Transmitting device, detecting device, and terminal

Abstract

A transmitting device, a detecting device, and a terminal are provided for use in the field of optical devices and detection technology. The transmitting device includes a first transmitting module and a second transmitting module. The first transmitting module is configured to transmit a first optical beam. The second transmitting module is configured to transmit a second optical beam. The longest detection distance of the first optical beam is shorter than the longest detection distance of the second optical beam. The second optical beam has a long longest detection distance and is applicable to long-distance detection. The first optical beam has a short longest detection distance and can be used for short-distance detection. The second transmitting module transmits the second optical beam so as to detect blind spots formed during long-distance detection. The first transmitting module and the second transmitting module operate in a time-division manner. Therefore, the optical beam transmitted during short-distance detection is unlikely to interfere with long-distance detection. This realizes blind compensation detection in the near-field without affecting long-distance detection capability, improving the detection performance of the detection device.

Description

[Technical Field]

[0001] This application relates to the field of optical devices and detection technologies, and in particular to transmitters, detectors, and terminals. [Background technology]

[0002] With the development of information technology, sensing technology has developed rapidly, and various sensing devices have brought great convenience to people's lives and travel. For example, advanced driver assistance systems (ADAS) play a very important role in intelligent vehicles. During the vehicle's driving process, ADAS uses sensing devices installed in the vehicle to detect the surrounding environment, collect data, identify stationary and moving objects, and perform systematic calculations and analyses based on the map data of the navigator, so that the driver can be aware of potential dangers in advance, effectively improving the driving comfort and safety of the vehicle. Sensing devices can be considered as "eyes" for sensing the environment and include visual sensors such as cameras and radar sensors such as millimeter-wave radar, lidar, and ultrasonic radar.

[0003] Lidar (light detection and ranging) has the advantages of high resolution, good detection performance, and strong stealth, and is one of the important detection devices in the sensing field. Lidar is a technology that obtains target-related information (e.g., characteristics such as the target's position, shape, or velocity) by transmitting a detection signal and receiving the echo reflected by the target.

[0004] To improve detection efficiency, multiple lasers are usually required to be deployed at the transmitting end of the lidar. However, the transmission fields formed by the multiple lasers usually overlap, and the overlapping areas are illuminated with detection signals from the multiple lasers, and the echo signal also contains echoes corresponding to the multiple lasers. As a result, mutual detection interference is likely to occur. In addition, the longer the distance between the target and the radar, the weaker the energy of the target echo. Therefore, when multiple lasers are deployed, the echo of a short-range target is likely to drown out the echo of a long-range target. This significantly hinders the radar's long-range detection and affects the radar's performance.

[0005] How to reduce the proportion of interference signals is an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0006] The embodiments of this application provide a transmitting device, a detecting device, and a terminal for reducing the proportion of interference signals in echoes and improving detection performance.

[0007] According to a first aspect, an embodiment of the present application provides a transmitting device, the transmitting device including a first transmitting module and a second transmitting module.

[0008] The first transmitting module and the second transmitting module are configured to transmit the light beams in a time-division manner, the first transmitting module being configured to transmit the first light beam and the second transmitting module being configured to transmit the second light beam.

[0009] The longest detection distance of the first light beam is shorter than the longest detection distance of the second light beam.

[0010] In this embodiment of the present application, the light beam transmitted by the second transmitting module has a long maximum detection distance and can be used for long-distance detection. The light beam transmitted by the first transmitting module has a shorter maximum detection distance than the light beam transmitted by the second transmitting module and can be used for short-distance detection. The first transmitting module and the second transmitting module operate in a time-division manner. Therefore, the light beam transmitted during short-distance detection is unlikely to interfere with long-distance detection. This realizes blind spot compensation detection in a close field of view without affecting long-distance detection capabilities, improving the detection performance of the detection device.

[0011] In one possible implementation of the first aspect, the energy density of the first light beam is less than the energy density of the second light beam.

[0012] In the above-described implementation, the energy density of the signal is related to the maximum detection distance of the signal. If the energy density of the first light beam is low, the first light beam is more applicable to short-distance detection. Correspondingly, if the energy density of the second light beam is high, the second light beam is more applicable to long-distance detection. In addition, since the maximum detection distance of the first light beam is short, mutual interference between the first light beam and the second light beam can be avoided, and the short-distance detection accuracy and long-distance detection accuracy of the detection device can be improved, thereby improving detection performance.

[0013] Optionally, energy density may be replaced by energy instead, in other words the energy of the second light beam is higher than the energy of the first light beam.

[0014] In another possible implementation of the first aspect, the power of the first light beam is less than the power of the second light beam.

[0015] In the above implementation, the signal power is related to the maximum detection distance of the signal. When the power of the first light beam is low, the first light beam is applicable to short-distance detection. Correspondingly, when the power of the second light beam is high, the second light beam is more applicable to long-distance detection. In addition, since the maximum detection distance of the first light beam is short, mutual interference between the first light beam and the second light beam can be avoided, improving the short-distance detection accuracy and long-distance detection accuracy of the detection device and improving detection performance.

[0016] In another possible implementation of the first aspect, the transmitter device further includes a beam homogenization component.

[0017] The beam homogenizing component is configured to homogenize the first light beam to obtain a first detected signal.

[0018] In the above-described implementation, the first light beam can be homogenized in angle space so that the first detection signal covers a larger angle range and the short-distance detection covers a larger area through homogenization, which can greatly reduce the blind spot area in the near field of view, greatly improve the short-distance detection ability, and enhance the detection performance.

[0019] In another possible implementation of the first aspect, the beam homogenizing module is further configured to homogenize the second light beam to obtain a second detection signal.

[0020] In the above-described implementation, through homogenization, the second light beam can be homogenized in angular space so that the second detection signal covers a larger angular range and the field of view of the second detection signal is continuous, which reduces blind spots in the field of view.

