial beam S is... 00 The corresponding beams are concentrated to a point, forming an outgoing beam S0 with a smaller beam area and a larger divergence angle, thereby improving the coupling efficiency of the uniform light module 13 and increasing the number of virtual light sources.

[0069] The third lens module 19 may include one or more lenses. In this application, in embodiments where the third lens module 19 includes multiple lenses, the modulation content of the multiple lenses may be different. The shape of the lens may be circular, elliptical, triangular, quadrilateral, or other polygonal. The material of the lens is not limited in this application. In embodiments where the lens material is glass, glass lenses have low temperature drift and can form clear images even at extremely high temperatures, thereby improving the resolution accuracy of the radar device 100; plastic lenses are low-cost, thereby reducing the cost of the radar device 100. The materials of the multiple lenses in the third lens module 19 may be the same, all different, or partially different.

[0070] Please see Figure 2 and Figure 5 In some implementations, the initial light spot S 00 The distance d3 between the third lens module 19 on the third axis of the signal transmitting module 10 optical axis X, the distance d4 between the emitted light spot S0 and the third lens module 19 on the second axis of the signal transmitting module 10 optical axis X, and the third focal length f3 of the third lens module 19 satisfy the following relationship: 1 / d3 + 1 / d4 = 1 / f3.

[0071] Specifically, in an embodiment where the third lens module 19 includes a single lens, the third focal length f3 of the third lens module 19 is the focal length of the lens itself. In an embodiment where the third lens module 19 is a combination of multiple lenses, the third focal length f2 of the third lens module 19 is the equivalent focal length of the multiple lenses. The relationship 1 / d3 + 1 / d4 = 1 / f3 characterizes the initial light spot S. 00 The relationship between the distance between the lens module 19 and the focal length of the third lens module 19 ensures the initial light spot S. 00 The emitted light beam can be focused after passing through the third lens module 19, forming an outgoing light spot S0 with a smaller spot area and a larger divergence angle.

[0072] Please see Figure 2 and Figure 5 In some implementations, the initial light spot S 00 The divergence angle of the corresponding beam is θ2, the divergence angle of the beam corresponding to the outgoing beam S0 is θ3, and the initial beam S... 00 The distance d3 between the third lens module 19 and the third lens module 19 on the third axis of the signal transmitting module 10 optical axis X, and the distance d4 between the emitted light spot S0 and the third lens module 19 and the second axis of the signal transmitting module 10 optical axis X, satisfy the relationship: θ3 / θ2=d4 / d3.

[0073] Specifically, the relationship θ3 / θ2=d4 / d3 indicates that the initial light spot S 00The divergence angle θ2 of the corresponding beam is proportional to the distance d3 on the third axis and the distance d4 on the second axis from the lens module. By adjusting the distance d3 on the third axis and the distance d4 on the second axis, the initial beam S can be controlled. 00 The divergence angle θ2 of the corresponding beam is controlled, thereby controlling the divergence angle θ3 of the beam corresponding to the output beam S0, ensuring the initial beam S 00 The emitted light beam can be focused after passing through the third lens module 19, forming an outgoing light spot S0 with a smaller spot area and a larger divergence angle.

[0074] Please see Figure 1 and Figure 2 In some embodiments, the uniform light module 13 includes a uniform light rod, which includes an incident surface close to the light-emitting module 11 and an exit surface away from the light-emitting module 11. The direction from the incident surface to the exit surface is the length direction of the uniform light rod. The divergence angle of the light beam corresponding to the exit light spot S0 formed by the light-emitting module 11 is θ2. The refractive index n of the uniform light rod, the length L of the uniform light rod, the height Y of the incident surface of the uniform light rod in the direction perpendicular to the optical axis X of the signal transmitting module 10, and the number of times the light beam enters the uniform light rod and undergoes total internal reflection m satisfy the relationship: m=θ1 / n*L / Y.

[0075] Specifically, the larger the divergence angle θ2 of the beam corresponding to the outgoing light spot S0, the larger the angle at which the beam enters the homogenizer, thus requiring more total internal reflections to ensure that the beam corresponding to the outgoing light spot S0 is completely captured by the homogenizer and propagates inside it. A higher refractive index results in a slower propagation speed for the beam corresponding to the outgoing light spot S0, making it easier to meet the condition for total internal reflection. High-refractive-index materials better retain light; a longer homogenizer provides more opportunities for total internal reflection. The height Y in the direction perpendicular to the optical axis X of the signal transmitting module 10 represents the size of the homogenizer end face; a relatively smaller height Y in the direction perpendicular to the optical axis X of the signal transmitting module 10 indicates that more light will be captured. Increasing the length of the homogenizer or increasing the divergence angle θ2 of the beam corresponding to the outgoing light spot S0 can increase the number of equivalent light source arrays A.

