Distance sensing device and movable object

Abstract

The application discloses a distance detection device and a movable object. The distance detection device comprises a transceiving module and a transceiving lens. The transceiving module comprises a transmitter and a receiver. The transmitter is used for transmitting a first light beam. The receiver is used for receiving at least part of a second light beam. The second light beam is formed by reflecting the first light beam by a target object. The receiver is an optical sensor. The transceiving lens is used for making the first light beam pass through and making at least part of the second light beam be received by the receiver. The receiver is located at a non-focal plane of the transceiving lens. The distance detection device has a small number of structural components, is simple in structural design and light in weight.

Description

Technical Field

[0001] This application relates to the field of distance detection technology, and more particularly to a distance detection device and a movable object. Background Technology

[0002] Distance detection devices have a wide range of applications in autonomous driving, drones, intelligent robots and other fields. In related technologies, distance detection devices usually require additional optical elements to collimate the emitted beam or adjust the optical path. They have a large number of structural components, are complex in design and heavy in weight. Utility Model Content

[0003] This application provides a distance detection device and a movable object, and at least addresses the problems of the distance detection device having many structural components, complex design, and heavy weight.

[0004] This application provides a distance detection device, which includes a transceiver module and a transceiver lens. The transceiver module includes a transmitter and a receiver. The transmitter is used to emit a first light beam, and the receiver is used to receive at least a portion of a second light beam. The second light beam is formed by the reflection of the first light beam from a target object, and the receiver is an optical sensor. The transceiver lens is used to allow the first light beam to pass through and to allow at least a portion of the second light beam to be received by the receiver. The receiver is located on the non-focal plane of the transceiver lens.

[0005] In the distance detection device of this application embodiment, the receiver is set as an optical sensor and located on the non-focal plane of the transceiver lens, so that the backlight of the emitted beam is at least partially received by the optical sensor after being penetrated and collected by the transceiver lens. Thus, the beam transmission and reception function can be completed by a single transceiver lens without the need to set up additional optical elements to collimate the emitted beam or adjust the optical path, thereby reducing the number of structural components of the distance detection device, making the structural design simpler and the weight lighter.

[0006] In some embodiments, the distance detection device further includes a substrate, on which a transmitter and a receiver are disposed, the substrate being perpendicular to the optical axis of the transceiver lens.

[0007] In this way, the transmitter and receiver are mounted on the same substrate, and the substrate is perpendicular to the optical axis of the transceiver lens, making the structure more compact and thus reducing the size of the distance detection device.

[0008] In some implementations, the plane where the receiver is located is perpendicular to the optical axis of the transceiver lens, and the distance between the plane where the receiver is located and the optical center of the transceiver lens is greater than or less than the focal length of the transceiver lens along the direction of the optical axis of the transceiver lens.

[0009] Thus, by setting the distance between the plane where the receiver is located and the optical center of the transceiver lens to be greater than or less than the focal length of the transceiver lens, the receiver can receive the reflected light of the transmitted beam on the non-focal plane of the transceiver lens.

[0010] In some implementations, the transmitter and receiver are disposed on the same plane; or,

[0011] The plane where the transmitter is located is parallel to the plane where the receiver is located and is offset along the optical axis of the transceiver lens.

[0012] In this way, the transmitter and receiver can be set on the same plane or different planes, which makes it easy to adapt to different types of structural layouts within the distance detection device and facilitates diversified product design.

[0013] In some embodiments, the distance detection device further includes a rotating component for driving the transceiver module to rotate about the optical axis of the transceiver lens.

[0014] In this way, by rotating the components, the transceiver module is driven to rotate around the optical axis of the transceiver lens, which allows the transmitter to project beams in different directions, thereby enabling scanning and detection of a larger spatial range.

[0015] In some embodiments, the distance detection device further includes a communication module, which is communicatively connected to the transceiver module and is located at the rotation center of the transceiver module.

[0016] By placing the communication module at the rotation center of the transceiver module, structural interference can be avoided, and the communication module and transceiver module can be installed compactly, thereby reducing the size of the distance detection device.

[0017] In some embodiments, the distance detection device further includes a power supply module. Along the direction pointed by the optical axis of the transceiver lens, the power supply module is located on the side of the communication module away from the transceiver lens. The rotating component, the communication module, and the transceiver module are all electrically connected to the power supply module, which is used to supply power to the rotating component, the communication module, and the transceiver module.

[0018] In this way, by placing the power supply module on the side of the communication module away from the transceiver lens, space can be fully utilized, the structure can be compact, and structural interference can also be avoided.

[0019] In some embodiments, the transmitter and receiver are strip-shaped structures, with their length directions being radially parallel to the imaging circle of the transceiver lens on the plane of the receiver, and the transmitter and receiver arranged side by side along a direction perpendicular to their length directions.

[0020] Thus, the transmitter and receiver have a compact structure, which helps to reduce the size of the distance detection device and allows the transmitter and receiver to scan the surrounding environment by rotating.

[0021] In some embodiments, the transmitter and receiver are of the same length, and each of the transmitter and receiver includes a proximal end and a centrifugal end that are opposite each other along the length direction. The proximal end is closer to the optical axis of the transceiver lens than the centrifugal end. The line connecting the proximal ends of the transmitter and receiver is perpendicular to the length direction, and the line connecting the centrifugal ends of the transmitter and receiver is perpendicular to the length direction.