[0021] In another possible implementation of the first aspect, the FOV of the first detected signal and the FOV of the second detected signal overlap or have no gap.

[0022] In the above implementation, the FOV of the first detection signal and the FOV of the second detection signal are contiguous (or overlap), so that the field of view of the first detection signal and the field of view of the second detection signal are contiguous, which further reduces blind spots in the field of view and improves detection performance.

[0023] In another possible implementation of the first aspect, the first transmitter module and the second transmitter module each include at least one laser.

[0024] In another possible implementation of the first aspect, the laser comprises one or more of a vertical-cavity surface-emitting laser (VCSEL), a photonic crystal surface-emitting semiconductor laser (PCSEL), or the like.

[0025] VCSELs have advantages such as high speed, low power consumption, and a wide operating temperature range, making them applicable to detection in multiple environments and ensuring the detection performance of the detection device, while PCSELs have a wide operating wavelength range and are easy to package, thus improving the integration of the detection device.

[0026] In another possible implementation of the first aspect, the first transmitting module includes a first laser and a second laser.

[0027] A first laser and a second laser are disposed on either side of the second transmitter module, respectively.

[0028] In another possible implementation of the first aspect, the second transmitting module includes a first laser group and a second laser group, the first laser group including one or more lasers, and the second laser group including one or more lasers.

[0029] The first transmitting module is disposed between the first laser group and the second laser group.

[0030] In another possible implementation of the first aspect, the first transmitting module includes a third laser and N fourth lasers, and the second transmitting module includes N fifth lasers, where N is an integer and N≧2.

[0031] In the first direction, the third laser is disposed between the third laser group and the fourth laser group.

[0032] The third laser group includes M laser pairs, the M laser pairs being arranged in a first direction, each laser pair of the M laser pairs including one fourth laser and one fifth laser being arranged in a second direction, a first gap existing between the fourth laser and the fifth laser of each laser pair, M being an integer, and N>M≧2.

[0033] The fourth laser group includes NM laser pairs, the NM laser pairs being arranged in a first direction, each laser pair of the NM laser pairs including one fourth laser and one fifth laser being arranged in a second direction, with a second gap existing between the fourth laser and the fifth laser of each laser pair.

[0034] In the second direction, the position occupied by the third laser includes the position of the first gap and the position of the second gap, and the first direction is perpendicular to the second direction.

[0035] In this implementation, the third laser fills the gap between the fourth and fifth lasers in the second direction, resulting in improved field-of-view continuity in the second direction and achieving short-range detection with a larger field-of-view, which further improves detection efficiency and enhances detection performance.

[0036] In another possible implementation of the first aspect, the first transmitting module is configured to transmit a first light beam within a first time period, and the second transmitting module is configured to transmit a second light beam within a second time period, wherein the first time period and the second time period do not overlap.

[0037] In another possible implementation of the first aspect, the second transmitting module is further configured to transmit a third light beam within the second period, and the longest detection distance of the third light beam is shorter than the longest detection distance of the second light beam.

[0038] In this implementation, the second transmitting module can transmit "weak light" within the second time period so that short-distance detection with a larger field of view can be realized, which further improves short-distance detection capability and detection efficiency.

[0039] In another possible implementation of the first aspect, the transmitter device further includes a collimating lens group.

[0040] The collimating lens group is configured to collimate the light beams transmitted by the first transmitting module and the second transmitting module.

[0041] Through the collimating lens group, the collimation degree of the transmitted light beam can be improved, and the effectiveness of the detection result can be improved.

[0042] In another possible implementation of the first aspect, the distance between the focal plane of the collimating lens group and the collimating lens group is a first distance.

[0043] The distance between the first plane of the transmitter and the collimator lens group is a second distance, and the first plane is a plane on which the transmitting end face of the first transmitter module and the transmitting end face of the second transmitter module are located.

[0044] The second distance is different from the first distance.

[0045] Through proper defocusing, the light beams transmitted by the first transmitting module and the second transmitting module can be dispersed to a certain extent, thereby improving the beam homogenization effect, which improves the short-distance detection capability.

[0046] According to a second aspect, an embodiment of the present application provides a transmitting device, the transmitting device including a first transmitting module, a second transmitting module, and a beam homogenizing component.

[0047] The first transmitting module is configured to transmit a first light beam, and the second transmitting module is configured to transmit a second light beam, and the longest detection distance of the first light beam is shorter than the longest detection distance of the second light beam.

[0048] The beam homogenizing component is configured to homogenize the first light beam to obtain a first detected signal.

[0049] In one possible implementation of the second aspect, the beam homogenizing module is further configured to homogenize the second light beam to obtain a second detection signal.

[0050] In one possible implementation of the second aspect, the FOV of the first detected signal and the FOV of the second detected signal overlap or have no gaps.

[0051] In one possible implementation of the second aspect, the first transmitting module and the second transmitting module are configured to transmit the light beam in a time-division manner.

[0052] According to a third aspect, an embodiment of the present application further provides a detection device, the detection device including a transmission device and a photodetector, the transmission device including a transmission device according to any one of the implementations of the first aspect or a transmission device according to any one of the implementations of the second aspect.

[0053] A first transmitting module of the transmitting device is configured to transmit a first light beam, and a second transmitting module of the transmitting device is configured to transmit a second light beam.

[0054] The optical detector is configured to receive an echo signal corresponding to the first optical beam and an echo signal corresponding to the second optical beam.

[0055] In one possible implementation of the third aspect, the detection device further includes a control module configured to generate a first control signal and a second control signal, the first control signal being different from the second control signal.

[0056] The first control signal is used to control the first transmitting module to transmit the light beam.

[0057] The second control signal is used to control the second transmitting module to transmit the light beam.