[0076] Furthermore, in the equivalent light source array A, the unit arrangement and density of the virtual light source are related to the end face size and shape of the homogenizing rod. The smaller the end face size of the homogenizing rod, the greater the unit density of the virtual light source. The virtual light source is located at the center of the sub-end faces arranged closely according to the shape of the homogenizing rod's end face. Generally, the homogenizing rod is a square solid glass rod. In order to make the incident angle of light inside the homogenizing rod greater than the critical angle of total internal reflection, the refractive index of the glass material of the homogenizing rod needs to match the wavelength of the outgoing light spot S0. The formula for calculating the critical angle of total internal reflection is θ = arcsin(n2 / n), where n is the refractive index of the homogenizing rod and n2 is the refractive index of air. Generally, the outgoing light spot S0 is located at the center of the end face of the homogenizing rod, but the pointing angle of the beam emitted by the outgoing light spot S0 does not need to be completely perpendicular to the end face of the homogenizing rod.

[0077] Please see Figure 1 and Figure 2 In some implementations, the sum of the number S of the light-emitting modules 11 and the multiple virtual light sources in the equivalent light source array A satisfies: S = (2m + 1) 2 That is, the number of virtual light sources is positively correlated with the number of times the light beam undergoes total internal reflection upon entering the homogenizer.

[0078] Please see Figure 1 , Figure 2 and Figure 6 This application provides a mobile platform 1000. The mobile platform 1000 includes a mobile platform 1000 body and a radar device 100 according to any of the above embodiments. The radar device 100 is mounted on the mobile platform 1000 body. In some embodiments, the mobile platform 1000 includes at least one of an aircraft, vehicle, robot, ship, camera, and mobile phone.

[0079] Specifically, radar device 100 can be installed in aircraft for detecting objects ahead, measuring distances, or assisting navigation in the air. During flight, the radar device 100 provides real-time information on obstacles ahead, aiding in autonomous obstacle avoidance and safe landing. Radar device 100 installed in vehicles can help achieve autonomous driving capabilities. It can monitor road conditions and the surrounding environment in real time, providing perception data to support path planning and obstacle avoidance strategies. Radar device 100 installed in robots can assist them in navigating complex environments. Using the environmental information provided by radar device 100, robots can perform autonomous localization and obstacle avoidance, achieving safe and stable movement. Radar device 100 applied to ships can detect obstacles on or under water, helping ships avoid collisions and supporting automatic obstacle avoidance, improving safety on water. Integrating radar device 100 into miniaturized devices such as cameras and mobile phones can provide distance detection functionality for portable devices.

[0080] The signal transmitting module 10 of the mobile platform 1000 of this application forms an equivalent light source array A by total internal reflection of the light emitted by the light-emitting module 11 in the uniform light module 13. This eliminates the need for a beam array generator and high-precision assembly and adjustment, reducing processing and assembly difficulty and lowering costs. The first lens module 15 reduces the equivalent light source array A to form a light spot array B. Therefore, the pixel density of the light spot array B is greater than that of the equivalent light source array A, which improves the angular resolution of the radar device 100.

[0081] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and variations can be made to the embodiments of this application without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A signal transmitting module (10), characterized in that, The signal transmitting module, used in radar devices, includes: The light-emitting module (11) forms an emitted light spot S0; The homogenizing module (13) receives the emitted light spot S0 and forms an equivalent light source array; and The lens module (16) receives and modulates the equivalent light source array to output a beam array.

2. The signal transmitting module (10) according to claim 1, characterized in that, The uniform light module (13) receives the light beam corresponding to the emitted light spot S0 and performs total internal reflection on the light beam to form an equivalent light source array.

3. The signal transmitting module (10) according to claim 1, wherein the equivalent light source array includes the emitted light spot S0 and a plurality of virtual light spots Si.

4. The signal transmitting module (10) according to claim 3, characterized in that, The lens module (16) includes: A first lens module (15) is used to receive and reduce the equivalent light source array to form a light spot array, the light spot array including an image spot S0' formed by the emitted light spot S0 and an image spot Si' formed by the virtual light spot Si; and The second lens module (17) is used to receive and shape the beams corresponding to the image spot of the light spot array to form a beam array.

5. The signal transmitting module (10) according to claim 4, characterized in that, The light-emitting module (11) includes a light-emitting unit (111), which emits light and forms the emitted light spot S0.