[0022] In this way, the transmitter and receiver are of the same length, which allows the optical sensors of both transmitter and receiver to correspond to each other in the length direction, avoiding redundancy or waste.

[0023] In some implementations, the lengths of the transmitter and receiver are approximately equal to the radius of the imaging circle of the transceiver lens on the plane of the receiver, and the optical axis of the transceiver lens passes through the line connecting the proximal ends of the transmitter and receiver.

[0024] Thus, by making the lengths of the transmitter and receiver approximately equal to the radius of the imaging circle of the transceiver lens on the plane of the receiver, and by having the optical axis of the transceiver lens pass through the line connecting the proximal ends of the transmitter and receiver, the transmitter and receiver can obtain the largest possible scanning range when rotating around the optical axis.

[0025] In some embodiments, the second beam forms at least one diffusion circle in the plane where the receiver is located. The width of the receiver is less than or equal to the radius of the diffusion circle. The side of the receiver away from the transmitter is tangent to or intersects the edge of the diffusion circle. The side of the receiver closer to the transmitter is closer to the center of the diffusion circle than the other side of the receiver.

[0026] Thus, by ensuring that the width of the receiver is less than or equal to the radius of the dispersion circle, and that the side of the receiver away from the transmitter is tangent to or intersects with the edge of the dispersion circle, it is ensured that the receiver can enter the range of the dispersion circle, thereby receiving at least a portion of the second beam; and by setting the side of the receiver closer to the transmitter to be closer to the center of the dispersion circle than the other side of the receiver, the receiver can enter a larger range of the dispersion circle to receive more of the second beam, thereby improving the detection performance of the distance detection device.

[0027] In some implementations, the transceiver lens is a wide field-of-view lens.

[0028] Thus, by using a wide field-of-view lens as the transceiver lens, the distance detection device can obtain a larger field of view.

[0029] In some implementations, the wide field-of-view lens is a fisheye lens.

[0030] Therefore, using a fisheye lens as the transceiver lens can further increase the field of view of the distance detection device.

[0031] This application provides a movable object, which includes the distance detection device of any of the above embodiments.

[0032] Thus, the movable object of the present application embodiment has all the beneficial effects of the above-described embodiments.

[0033] 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

[0034] 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:

[0035] Figure 1 This is a schematic diagram of the distance detection device according to an embodiment of this application;

[0036] Figure 2 This is a top-view structural diagram of the transceiver module according to an embodiment of this application;

[0037] Figure 3 This is a top-view structural diagram of the transceiver module according to another embodiment of this application;

[0038] Figure 4 This is the optical path diagram of the second beam in the embodiments of this application.

[0039] Explanation of reference numerals in the attached figures:

[0040] 100-Distance detection device, 10-Transceiver module, 11-Transmitter, 111-First proximal end, 112-First centrifugal end, 12-Receiver, 121-Second proximal end, 122-Second centrifugal end, 113-First end, 124-Second end, 13-Substrate, 14-First beam, 15-Second beam, 151-Circle of confusion, 20-Transceiver lens, 21-Optical axis, 22-Imaging circle, 23-Wide field-of-view lens, 30-Rotating component, 40-Communication module, 50-Power supply module. Detailed Implementation

[0041] The embodiments of this application are described in detail below. Examples of these embodiments are shown 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 embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0042] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. 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 indicated technical features. Thus, features defined with "first" and "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.

[0043] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" 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, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0044] In 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.

[0045] The following disclosure provides many different embodiments or examples for implementing different structures of this application. To simplify the disclosure, specific examples of components and arrangements are described below. Of course, these are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, various specific examples of processes and materials are provided in this application, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0046] Please see Figures 1-4 The distance detection device 100 of this application includes a transceiver module 10 and a transceiver lens 20. The transceiver module 10 includes a transmitter 11 and a receiver 12. The transmitter 11 is used to emit a first beam 14, and the receiver 12 is used to receive at least a portion of a second beam 15. The second beam 15 is formed by the reflection of the first beam 14 by a target object. The receiver 12 is an optical sensor. The transceiver lens 20 is used to allow the first beam 14 to pass through and to allow at least a portion of the second beam 15 to be received by the receiver 12. The receiver 12 is located on the non-focal plane of the transceiver lens 20.

[0047] In the distance detection device 100 of this application embodiment, the receiver 12 is set as an optical sensor and located on the non-focal plane of the transceiver lens 20, so that the backlight of the beam emitted by the transmitter 11 is at least partially received by the optical sensor after being penetrated and collected by the transceiver lens 20. Thus, the beam transmission and reception function can be completed by a single transceiver lens 20, without the need to set up other optical elements to collimate the emitted beam or adjust the optical path, thereby reducing the number of structural components of the distance detection device 100, making the structural design simpler and the weight lighter.

[0048] Specifically, the distance detection device 100 is used to detect the distance and orientation of one or more targets in the surrounding environment relative to the distance detection device 100. In some embodiments, the distance detection device 100 may include radar, such as lidar. The distance detection device 100 can detect the distance from the target to the distance detection device 100 by measuring the time of light propagation between the distance detection device 100 and the target, i.e., the time of light flight (TOF).