[0058] According to a fourth aspect, an embodiment of the present application further provides a terminal, the terminal including a transmitting device according to any one of the implementations of the first aspect, or including a transmitting device according to any one of the implementations of the second aspect, or including a detecting device according to any one of the implementations of the third aspect.

[0059] Optionally, the terminal is a vehicle, an unmanned aerial vehicle, or a robot.

[0060] For the beneficial effects of the third and fourth aspects of this application, please refer to the beneficial effects of the first or second aspect, and the details will not be described again here. [Brief explanation of the drawings]

[0061] The accompanying drawings used in the description of the embodiments are briefly described below. [Figure 1] 1 is a diagram of the transmit and receive fields of view of a detection device. [Figure 2]FIG. 1 is a diagram of a configuration of a transmitting device according to an embodiment of the present application. [Figure 3] FIG. 1 is a diagram of a detection range according to one embodiment of the present application. [Figure 4] FIG. 2 is a diagram of a light emission time sequence according to an embodiment of the present application. [Figure 5] FIG. 10 is another detection range diagram according to an embodiment of the present application. [Figure 6] FIG. 10 is a diagram of another light emission time sequence according to an embodiment of the present application. [Figure 7] FIG. 2 is a diagram of the FOV of a first light beam and the FOV of a second light beam according to an embodiment of the present application. [Figure 8] 10 is a diagram of another FOV of a first light beam and another FOV of a second light beam according to an embodiment of the present application. [Figure 9] FIG. 10 is a diagram of another transmitting device according to an embodiment of the present application. [Figure 10] FIG. 2 is a diagram of the homogenizing function of a beam homogenizing component according to an embodiment of the present application. [Figure 11] 1 is a diagram of possible beam homogenization directions according to one embodiment of the present application; [Figure 12] FIG. 10 is a diagram of another possible beam homogenization direction according to an embodiment of the present application. [Figure 13] 1 is a diagram of the FOV of a transmitting device according to one embodiment of the present application. [Figure 14] FIG. 2 is a diagram of a light spot according to an embodiment of the present application. [Figure 15] FIG. 10 is a diagram of the FOV of another transmitting device according to an embodiment of the present application. [Figure 16] FIG. 10 is another diagram of a light spot according to an embodiment of the present application. [Figure 17] FIG. 2 is a diagram of the positions of a first transmitting module and a second transmitting module according to an embodiment of the present application. [Figure 18] FIG. 10 is another diagram of the positions of the first transmitting module and the second transmitting module according to an embodiment of the present application. [Figure 19] FIG. 10 is another diagram of the positions of the first transmitting module and the second transmitting module according to an embodiment of the present application. [Figure 20] FIG. 10 is a diagram of another possible transmitting device according to an embodiment of the present application. [Figure 21] 1A-1C are diagrams of two light shapes according to an embodiment of the present application. [Figure 22] 10A-10C are diagrams of two other light shapes according to an embodiment of the present application. [Figure 23] FIG. 2 is a diagram of an FOV according to one embodiment of the present application. [Figure 24] 1 is a diagram of a possible transmitting device according to an embodiment of the present application; [Figure 25] 10A-10C are diagrams of two other light shapes according to an embodiment of the present application. [Figure 26] FIG. 10 is a diagram of another terminal configuration according to an embodiment of the present application. [Figure 27] 1 is a diagram of a possible transmitting device according to an embodiment of the present application; [Figure 28] 1 is a diagram of the FOV of a transmitting device according to one embodiment of the present application. DETAILED DESCRIPTION OF THE INVENTION

[0062] The following further describes in detail the embodiments of the present application with reference to the accompanying drawings.

[0063] For ease of understanding, some concepts related to the embodiments of this application are explained for reference by using the following examples. The details are as follows:

[0064] 1. Detection equipment The detection device referred to in the embodiments of this application can be a LIDAR, or may be other light detection devices, such as an integrated detection device (e.g., a detection device that integrates a radar detector and an image sensor). LIDAR is used as an example. The working principle of LIDAR is to detect targets within a field of view by transmitting a detection signal and receiving an echo.

[0065] In one possible application scenario, the detection device in the embodiments of this application can be used in various fields, such as intelligent driving, intelligent transportation, intelligent manufacturing, environmental detection, surveying and mapping, and unmanned aerial vehicles, and can complete one or more functions, such as target detection, distance measurement, speed measurement, target tracking, image recognition, and the like.

[0066] In terms of possible application locations, the detection device in the embodiments of this application can be used in a vehicle-mounted detection device (e.g., a vehicle-mounted radar) or a roadside detection device (e.g., an intersection radar), or may be used in other detection devices, such as a detection device mounted on a device such as an unmanned aerial vehicle, a robot, a railway vehicle, a bicycle, a traffic light, a speed measurement device, or a base station. The mounting location of the detection device is not limited in this application.

[0067] 2. Field of view (FOV) A line of sight (LOS) area is required between the transmitting end of the detection device and the target object and / or between the receiving end of the detection device and the target object, where the transmission of the signal (e.g., radio waves or laser) is unobstructed. The line of sight area may be understood as the field of view.

[0068] In some scenarios, the size of the field of view is related to the field of view of the detection device. A larger field of view indicates a larger field of view. The field of view is the included angle formed by the two edges of the field of view within the maximum range, referred to as the field of view. In the embodiments of this application, the vertical field of view is the included angle formed by the two edges of the vertical field of view.

[0069] The above technical terminology explanations are optionally used in the following embodiments.

[0070] In the active detection technique, a transmitting end of a detection device transmits a detection signal into a target space to be detected, so that a target in the target space can be illuminated by the detection signal, and a receiving end of the detection device receives an echo signal formed by reflecting the detection signal on the target, and can measure relevant information of the target based on the echo signal.