6. The signal transmitting module (10) according to claim 4, characterized in that, The distance d1 between the light-emitting module (11) and the first lens module (15) on the first axis of the signal transmitting module (10), the distance d2 between any image spot in the light spot array and the first lens module (15) on the second axis of the signal transmitting module (10), and the first focal length f1 of the first lens module (15) satisfy the following relationship: 1 / d1 + 1 / d2 = 1 / f1.

7. The signal transmitting module (10) according to claim 4, characterized in that, The first vertical distance z1 between the light-emitting module (11) and the adjacent virtual light source in the direction perpendicular to the optical axis of the signal transmitting module (10), and the image spot S0 ’ The adjacent image spot S i ’ The second vertical distance z2 in the direction perpendicular to the optical axis of the signal transmitting module (10), the first axial distance d1 between the light-emitting module (11) and the first lens module (15) on the optical axis of the signal transmitting module (10), and the second axial distance d2 between any image spot in the light spot array and the first lens module (15) on the optical axis of the signal transmitting module (10) satisfy the following relationship: z2 / z1=d2 / d1.

8. The signal transmitting module (10) according to claim 4, characterized in that, The emitted light spot S0 corresponds to multiple light beams, and the interval angle θ1 between any two adjacent light beams and the image spot S0 ’ The adjacent image spot S i ’ The second vertical distance z2 in the direction perpendicular to the optical axis of the signal transmitting module (10) and the second focal length f2 of the second lens module (17) satisfy the relationship: tanθ1=z2 / f2.

9. The signal transmitting module (10) according to claim 1, characterized in that, The light-emitting module (11) includes a light-emitting unit (111) and a third lens module (19). The light-emitting unit (111) emits light and forms an initial light spot S. 00 The third lens module (19) is used to focus the initial light spot S. 00 The corresponding beam is shaped to form the emitted beam spot S0.

10. The signal transmitting module (10) according to claim 9, characterized in that, The initial light spot S 00 The distance d3 between the third lens module (19) and the third axis on the optical axis of the signal transmitting module (10), the distance d4 between the emitted light spot S0 and the third lens module (19) on the second axis on the optical axis of the signal transmitting module (10), and the third focal length f3 of the third lens module (19) satisfy the following relationship: 1 / d3 + 1 / d4 = 1 / f3.

11. The signal transmitting module (10) according to claim 10, characterized in that, The initial light spot S 00 The divergence angle of the corresponding beam is θ2, the divergence angle of the beam corresponding to the emitted beam S0 is θ3, and the initial beam S... 00 The distance d3 between the third lens module (19) and the third lens module (19) on the optical axis of the signal transmitting module (10), and the distance d4 between the emitted light spot S0 and the third lens module (19) on the optical axis of the signal transmitting module (10) satisfy the following relationship: θ3 / θ2=d4 / d3.

12. The signal transmitting module (10) according to any one of claims 1-11, characterized in that, The uniform light module (13) includes a uniform light rod, which includes an incident surface close to the light-emitting module (11) and an exit surface away from the light-emitting module (11). The direction from the incident surface to the exit surface is the length direction of the uniform light rod. The divergence angle of the light beam corresponding to the exit spot S0 formed by the light-emitting module (11) is θ2. The refractive index n of the uniform light rod, the length L of the uniform light rod, the height Y of the incident surface of the uniform light rod in the direction perpendicular to the optical axis of the signal transmitting module (10), and the number of times the light beam enters the uniform light rod and undergoes total internal reflection m satisfy the relationship: m=θ1 / n*L / Y.

13. The signal transmitting module (10) according to claim 12, characterized in that, The sum of the number S of the light-emitting modules (11) and multiple virtual light sources in the equivalent light source array satisfies the following relationship: S = (2m + 1) 2 .

14. A radar device (100), characterized in that, include: The signal transmitting module (10) according to any one of claims 1-13; The signal generation module (30) is used to drive the light-emitting module (11) to emit light and send a bypass signal to the signal processing module (70); Receiver module (50), used to receive light reflected back by an object; and The signal processing module (70) is used to receive the bypass signal and analyze the light reflected back by the object.

15. The radar device (100) according to claim 14, characterized in that, The receiving module (50) includes an area array detector (51), which includes multiple pixel units, each of which receives a beam from the beam array.

16. A mobile platform (1000), characterized in that, include: The main body of the mobile platform (1000); and The radar device (100) according to any one of claims 14-15, wherein the radar device (100) is mounted on the body of the movable platform (1000).

17. The mobile platform (1000) according to claim 16, characterized in that, The mobile platform (1000) includes at least one of aircraft, vehicles, robots, ships, cameras, and mobile phones.

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