[0049] The transceiver module 10 is used to transmit a first beam 14 and receive at least a portion of the reflected light (second beam 15) from the target object. When the first beam 14 projected by the transmitter 11 reaches the target object, the target object reflects at least a portion of the received beam outward to form the second beam 15. A portion of the second beam 15 is reflected to the distance detection device 100, and at least a portion of the second beam 15 penetrates the transceiver lens 20 and reaches the plane where the receiver 12 is located. The receiver 12 then receives at least a portion of the second beam 15 projected onto the plane where the receiver 12 is located.

[0050] The transmitter 11 may include a laser emitter 11, which can generate a laser beam. The laser beam may be a single laser pulse or a series of laser pulses. The transmitter 11 may employ an array of multiple laser emitting units, which may be vertical-cavity surface-emitting lasers (VCSELs) or edge-emitting lasers (EELs). For example, the transmitter 11 may employ multiple VCSELs to facilitate the formation of laser arrays at the wafer level, and also offers advantages in range and thickness.

[0051] For example, the laser pulse emitted by transmitter 11 lasts for 10 ns, and the duration of the reflected pulse received by receiver 12 is substantially equal to the duration of the laser pulse emitted by transmitter 11. Furthermore, the laser pulse reception time can be determined, for example, by detecting the rise time of the electrical signal pulse. In some embodiments, the electrical signal can be amplified in multiple stages. Thus, the distance detection device 100 can calculate the Time of Flight (TOF) using the pulse reception time information and the pulse emission time information, thereby determining the distance from the target object to the distance detection device 100.

[0052] In some implementations, the transmitter 11 can optimize the wavelength of the emitted beam for ranging and sensing applications. For example, the wavelength of the beam can be configured to avoid the wavelength of strong sunlight in order to improve the signal-to-noise ratio.

[0053] Receiver 12 can receive at least a portion of the reflected light from the target object and convert the received optical signal into an electrical signal for outputting the detection result. Receiver 12 may include one or more optical sensor units, such as avalanche photodiodes (APDs), single-photon avalanche photodiodes, silicon photomultiplier tubes, etc. An APD is a highly sensitive semiconductor electronic device that can convert received photons into electrical signals using the photocurrent effect.

[0054] To facilitate the receiver 12 receiving the second beam 15, the receiver 12 is positioned close to the transmitter 11 in the direction perpendicular to the optical axis 21, which also makes the transceiver module 10 more compact.

[0055] In related technologies, in order for the receiver 12 to receive the reflected light from the target object, it is usually necessary to set up a complex optical module to collimate or adjust the emitted beam and the reflected light separately or together, and to place the receiver 12 in the plane that the optical module can focus. Such an optical module requires a large number of optical elements, is heavy, and the positions of the optical elements, the receiver 12 and the transmitter 11 are relatively dispersed, requiring a larger volume to accommodate the relatively dispersed structural components. This can easily cause the weight and volume of the distance detection device 100 to exceed the carrying capacity of mobile objects such as consumer drones.

[0056] In contrast, in some embodiments of this application, the transceiver lens 20 is located on the side of the transmitter 11 and receiver 12 away from the substrate 13. The transmitter 11 emits a light beam toward the side where the transceiver lens 20 is located, and the light beam emitted by the transmitter 11 passes through the transceiver lens 20 to reach the external environment of the distance detection device 100. The transceiver lens 20 can collimate the light beam emitted by the transmitter 11, or adjust the angle at which the light beam emitted by the transmitter 11 is emitted outward to a certain extent. The transceiver lens 20 can also collect the backlight reflected from the target object from the outside, and the backlight path passes through the transceiver lens 20 and converges at the focal point O' of the transceiver lens 20. That is to say, the transmitting and receiving light paths share the same transceiver lens 20, and there is no need to set additional lenses, reflectors, or semi-transparent and semi-reflective mirrors, thereby reducing the number of components, so as to design a simpler and more compact structural scheme, and reduce the weight and volume of the distance detection device 100.

[0057] In some embodiments, the weight of the distance detection device can be reduced to less than 10g to address the difficulty of applying LiDAR in the consumer electronics field.

[0058] Receiver 12 is positioned on the non-focal plane of transceiver lens 20. A non-focal plane is a plane that does not pass through the focal point O' of transceiver lens 20 and is perpendicular to the optical axis 21 of transceiver lens 20. Therefore, the second beam 15 does not form an image at the focal point O', but can be received by receiver 12 on the non-focal plane. This allows receiver 12 to be positioned close to transmitter 11, helping to reduce the size of distance detection device 100. In the following description, the plane on which receiver 12 is located refers to a non-focal plane of transceiver lens 20 where receiver 12 is located.

[0059] Please see Figure 1 and Figure 2 In some embodiments, the distance detection device 100 further includes a substrate 13, on which a transmitter 11 and a receiver 12 are disposed, and the substrate 13 is perpendicular to the optical axis 21 of the transceiver lens 20.

[0060] Thus, the transmitter 11 and receiver 12 are mounted on the same substrate 13, and the substrate 13 is perpendicular to the optical axis 21 of the transceiver lens 20, making the structure more compact and thus reducing the size of the distance detection device 100.

[0061] Specifically, the substrate 13 can be a flat plate structure and can integrate multiple optoelectronic components, electronic components, and several wire harnesses, including a transmitter 11 and a receiver 12. The target object is located on the object side of the transceiver lens 20, and the substrate 13, transmitter 11, and receiver 12 are located on the image side of the transceiver lens 20.