[0071] Since the power of the signal transmitted by the detection device is usually limited, when it is necessary to detect a long-distance target, the transmitted detection signal has a high collimation degree and a small divergence angle. As a result, the detection signal transmitted by the detection device has a poor ability to cover a short-distance area, and there is a large blind spot area in the near field of view. Especially, when the transmitting end and the receiving end are in an off-axis architecture, the blind spot area in the near field of view significantly reduces the short-distance detection ability of the detection device.

[0072] FIG. 1 shows the transmit and receive fields of view of a detection device. The transmit and receive ends are located at opposite ends of the detection device, respectively. The transmit field of view is the object space covered by the detection signal transmitted by the transmit end, and the receive field of view is the object space from which the receive end can receive light. Since the receive end can receive the echo signal of the detection signal only when the object space is covered by the detection signal, the overlapping area between the transmit and receive fields of view is the effective detection range of the detection device. It can be seen that the start position of the overlapping area is far away from the detection device. In the near-field object space before the overlapping area, the receive end cannot receive the echo signal of the detection signal, forming a blind spot within the field of view. The greater the off-axis position of the transmit and receive ends, the greater the blind spot within such a short-distance field of view.

[0073] Targets located in blind spots within the field of view cannot be detected by the detection device, resulting in a weak short-range detection capability of the detection device, which affects the availability of the detection results of the detection device and limits the value of the detection device.

[0074] In view of this, the embodiments of the present application provide a transmitting device, a detecting device, and a terminal for improving the short-distance detecting capability of the detecting device and improving the detecting performance.

[0075] The solution in the embodiment of this application will be described in detail below.

[0076] 2 is a diagram of a configuration of a transmitting device according to an embodiment of this application. The transmitting device 200 may include a first transmitting module 201 and a second transmitting module 202.

[0077] The first transmitting module is configured to transmit a first light beam, and the second transmitting module is configured to transmit a second light beam. The longest detection distance of the first light beam is shorter than the longest detection distance of the second light beam. The second light beam has a long longest detection distance and is applicable to long-distance detection. The first light beam has a short longest detection distance and can be used for short-distance detection. Thus, two modules are arranged, with one transmitting module performing long-distance detection and the other transmitting module performing short-distance detection. In the short-distance detection process, blind spots formed during long-distance detection are detected. This significantly narrows the blind spots in the field of view, improves the short-distance detection capability of the detection device, and enhances the detection performance of the detection device.

[0078] 3 is a diagram of a detection range according to one embodiment of the present application. It can be seen that the overlapping area between the transmitting field of view and the receiving field of view of the first transmitting module is overlapping area 1, and the overlapping area between the transmitting field of view and the receiving field of view of the second transmitting module is overlapping area 2. Overlapping area 1 covers a near-field range that is not covered by overlapping area 2. In other words, the light transmitted by the first transmitting module can detect a part of the blind spot area formed by the second transmitting module within the near field of view. This improves the short-distance detection capability of the detection device and enhances the detection performance of the detection device.

[0079] In one possible implementation, the first transmitting module 201 and the second transmitting module 202 are connected to the same circuit board. A circuit board is a support for electronic components. A circuit board has conductors as lines for connecting electronic components, and includes, but is not limited to, a printed circuit board (PCB), a flexible printed circuit board (FPC), and the like.

[0080] Furthermore, the first transmitting module 201 and the second transmitting module 202 can be electronic components and are both electrically connected to a circuit board.

[0081] Alternatively, optionally, the electrical performance of the first transmitting module 201 and the second transmitting module 202 is isolated from the electrical performance of the circuit board, in which case the first transmitting module 201 and the second transmitting module 202 can be fixed to the circuit board without necessarily being electrically connected to the circuit board.

[0082] Alternatively, the circuit board may be replaced by a substrate, which may not include conductors for transmitting electrical signals. The first transmitting module and the second transmitting module may be fixed to the substrate.

[0083] The above describes the implementation of this embodiment of this application. The following provides some possible designs based on the above-mentioned transmitting device. It should be noted that the following multiple designs may be implemented independently or in combination. For ease of understanding, the implementation in the combined case will also be described below by using an example. In the following, some possible designs will first be described separately.

[0084] In one possible design, the first transmitting module and the second transmitting module may transmit the optical beams in a time-division manner. Thus, the period during which the first optical beam is transmitted and the period during which the second optical beam is transmitted may be shifted so that long-distance detection and short-distance detection are performed in a time-division manner. Therefore, mutual interference between long-distance detection and short-distance detection is unlikely to occur. This realizes blind spot compensation detection in a near field of view without affecting long-distance detection capability, thereby improving the detection performance of the detection device.

[0085] In one example of time-division emission, a first transmitting module is configured to transmit a first light beam within a first time period, and a second transmitting module is configured to transmit a second light beam within a second time period, where the first time period and the second time period do not overlap.

[0086] 4 is a diagram of a light emission time sequence according to one embodiment of the present application. As shown in FIG. 4, in a detection period T, _1 A first light beam is transmitted during the period T _2 A second light beam is transmitted within a period T _1 Period and T _2 The periods do not overlap. Certainly, the light emission time sequence shown in FIG. 4 is explained by using the time sequence of periodic light emission as an example. This application is also applicable to non-periodic light emission or periodic light emission with other period rules. For example, T _1 The duration of the period is T _2 The duration of the period may differ from that of the _1 The duration of the period is T _2 can be greater than the duration of the period, or T _1 The duration of the period is T _2 can be smaller than the duration of the period. For example, multiple T _1 Periods and Multiple T _2 After the period, the first and second transmitting modules may rest for a period of time before beginning to emit light again.

[0087] 5 is another detection range diagram according to an embodiment of the present application. In the detection device shown in FIG. 5, the transmitting end includes a transmitting device provided in the embodiment of the present application. As shown in FIG. 5(a), T _1 In the period, the coverage area of ​​the first optical beam and the receiving field of view form an overlap region 1, and the receiving end can receive echo signals (short-distance detection) from the overlap region 1. As shown in (b) of Figure 5, T _2 During this period, the coverage area of ​​the second optical beam and the receiving field of view form an overlapping area 2, and the receiving end can receive echo signals (long-distance detection) from the overlapping area 2. Although the overlapping area 1 and the overlapping area 2 may overlap, the optical beam is transmitted in a time-division manner, so that the long-distance detection and the short-distance detection are time-separated and are less likely to interfere with each other. This improves the detection accuracy of the detection device and enhances the detection performance of the detection device.

[0088] 4 is merely an example of whether a light beam exists at a certain time, and the variables are not strictly limited. For example, the variables indicated by the ordinate may indicate whether a transmitting module is powered on, the level of the transmitting module, or the power of the signal light emitted by the transmitting module.

[0089] In one possible implementation, during the second time period, the second transmitting module may transmit a third light beam, where the longest detection distance of the third light beam is shorter than the longest detection distance of the second light beam. For example, the energy density of the third light beam is lower than the energy density of the second light beam. In another example, the power of the third light beam is lower than the power of the second light beam.

[0090] Since the longest detection distance of the third light beam is shorter than the longest detection distance of the second light beam, the third light beam is applicable to short-distance detection in the first time period. Thus, short-distance detection can be performed within a larger range in the first time period, further improving the short-distance detection capability of the detection device. Optionally, the longest detection distance of the third light beam is equal to the longest detection distance of the first light beam.

[0091] 6 is a diagram of another light emission time sequence according to an embodiment of the present application. As shown in FIG. 6, in a detection period T, the first transmitting module _1 The first transmitting module transmits a first light beam within a period T _1 The second transmitting module transmits a third light beam within the period T _2 The second light beam is transmitted within the period. The longest detection distance of the first light beam is shorter than the longest detection distance of the second light beam, and the longest detection distance of the third light beam is also shorter than the longest detection distance of the second light beam. Therefore, T _1 In the period, the light beams transmitted by the first transmitting module and the second transmitting module can be considered as light beams used for short-range detection. _2 In this period, the light beam transmitted by the second transmitting module can be regarded as the light beam used for long-distance detection. Thus, a time separation between long-distance detection and short-distance detection is realized, and short-distance detection at a larger range is further realized. This further improves the detection efficiency, improves the short-distance detection capability of the detection device, and enhances the detection performance.

[0092] 6 is an example of the maximum detection distance of the light beam in a certain period of time, this power may be replaced by the current of the transmitting module, the energy density of the light beam, the maximum detection distance of the light beam, etc.

[0093] This is not limited to the above design. In another possible design, the energy density of the first light beam is smaller than the energy density of the second light beam. The energy density of the signal is related to the maximum detection distance of the signal. When the energy density of the first light beam is low, the first light beam is applicable to short-distance detection. In addition, the maximum detection distance of the first light beam is short, and therefore mutual interference between the first light beam and the second light beam can be avoided, improving the short-distance detection accuracy and long-distance detection accuracy of the detection device and improving detection performance.

[0094] Optionally, if the second transmitting module further transmits a third light beam, the energy density of the third light beam is less than the energy density of the second light beam.

[0095] This is not limited to the above design. In another possible design, the power of the first light beam is smaller than the power of the second light beam. The power of the signal is related to the maximum detection distance of the signal. When the power of the first light beam is low, the first light beam is applicable to short-distance detection.

[0096] Optionally, if the second transmitting module further transmits a third light beam, the power of the third light beam is less than the power of the second light beam.

[0097] This is not limited to the above design. In another possible design, the FOV of the first light beam imperfectly overlaps with the FOV of the second light beam. The imperfect overlap here can be in several cases:

[0098] Case 1: The FOV of the first light beam completely covers the FOV of the second light beam, and the angular range of the FOV of the first light beam exceeds the angular range of the FOV of the second light beam.

[0099] In one possible implementation, the overlap of the FOVs can be an overlap in a certain direction (overlap on a plane). FIG. 7 is a diagram of the FOV of the first light beam and the FOV of the second light beam according to one embodiment of this application. See (a) of FIG. 7. The first transmitting module and the second transmitting module are arranged in the y direction. The exit surfaces of the light beams of the first transmitting module and the second transmitting module are located on the xy plane. See (b) of FIG. 7. In the x direction, the FOV of the light beam transmitted by the first transmitting module in the object space is β _x (when the propagation direction is changed without passing through a reflecting mirror, etc.), and the FOV of the light beam transmitted by the second transmitting module in the object space is α _x(When the propagation direction is changed without passing through a reflecting mirror, etc.) _x and α _x have non-overlapping angular ranges.

[0100] It should be understood that the FOV shown in FIG. 7 is shown by using the FOV in the x direction as an example. In a specific implementation process, the x direction, the y direction, etc. may be defined based on specific circumstances. In addition, the dashed line shown in FIG. 7 is used to indicate the main optical axis of a lens (e.g., an optical element). Optionally, the center of the second transmitting module overlaps with the main optical axis of the lens. Certainly, a solution in which the center of the second transmitting module does not overlap with the main optical axis is also applicable to this application.

[0101] Optionally, referring to Figure 3, overlap region 1 can be an overlap region between the transmit field of view and the receive field of view of a first transmitter module in the x-direction. Similarly, overlap region 2 can be an overlap region between the transmit field of view and the receive field of view of a second transmitter module in the x-direction.

[0102] Case 2: The FOV of the first light beam covers a part of the FOV of the second light beam, in other words, the FOV of the first light beam has an angle that does not overlap with the FOV of the second light beam, and the FOV of the second light beam also has an angle that does not overlap with the FOV of the first light beam.

[0103] 8 is a diagram of another FOV of the first light beam and another FOV of the second light beam according to one embodiment of the present application. As shown in (a) of FIG. 8, the first transmitting module and the second transmitting module are offset in the x direction. As shown in (b) of FIG. 8, in the x direction, the FOV of the light beam transmitted by the first transmitting module in the object space is β _x and the FOV of the light beam transmitted by the second transmitting module in the object space is α _x It turns out that β _x and α _x Both have non-overlapping angular ranges.