[0062] The optical axis 21 of the transceiver lens 20 can be approximately coincident with the central axis of the transceiver lens 20's outline. Along the direction pointed by the optical axis 21 of the transceiver lens 20, the projection of the transceiver lens 20 onto the substrate 13 can be located at the center of the substrate 13, or at other non-central locations on the substrate 13. For example, the optical axis 21 of the transceiver lens 20 can pass through the geometric center of the substrate 13. It should be noted that the geometric center of the substrate 13 can be a hollow or solid structure.

[0063] In some embodiments, the transceiver module 10 is rotatable about the optical axis 21 of the transceiver lens 20, and the transmitter 11 and receiver 12 are offset from the optical axis 21 of the transceiver lens 20. In this embodiment, during the rotation of the transmitter 11 and receiver 12 about the optical axis 21, the distance between the transmitter 11, receiver 12 and the transceiver lens 20 along the optical axis 21 can be a constant value, which is beneficial to the functional stability of the transceiver module 10.

[0064] Please see Figure 1 , Figure 2 and Figure 4 In some embodiments, the plane where the receiver 12 is located is perpendicular to the optical axis 21 of the transceiver lens 20, and along the direction of the optical axis 21 of the transceiver lens 20, the distance between the plane where the receiver 12 is located and the optical center of the transceiver lens 20 is greater than or less than the focal length of the transceiver lens 20.

[0065] Thus, by setting the distance between the plane where the receiver 12 is located and the optical center of the transceiver lens 20 to be greater than or less than the focal length of the transceiver lens 20, the receiver 12 can receive the return beam on the non-focal plane.

[0066] Specifically, at least a portion of the reflected light from the target object penetrates the transceiver lens 20, and the reflected light path (the light path of the second beam 15) tends to converge towards the focal point O' of the transceiver lens 20. It is easy to understand that both the focal point O' and the optical center of the transceiver lens 20 are located on the optical axis 21, and the focal length of the transceiver lens 20 is the distance between the focal point O' and its optical center along the direction of the optical axis 21. Since the plane containing the receiver 12 is perpendicular to the optical axis 21 of the transceiver lens 20, the distance between the plane containing the receiver 12 and the optical center of the transceiver lens 20 is also the distance between the optical center of the transceiver lens 20 and the receiver 12 along the direction of the optical axis 21. This distance is greater than or less than the focal length of the transceiver lens 20, causing the receiver 12 to be located on the non-focal plane of the transceiver lens 20.

[0067] For example, such as Figure 4 As shown, the distance between the plane where the receiver 12 is located and the optical center of the transceiver lens 20 is less than the focal length of the transceiver lens 20, so the receiver 12 can receive at least a portion of the second beam 15 before the second beam 15 is focused on the focal point O'.

[0068] Optionally, the focal length of the transceiver lens 20 ranges from 0.65mm to 1mm, and the distance between the off-focal plane where the receiver 12 is located and the focal point O' along the optical axis 21 ranges from 1μm to 500μm. For example, in an embodiment where the focal length of the transceiver lens 20 is 0.65mm, the distance between the off-focal plane where the receiver 12 is located and the focal point O' along the optical axis 21 is less than or equal to 100μm; as another example, in an embodiment where the focal length of the transceiver lens 20 is 1mm, the distance between the off-focal plane where the receiver 12 is located and the focal point O' along the optical axis 21 is less than or equal to 500μm.

[0069] Please see Figure 1 In some embodiments, the transmitter 11 and the receiver 12 are disposed on the same plane.

[0070] In other embodiments, the plane where the transmitter 11 is located is parallel to the plane where the receiver 12 is located and is offset along the optical axis 21 of the transceiver lens 20.

[0071] In this way, the transmitter 11 and the receiver 12 can be set on the same plane or on different planes, which is convenient to adapt to different types of structural layouts within the distance detection device 100 and is beneficial to diversified product design.

[0072] Specifically, the transmitter 11 and the receiver 12 can be disposed on the same non-focal plane of the transceiver lens 20. In other embodiments, the transmitter 11 may be disposed on the focal plane of the transceiver lens 20, or on another non-focal plane different from the plane on which the receiver 12 is located.

[0073] In some implementations, the transmitter 11 and receiver 12 are co-packaged on the substrate 13 using CoWoS (Chip-on-Wafer-on-Substrate) technology.

[0074] In this way, the transmitter 11 and the receiver 12 can be packaged on the same substrate 13, which results in a compact structure and reduces the size of the transceiver module 10.

[0075] Specifically, the CoWoS technology allows for the packaging of two different functional chips, transmitter 11 and receiver 12, onto the same substrate 13. Transmitter 11 and receiver 12 can be integrated at different process nodes. Furthermore, the CoWoS packaging technology results in higher integration density, enabling the integration of more chips in a smaller space and reducing the physical distance between chips, such as between transmitter 11 and receiver 12, thereby facilitating further miniaturization of the transceiver module 10.

[0076] The receiver 12 and transmitter 11, packaged on the same substrate 13 using CoWoS technology, can have their surfaces parallel and offset from each other, or they can be located on the same overlapping plane.

[0077] Please see Figure 1 In some embodiments, the distance detection device 100 further includes a rotating component 30, which is used to drive the transceiver module 10 to rotate around the optical axis 21 of the transceiver lens 20.

[0078] Thus, by rotating component 30, the transceiver module 10 is driven to rotate around the optical axis 21 of transceiver lens 20, thereby enabling transmitter 11 to project beams in different directions, thereby scanning and detecting a larger spatial range.

[0079] Specifically, the transmitter 11 rotates with the rotating component 30 around the optical axis 21 of the transceiver lens 20, projecting the light beam in different directions to scan the space around the distance detection device 100. The receiver 12 also rotates synchronously with the rotating component 30 and the transmitter 11 to maintain a constant relative position with the transmitter 11. The receiver 12 is always able to receive at least a portion of the second light beam 15, which helps to reduce TOF calculation errors.

[0080] The direction along the optical axis 21 of the transceiver lens 20 from the object side to the image side is defined as the top-to-bottom direction. The rotating component 30 can be located below the substrate 13. The rotating component 30 can be directly connected to the substrate 13 to drive the substrate 13 and components such as the transmitter 11 and receiver 12 on the substrate 13 to rotate. The rotating component 30 can touch the substrate 13 upwards.

[0081] Please see Figure 1In some embodiments, the distance detection device 100 further includes a communication module 40, which is communicatively connected to the transceiver module 10 and is located at the rotation center of the transceiver module 10.

[0082] Thus, by positioning the communication module 40 at the rotation center of the transceiver module 10, structural interference can be avoided, and it is also beneficial for the communication module 40 and the transceiver module 10 to be installed compactly.

[0083] Specifically, the optical axis 21 of the transceiver lens 20 can pass through the communication module 40. The communication module 40 can be connected to the substrate 13 without contact, and establish communication connections with the transmitter 11 and the receiver 12 respectively through the substrate 13. In this way, interference from connection lines or connection devices with the rotation of the transceiver module 10 can be further avoided.

[0084] Please see Figure 1 In some embodiments, the distance detection device 100 further includes a power supply module 50. Along the direction pointed to by the optical axis 21 of the transceiver lens 20, the power supply module 50 is disposed on the side of the communication module 40 away from the transceiver lens 20. The rotating component 30, the communication module 40 and the transceiver module 10 are all electrically connected to the power supply module 50. The power supply module 50 is used to supply power to the rotating component 30, the communication module 40 and the transceiver module 10.

[0085] Thus, by placing the power supply module 50 on the side of the communication module 40 away from the transceiver lens 20, space is fully utilized, the structure is compact, and structural interference is avoided.

[0086] Specifically, the power supply module 50 may include a battery, a transformer, an external DC power supply, etc.

[0087] Please see Figure 1 and Figure 2 , Figure 2 The dashed circle indicates the imaging circle 22 of the transceiver lens 20 on the surface where the receiver 12 is located. In some embodiments, the transmitter 11 and the receiver 12 are disposed adjacent to each other on the substrate 13, and along the radial direction of the imaging circle 22 of the transceiver lens 20, the transmitter 11 and the receiver 12 are located on one side of the optical axis 21 of the transceiver lens 20.

[0088] Thus, the transmitter 11 and receiver 12 are arranged adjacent to each other, making the structure more compact and helping to reduce the size of the transceiver module 10. The transmitter 11 and receiver 12 are located on one side of the transceiver lens 20 along the radial direction of the imaging circle 22, so that the beam emitted by the transmitter 11 can form a certain angle with the optical axis 21, which helps the first beam 14 and the second beam 15 to pass through the transceiver lens 20, realizing the multiplexing of the transceiver lens 20.

[0089] Specifically, since the transmitter 11 is located on one side of the optical axis 21, the emitted light paths formed by the light beams (all of which are the first light beam 14) emitted by the transmitter 11 in different directions can all form an angle with the optical axis 21, and the angle formed between the light path of the first light beam 14 and the optical axis 21 is neither 0° nor 180°. In addition, when the second light beam 15 reflected by the target object passes through the transceiver lens 20 and reaches the receiver 12, the light path of the second light beam 15 also forms a certain angle with the optical axis 21.

[0090] It should be noted that the imaging circle 22 of the transceiver lens 20 refers to the circular area where light passing through the transceiver lens 20 and projecting onto the image plane can form an image. The imaging circle 22 of the transceiver lens 20 on the corresponding plane is the maximum usable image field range of the transceiver lens 20 on that plane. The imaging circle 22 is determined by the optical design of the transceiver lens 20 (such as lens group structure and phase aberration control). In this application, the imaging circle 22 refers to the circular area where the light beam projected by the transceiver lens 20 onto the substrate 13 can form an image on the non-focal plane where the receiver 12 is located.

[0091] Please see Figure 1 and Figure 2 In some embodiments, the transmitter 11 and receiver 12 are strip-shaped structures, with the length direction of the transmitter 11 and receiver 12 being parallel to a radial direction of the imaging circle 22 of the transceiver lens 20, and the transmitter 11 and receiver 12 being arranged side by side along a direction perpendicular to the length direction.

[0092] Thus, the transmitter 11 and receiver 12 have a compact structure, which helps to reduce the size of the distance detection device 100 and allows the transmitter 11 and receiver 12 to scan the surrounding environment by rotating.