[0104] 8 and other accompanying drawings are examples of optical components, and the present application is not intended to limit the optical beams transmitted by the first transmitting module and the second transmitting module to passing through the same lens, and is also applicable to cases where the optical beams pass through other optical elements.

[0105] Case 3: The FOV of the first light beam and the FOV of the second light beam have no overlapping angle. Optionally, the angle formed by the two FOVs can be continuous (there is no gap between the FOVs) or discontinuous (there is an angular gap between the FOVs).

[0106] It is to be noted that the above cases are merely examples given for ease of understanding, and other cases may exist in a specific implementation process. Alternatively, the above cases may be combined without mutual exclusion. For example, there may be multiple first transmitting modules and multiple second transmitting modules, and different first transmitting modules and second transmitting modules may satisfy different cases.

[0107] This is not limited to the above design. In another possible design, the transmitting device further includes a beam homogenizing component. The beam homogenizing component is configured to perform homogenization on the light beam transmitted by the transmitting module. The beam homogenizing component may include, but is not limited to, one or more of a microlens array, a diffuser, a beam homogenizer, or the like.

[0108] In one possible implementation, the beam homogenizing component can perform homogenization on the first light beam transmitted by the first transmitting module. For ease of distinction, the first light beam passing through the beam homogenizing component will hereinafter be referred to as the first detected signal.

[0109] In one possible implementation, the beam homogenizing component can perform homogenization on the second light beam transmitted by the second transmitting module. For ease of distinction, the second light beam passing through the beam homogenizing component will be referred to hereinafter as the second detection signal.

[0110] FIG. 9 is a diagram of another transmitting device according to an embodiment of the present application. The transmitting device 900 includes a beam uniformizing component. The beam uniformizing component 901 is disposed on the transmission path (path from the transmitting module to the field of view) of the first transmitting module 201 and the second transmitting module 202 and is configured to perform uniformization on the optical beams transmitted by the first transmitting module 201 and the second transmitting module 202. The first transmitting module and the second transmitting module share the beam uniformizing component, which can further reduce the size of the transmitting device and improve the integration level. In addition, the beam uniformizing component is shared, which can perform uniformization on the optical beams transmitted by the first transmitting module and the second transmitting module. This improves the continuity of the transmission field of view, improves detection efficiency, and enhances detection performance.

[0111] The above describes the location of the beam uniformizing component, and the following describes the uniformizing function of the beam uniformizing component by using an example.

[0112] 10 is a diagram of the beam homogenization function of the beam homogenization component according to one embodiment of the present application. The beam homogenization component can perform homogenization on the light beam transmitted by the first transmitting module to obtain a first detection signal that can cover a larger angular range, so that short-distance detection covers more areas. This can further reduce blind spots in the near field of view.

[0113] It should be noted that when the beam homogenizing component homogenizes the light beam, a beam homogenization direction can be configured, including, but not limited to, linear homogenization or divergent homogenization.

[0114] 11 is a diagram of possible beam homogenization directions according to one embodiment of the present application. A first transmitting module and a second transmitting module are arranged in the y direction, and there is a gap in the y direction. The exit surface of the light beam transmitted by the transmitting module is located on the xy plane, and the beam homogenization direction of the beam homogenizing component is for homogenization in the y direction, so that the light beam is dispersed in the y direction.

[0115] 12 is a diagram of another possible beam homogenization direction according to an embodiment of the present application. The first transmitting module and the second transmitting module are arranged in the y direction, and there is a gap in the y direction. The exit surface of the light beam transmitted by the transmitting module is located on the xy plane, and the beam homogenization direction of the beam homogenizing component is for forming a diffuse homogenization on the xy plane, so that the light beam is dispersed on the xy plane.

[0116] Optionally, when the light beam forms a diffuse dispersion in the xy plane, the degree of dispersion in the x direction is less than the degree of dispersion in the y direction.

[0117] This is not limited to the above design. In another possible design, the FOV of the first detection signal and the FOV of the second detection signal overlap or have no gap.

[0118] Optionally, the FOV here is the FOV in a certain direction, for example the FOV in the direction from the first transmitting module to the second transmitting module.

[0119] Since the first transmitting module and the second transmitting module transmit light beams with different ranging capabilities, there may be a physical gap between the first transmitting module and the second transmitting module. As shown in Figure 9, the first transmitting module 201 and the second transmitting module 202 are arranged in the y direction, and there is a gap in the y direction.

[0120] The gap between the transmitting modules causes the light spots formed by the transmitting modules during imaging to be discontinuous. FIG. 13 is a diagram of the FOV of a transmitting device according to one embodiment of this application. There is a gap in the y direction between the first transmitting module 201 and the second transmitting module 202. The FOV of the light beam transmitted by the first transmitting module 201 in the y direction is β_y, and the FOV of the light beam transmitted by the second transmitting module 202 in the y direction is α_y. It can be seen that there is an angular difference of γ between β_y and α_y in the y direction. There is an angular difference between the FOVs of the transmitting modules in a certain direction. Therefore, there is a gap in the y direction between the transmitting field of view of the first transmitting module and the transmitting field of view of the second transmitting module, thus causing a discontinuity in the field of view. As a result, a small portion of the blind spot area in the field of view cannot be detected.

[0121] The gap between the transmission fields can be intuitively sensed through the light spots. Figure 14 is a diagram of light spots according to one embodiment of this application. Light spot 1401 is a light spot formed by the light beam transmitted by the first transmitting module, and light spot 1402 is a light spot formed by the light beam transmitted by the second transmitting module, and there is a gap between light spot 1401 and light spot 1402.