[0093] Furthermore, since at least a portion of the second beam 15 reflected by the target object returns to the distance detection device 100 in the opposite direction to the first beam 14, the projection of the second beam 15 onto the non-focal plane is still centered on the position where the first beam 14 is emitted on the transmitter 11. Thus, the transmitter 11 and the receiver 12 are arranged side by side in a direction perpendicular to the length direction, which is beneficial for the second beam 15 to be received by the receiver 12 near the position where the first beam 14 is emitted, thereby improving the detection effect.

[0094] Specifically, both the transmitter 11 and the receiver 12 are elongated strip structures. The lengths of the transmitter 11 and the receiver 12 can be equal or unequal, and their widths can also be equal or unequal. Along the direction perpendicular to the length direction, the transmitter 11 can be placed close to the receiver 12, or it can be spaced a small distance from the receiver 12.

[0095] Optionally, the transmitter 11 and receiver 12 are spaced apart and formed with a slit (not shown) in a direction perpendicular to the length direction, the width of which is less than or equal to the width of receiver 12. Both the slit and the width of receiver 12 refer to the dimensions in a direction perpendicular to the length direction. This makes the structure of transmitter 11 and receiver 12 more compact and ensures that receiver 12 is closely positioned with transmitter 11, enabling it to receive the second beam 15.

[0096] Optionally, the transmitter 11 includes multiple laser emitting units, which can be linearly arranged along the length of the transmitter 11 and the receiver 12 to form a linear array. Optionally, the transmitter 11 can be packaged as an emitting chip. Optionally, the laser emitting units can be vertical-cavity surface-emitting lasers or edge-emitting lasers.

[0097] Optionally, the receiver 12 includes multiple optical sensor units, which can be linearly arranged along the length of the transmitter 11 and the receiver 12 to form a linear array. Optionally, the receiver 12 can be packaged as a receiver chip. Optionally, the optical sensor units can be avalanche photodiodes (APDs), single-photon avalanche photodiodes, silicon photomultiplier tubes, etc.

[0098] The center O" of the imaging circle 22 of the transceiver lens 20 is located on the optical axis 21 of the transceiver lens 20. Since the length direction of the transmitter 11 and the receiver 12 is parallel to one radial direction of the imaging circle 22 of the transceiver lens 20, one end of the transmitter 11 and the receiver 12 along the length direction points to the center O" of the imaging circle 22, while the other end is relatively far away from the center O" of the imaging circle 22.

[0099] Please see Figure 1 and Figure 2 In some embodiments, the transmitter 11 and the receiver 12 are of the same length. Each of the transmitter 11 and the receiver 12 includes a proximal end and a centrifugal end that are opposite each other along the length direction. The proximal end is closer to the optical axis 21 of the transceiver lens 20 relative to the centrifugal end. The line connecting the proximal ends of the transmitter 11 and the receiver 12 is perpendicular to the length direction, and the line connecting the centrifugal ends of the transmitter 11 and the receiver 12 is perpendicular to the length direction.

[0100] In this way, the transmitter 11 and receiver 12 are of the same length, which can make full use of the various laser emitting units and optical sensor units of the transmitter 11 and receiver 12 in the length direction and avoid redundancy.

[0101] Specifically, within the non-focal plane where the receiver 12 is located, the direction perpendicular to the aforementioned length direction is defined as the width direction. The proximal end of the transmitter 11 is the first proximal end 111, the centrifugal end of the transmitter 11 is the first centrifugal end 112, the proximal end of the receiver 12 is the second proximal end 121, and the centrifugal end of the transmitter 11 is the second centrifugal end 122. The line connecting the first centrifugal end 112 and the second centrifugal end 122 is perpendicular to the length direction; that is, the first centrifugal end 112 and the second centrifugal end 122 are aligned along the width direction. Since the transmitter 11 and the receiver 12 have the same length, the first proximal end 111 and the second proximal end 121 are also aligned along the width direction.

[0102] In some embodiments, the transmitter 11 and receiver 12 are rotatably configured relative to the transceiver lens 20, with the axis of rotation being the optical axis 21 of the transceiver lens 20. For example... Figure 2 As shown in the figure, the arrows indicate the direction of rotation of the transmitter 11 and the receiver 12. In this embodiment, the transmitter 11 and the receiver 12 rotate about the center O" of the imaging circle 22.

[0103] Please see Figure 2 In some embodiments, the lengths of the transmitter 11 and receiver 12 are approximately equal to the radius of the imaging circle 22 of the transceiver lens 20 on the plane where the receiver 12 is located, and the optical axis 21 of the transceiver lens 20 passes through the line connecting the proximal ends of the transmitter 11 and receiver 12.

[0104] Thus, since the lengths of the transmitter 11 and receiver 12 are approximately equal to the radius of the imaging circle 22 of the transceiver lens 20 on the plane where the receiver 12 is located, and the optical axis 21 of the transceiver lens 20 passes through the line connecting the proximal ends of the transmitter 11 and receiver 12, the transmitter 11 and receiver 12 can obtain the largest possible scanning range when rotating around the optical axis 21.

[0105] Optionally, the difference between the lengths of the transmitter 11 and receiver 12 and the radius of the imaging circle 22 can be within ten pixels. Optionally, the difference between the lengths of the transmitter 11 and receiver 12 and the radius of the imaging circle 22 can be within one pixel. Optionally, the difference between the lengths of the transmitter 11 and receiver 12 and the radius of the imaging circle 22 can be within 30 μm, 20 μm, or 10 μm. The optical axis 21 of the transceiver lens 20 passes through the line connecting the first proximal end 111 and the second proximal end 121. Since the lengths of the transmitter 11 and receiver 12 are equal to the radius of the imaging circle 22, the line connecting the first centrifugal end 112 and the second centrifugal end 122 should be a tangent to the imaging circle 22. When the transmitter 11 and receiver 12 rotate around the optical axis 21, the rotation radius of the first centrifugal end 112 and the second centrifugal end 122 is equal to the radius of the imaging circle 22. In this embodiment, the transmitter 11 and receiver 12 rotate 360° around the optical axis 21 of the transceiver lens 20 to obtain a 360° field of view (FOV) in the horizontal direction, covering the entire horizontal direction from the front to the rear of the distance detection device 100, thus achieving the effect of a scanning distance detection device.

[0106] In other embodiments, the lengths of the transmitter 11 and receiver 12 are approximately equal to the radius of the imaging circle 22 of the transceiver lens 20 on the plane where the receiver 12 is located. The transceiver module 10 includes two sets of transmitters 11 and receivers 12, with the length directions of the two sets of transmitters 11 and receivers 12 parallel to the same radial direction of the imaging circle 22. The two transmitters 11 are arranged side-by-side with their corresponding receivers 12 in directions perpendicular to their length directions. The proximal ends of the two sets of transmitters 11 and receivers 12 can face each other along their length directions and can contact each other. In these embodiments, the transmitters 11 and receivers 12 rotate 180° around the optical axis 21 of the transceiver lens 20, achieving a 360° horizontal field of view, thus realizing the effect of a scanning distance detection device. In some embodiments, the lengths of the transmitters 11 and receivers 12 are greater than or less than the radius of the imaging circle 22 of the transceiver lens 20 on the plane where the receiver 12 is located, allowing for diverse structural designs to adapt to different scenario needs. Specifically, the lengths of the transmitter 11 and receiver 12 are equal to the radius or diameter of the imaging circle of the transceiver lens 20 on its focal plane, so as to have a more accurate reference when designing the lengths of the transmitter 11 and receiver 12.

[0107] Please see Figure 3 , Figure 3The dashed circle indicates the imaging circle 22 of the transceiver lens 20 on the surface where the receiver 12 is located. In other embodiments, the lengths of the transmitter 11 and receiver 12 are equal to the diameter of the imaging circle 22 on the plane where the receiver 12 is located, and the optical axis 21 of the transceiver lens 20 passes through the line connecting the centers of the transmitter 11 and receiver 12. The two ends of the transmitter 11 and receiver 12 along the length direction are respectively the first end 113 and the second end 124. The tangents of the two first ends 113 and the line connecting the two second ends 124 are both perpendicular to the length direction. The line connecting the first ends 113 of the transmitter 11 and receiver 12 is one tangent of the imaging circle 22, and the line connecting the second ends 124 of the transmitter 11 and receiver 12 is another tangent of the imaging circle 22. In this embodiment, rotating the transmitter 11 and receiver 12 180° around the optical axis 21 of the transceiver lens 20 can obtain a 360° field of view in the horizontal direction, achieving the effect of a scanning distance detection device.

[0108] Please see Figure 2 and Figure 4 , Figure 4 The projection area formed by the second beam 15 projected onto the plane where the transceiver module 10 is located is a circle of confusion 151 (not visible from the viewpoint in the figure). In some embodiments, the second beam 15 forms at least one circle of confusion 151 on the plane where the receiver 12 is located. The width of the receiver 12 is less than or equal to the radius of the circle of confusion 151. The side of the receiver 12 away from the transmitter 11 is tangent to or intersects the edge of the circle of confusion 151. The side of the receiver 12 closer to the transmitter 11 is closer to the center of the circle of confusion 151 than the other side of the receiver 12.

[0109] Thus, by ensuring that the width of receiver 12 is less than or equal to the radius of the diffusion circle 151, and that the side of receiver 12 away from transmitter 11 is tangent to or intersects with the edge of diffusion circle 151, receiver 12 is able to enter the range of diffusion circle 151, thereby receiving at least a portion of the second beam 15.

[0110] Specifically, the circle of confusion 151 is the projection formed by the first beam 14 emitted by the transmitter 11, after being reflected by the target, forming a second beam 15, which penetrates the transceiver lens 20 and is projected back onto the plane where the receiver 12 is located. As explained above, the projection of the second beam 15 onto the non-focal plane is still centered on the position where the first beam 14 was emitted from the transmitter 11. The side of the receiver 12 away from the transmitter 11 is tangent to or intersects the edge of the circle of confusion 151. Therefore, the width of the receiver 12 is less than or equal to the radius of the circle of confusion 151, and the receiver 12 can at least partially enter the range of the circle of confusion 151, thereby receiving at least a portion of the light forming the projection of the circle of confusion 151. Optionally, the side of the receiver 12 closer to the transmitter 11 is closer to the center of the circle of confusion 151 than the other side of the receiver. The receiver 12 can enter a larger range of the circle of confusion 151 to receive more of the second beam 15, thereby improving the detection efficiency of the distance detection device.

[0111] In some embodiments, the width of the transmitter 11 and the receiver 12 can be set to 7μm to 21μm, and the length of the transmitter 11 and the receiver 12 can be set to 4.2mm. In these embodiments, the length of the transmitter 11 and the receiver 12 can be equivalent to a width of 600 pixels.