[0122] In this design, the FOV of the first detection signal and the FOV of the second detection signal overlap or have no gaps. For example, take the y direction as an example. The first light beam and the second light beam overlap or have no gaps in the angular space of the y direction, so that the detection field of view group can be continuous and the blind spot area in the near field of view can be further reduced. This improves detection efficiency and enhances detection performance.

[0123] Optionally, overlapping or no gaps in the FOVs may be implemented by using beam homogenizing components and / or by using a position placement design of the first and second transmitting modules (e.g., an additional light source positioned in the y direction), etc.

[0124] Below we will discuss the case where the FOVs overlap or have no gaps by using a beam homogenization component.

[0125] The beam homogenizing component homogenizes the light beam, filling gaps between the transmission fields of the transmitting modules with dispersed light, thereby further reducing blind spots in the field of view. For example, if a gap exists between the first transmitting module and the second transmitting module in the y direction, homogenization includes homogenization in the y direction, thereby filling gaps between the emitted light of the first light beam and the second light beam (i.e., the first detection signal and the second detection signal) in the angular space of the y direction. This further reduces blind spots in the field of view and improves short-distance detection effectiveness.

[0126] 15 is a diagram of the FOV of another transmitting device according to an embodiment of this application. There is a gap between the first transmitting module 201 and the second transmitting module 202 in the y direction. Before passing through the beam uniformizing component, the FOV of the light beam transmitted by the first transmitting module 201 in the y direction (represented by the dashed line with an arrow) is β_y, and the FOV of the light beam transmitted by the second transmitting module 202 in the y direction (represented by the solid line with an arrow) is α_y. In the y direction, there is an angular difference of γ between β_y and α_y. The beam uniformizing component uniformizes the light from the first transmitting module 201 and the second transmitting module 202 in the y direction, so that there is no gap (they overlap) between the first detection signal and the second detection signal, and the field of view is continuous.

[0127] By using the light spot, a continuous field of view can be intuitively perceived. Figure 16 is a diagram of another light spot according to an embodiment of this application. The beam homogenizing component homogenizes the light beams transmitted by the first transmitting module 201 and the second transmitting module 202 in the y direction, and the light spot 1601 is the light spot formed after homogenization is performed on the light beam transmitted by the first transmitting module, and the light spot 1602 is the light spot formed after homogenization is performed on the light beam transmitted by the second transmitting module. It can be seen that the gap between the light spot formed by the first transmitting module 201 and the light spot formed by the second transmitting module 202 is filled.

[0128] It should be understood that homogenization may not allow the light beam to be distributed perfectly evenly in angular space. For example, the light beam may not be homogenized uniformly due to the influence of process, cost, device aging, or environmental factors. The homogenization described in the embodiments of this application is not limited to perfect homogenization, and this application is also applicable to solutions with imperfect homogenization. As shown in FIG. 16 , a light spot 1602 is a light spot formed after homogenization. Although the optical signal energy is unevenly distributed within the light spot 1602, the problem of blind spots in the field of view caused by the gaps shown in FIG. 14 is still solved.

[0129] This is not limited to the above design, in one possible design, the first transmitter module and the second transmitter module each include at least one laser (also referred to as a light source in some embodiments).

[0130] Optionally, the laser may be an edge-emitting laser or a vertical surface-emitting laser, or the like.

[0131] When a vertical surface-emitting laser is placed on a circuit board, the light-emitting surface is parallel to the circuit board. Therefore, the light-emitting direction of the vertical surface-emitting laser is a direction away from the circuit board. For example, the vertical surface-emitting laser may be, but is not limited to, a vertical-cavity surface-emitting laser (VCSEL), a photonic crystal surface-emitting laser (PCL), or a laser diode. This includes surface-emitting semiconductor lasers (PCSELs), fiber lasers, and the like.

[0132] When an edge-emitting laser (EEL) is placed on a circuit board, the light-emitting surface is the side of the laser. Therefore, the light-emitting direction of an edge-emitting laser is parallel to the circuit board. Optionally, the EEL may instead be replaced by other devices that emit light at the edge of the light-emitting component, such as a silicon photonic chip.

[0133] This is not limited to the above design. In another possible design, the first transmitting module includes two lasers, which are referred to as a first laser and a second laser for ease of distinction. The first laser and the second laser are respectively located on either side of the second transmitting module.

[0134] In the following, for the sake of explanation, an example in which the first laser and the second laser are one laser is used, but this application is also applicable to the case in which the first laser and / or the second laser include multiple lasers.

[0135] 17 is a diagram of the positions of the first transmitting module and the second transmitting module according to one embodiment of this application. Taking the xy plane as an example, the first transmitting module includes a first laser 1701 and a second laser 1702, which are respectively disposed on both sides of the second transmitting module 202.

[0136] Optionally, the second transmitting module 202 includes a laser 1703, and there may be one or more lasers 1703.

[0137] It should be understood that first laser 1701, second laser 1702, and laser 1703 may be the same type of laser or may be different types of lasers.

[0138] In one example of a laser type, the first laser 1701, the second laser 1702, and the laser 1703 are vertical cavity surface emitting lasers, and the light emission direction of these three lasers is away from the circuit board. For example, the first laser 1701 is a VCSEL or PCSEL, the second laser 1702 is a VCSEL or PCSEL, and the laser 1703 is a VCSEL or PCSEL.

[0139] In one example of another laser type, the first laser 1701, the second laser 1702, and the laser 1703 are edge-emitting lasers, and the light emission directions of these three lasers are parallel to the circuit board.

[0140] In one example of another laser type, some of the first laser 1701, the second laser 1702, and the laser 1703 are vertical surface-emitting lasers and some are edge-emitting lasers. Furthermore, the propagation direction of the light beams transmitted by some of the lasers can be changed using an optical element such as a reflecting mirror so that the light beams of these lasers point in the same direction.