[0112] Please see Figure 1 In some embodiments, the transceiver lens 20 is a wide field-of-view lens 23. Thus, by using a wide field-of-view lens 23 as the transceiver lens 20, the distance detection device 100 can obtain a larger field of view.

[0113] In some implementations, the wide field-of-view lens 23 is a fisheye lens.

[0114] Thus, by using a fisheye lens as the transceiver lens 20, the field of view of the distance detection device 100 can be further increased.

[0115] Specifically, fisheye lenses employ a highly nonlinear projection method, which can achieve a larger field of view in the vertical direction. For example, when the wide field of view lens 23 is a fisheye lens, the radii of the transmitter 11 and the transceiver are approximately equal to the radius of the imaging circle 22 of the transceiver lens 20 on the plane where the receiver 12 is located. The optical axis 21 of the transceiver lens 20 passes through the line connecting the proximal ends of the transmitter 11 and the receiver 12. The transmitter 11 and the receiver 12 rotate 360° around the optical axis 21, which can obtain a 360° field of view in the horizontal direction and a 90° field of view in the vertical direction at the same time.

[0116] The movable object in this application includes the distance detection device 100 of any of the above embodiments.

[0117] Thus, the movable object of the present application embodiment has all the beneficial effects of the above-described embodiments.

[0118] Specifically, the movable object can be a drone, a cleaning robot, a service robot, a car, etc. Optionally, the movable object can be a consumer-grade drone. Taking a consumer-grade drone as an example, the distance detection device 100 can scan and detect the surrounding environment of the drone throughout its entire operation, including takeoff, hovering, flight, and landing, and automatically plan an avoidance route based on the detected target's location and distance.

[0119] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with the described embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0120] 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 these embodiments 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 distance detecting device, characterized by comprising: include: A transceiver module, comprising a transmitter and a receiver, wherein the transmitter is used to emit a first light beam, and the receiver is used to receive at least a portion of a second light beam, the second light beam being formed by the reflection of the first light beam by a target object, and the receiver being an optical sensor; A transceiver lens, configured to allow the first light beam to pass through and to allow at least a portion of the second light beam to be received by the receiver; wherein... The receiver is located on the non-focal plane of the transceiver lens.

2. The distance detecting apparatus according to claim 1, characterized by The distance detection device further includes a substrate, on which the transmitter and the receiver are disposed, and the substrate is perpendicular to the optical axis of the transceiver lens.

3. The distance detecting apparatus according to claim 1, wherein The plane where the receiver is located is perpendicular to the optical axis of the transceiver lens, and the distance between the plane where the receiver is located and the optical center of the transceiver lens is greater than or less than the focal length of the transceiver lens.

4. The distance finding apparatus of claim 2, wherein The transmitter and the receiver are disposed on the same plane; or, The plane in which the transmitter is located is parallel to the plane in which the receiver is located and is offset along the optical axis of the transceiver lens.

5. The distance finding apparatus of claim 1, wherein The distance detection device also includes a rotating component, which is used to drive the transceiver module to rotate around the optical axis of the transceiver lens.

6. The distance finding apparatus of claim 5, wherein The distance detection device further includes a communication module, which is communicatively connected to the transceiver module and is located at the rotation center of the transceiver module.

7. The distance finding apparatus of claim 6, wherein The distance detection device also includes a power supply module. Along the direction pointed by the optical axis of the transceiver lens, the power supply module is disposed on the side of the communication module away from the transceiver lens. The rotating component, the communication module, and the transceiver module are all electrically connected to the power supply module. The power supply module is used to supply power to the rotating component, the communication module, and the transceiver module.

8. The distance finding apparatus of claim 1, wherein The transmitter and the receiver are strip-shaped structures. The length direction of the transmitter and the receiver is parallel to a radial direction of the imaging circle of the transceiver lens on the plane where the receiver is located. The transmitter and the receiver are arranged side by side along a direction perpendicular to the length direction.

9. The distance finding apparatus of claim 8, wherein, The transmitter and the receiver are of the same length. Each of the transmitter and the receiver includes a proximal end and a centrifugal end that are opposite each other along the length direction. The proximal end is closer to the optical axis of the transceiver lens than the centrifugal end. The line connecting the proximal ends of the transmitter and the receiver is perpendicular to the length direction. The line connecting the centrifugal ends of the transmitter and the receiver is also perpendicular to the length direction.

10. The distance finding apparatus of claim 9, wherein The lengths of the transmitter and the receiver are approximately equal to the radius of the imaging circle of the transceiver lens on the plane where the receiver is located, and the optical axis of the transceiver lens passes through the line connecting the proximal ends of the transmitter and the receiver.

11. The distance finding apparatus of claim 8, wherein, The second beam forms at least one diffusion circle in the plane where the receiver is located. The width of the receiver is less than or equal to the radius of the diffusion circle. The side of the receiver away from the transmitter is tangent to or intersects the edge of the diffusion circle. The side of the receiver closer to the transmitter is closer to the center of the diffusion circle than the other side of the receiver.

12. The distance finding apparatus of claim 1, wherein, The transceiving lens is a wide field lens.

13. The distance finding apparatus of claim 12, wherein, The wide field lens is a fisheye lens.

14. A movable object, comprising: The movable object comprises the distance detection device according to any one of claims 1-13.

Images