[0141] For the sake of explanation, the following uses an example in which the first laser 1701, the second laser 1702, and the laser 1703 are all vertical surface-emitting lasers. Specifically, the light emission direction of the multiple lasers shown in Fig. 17 can be the Z direction. Certainly, this application is also applicable to other types of lasers and lasers with other light emission methods.

[0142] In one possible implementation, the length of the first laser 1701 is greater than the length of the laser 1703 in the x-direction. In some scenarios, such an arrangement may enable the first laser 1701 to form a larger FOV in the x-direction, thereby improving the effectiveness of short-distance blind spot compensation detection. In some other scenarios, through such an arrangement, it becomes easier to achieve that the energy density (or power) of the first laser 1701 is less than the energy density (or power) of the laser 1703, so that the first laser 1701 can be used to perform short-distance blind spot compensation detection, thereby improving short-distance detection capability.

[0143] Optionally, in the x-direction, the length of the second laser 1702 is greater than the length of the laser 1703. See the above description for related explanations.

[0144] In another possible implementation, the first laser 1701, the second transmitting module 202, and the second laser 1702 are arranged in the y direction, and further in the x direction, the positions of the side edges of the first laser 1701, the second transmitting module 202, and the second laser 1702 are the same in the x direction (i.e., the side edges are aligned).

[0145] This is not limited to the above design. In another possible design, the second transmitter module includes two laser groups, referred to as a first laser group and a second laser group for ease of distinction. The first laser group includes one or more lasers, and the second laser group includes one or more lasers. The first transmitter module is disposed between the first laser group and the second laser group.

[0146] 18 is another diagram of the positions of the first transmitting module and the second transmitting module according to one embodiment of this application. The xy plane is used as an example. The second transmitting module includes laser group 1801 and laser group 1802. Laser group 1801 includes three lasers (this number is just an example), and laser group 1802 includes three lasers (this number is just an example).

[0147] The first transmitting module 201 is disposed between the laser group 1801 and the laser group 1802 .

[0148] Optionally, the laser included in the first transmitting module and the laser included in the second transmitting module may be the same type of laser or different types of laser, see above for related explanations.

[0149] For the sake of explanation, the following uses an example in which both the laser included in the first transmitting module and the laser included in the second transmitting module are vertical surface-emitting lasers. Specifically, the light emission direction of the multiple lasers shown in FIG. 18 can be the Z direction. Certainly, this application is also applicable to other types of lasers and lasers with other light emission methods.

[0150] In one possible implementation, the length of the first transmitting module 201 in the x-direction is greater than the length of the laser group 1801. In some scenarios, such an arrangement allows the first transmitting module 201 to form a larger FOV in the x-direction, thereby improving the effectiveness of short-distance blind spot compensation detection. In some other scenarios, it is thus easier to achieve that the energy density (or power) of the light beam transmitted by the first transmitting module 201 is smaller than the energy density (or power) of the laser group 1801. This helps the first transmitting module 201 perform short-distance blind spot compensation detection and improves short-distance detection capability.

[0151] In another possible implementation, in the x-direction, the length of the first transmitting module 201 is greater than the length of the laser group 1802. See the above description for related explanations.

[0152] In another possible implementation, the laser group 1801, the first transmitting module 201, and the laser group 1802 are arranged in the y direction, and in the x direction, the positions of the side edges of the laser group 1801, the first transmitting module 201, and the laser group 1802 are the same in the x direction (i.e., the side edges are aligned).

[0153] FIG. 19 is another diagram illustrating the positions of the first and second transmitting modules according to an embodiment of the present application. The first transmitting module includes a third laser 1901 and N fourth lasers, where N is an integer and N≧2. As shown in FIG. 19, the N fourth lasers include laser 1902a, laser 1902b, laser 1902c, and laser 1902d. The second transmitting module includes N fifth lasers. For example, the N fifth lasers include laser 1903a, laser 1903b, laser 1903c, and laser 1903d. Optionally, the lasers included in the first transmitting module and the second transmitting module may be the same type of laser or different types of lasers. For related descriptions, please refer to the above description.

[0154] For the sake of explanation, the following uses an example in which both the laser included in the first transmitting module and the laser included in the second transmitting module are vertical surface-emitting lasers. Specifically, the light emission direction of the multiple lasers shown in FIG. 19 can be the Z direction. Certainly, this application is also applicable to other types of lasers and lasers with other light emission methods.

[0155] In a first direction (e.g., the y-direction), third laser 1901 is disposed between laser group 1904 and laser group 1905. Laser group 1904 and laser group 1905 each include a plurality of laser pairs, each laser pair including a fourth laser and a fifth laser disposed opposite each other.

[0156] For ease of distinction, laser group 1904 may be referred to as the third laser group, and laser group 1905 may be referred to as the fourth laser group. Optionally, the third laser group includes M laser pairs and the fourth laser group includes NM laser pairs, where M is an integer and N>M≧2.

[0157] Take laser group 1904 as an example. Laser group 1904 includes two laser pairs, arranged in a first direction (y-direction), each including one fourth laser and one fifth laser, with a gap (referred to as a first gap for ease of distinction) between the fourth and fifth lasers in each laser pair. For example, laser 1902a (fourth laser) and laser 1903a (fifth laser) are a laser pair, with a first gap between laser 1902a and laser 1903a in a second direction (x-direction).

[0158] Similarly, laser group 1905 includes two laser pairs arranged in a first direction (y-direction), with a first gap between the fourth laser and the fifth laser in each laser pair, for example, laser 1902c (fourth laser) and laser 1903c (fifth laser) are a laser pair, with a first gap between laser 1902c and laser 1903c in a second direction (x-direction).

[0159] In a second direction (x-direction), the positions occupied by the third laser 1901 include the position of the first gap and the position of the second gap, and the first direction is perpendicular to the second direction.

[0160] For example, in the x-direction, the left ends of the first gap and the second gap are located inside the left end of the third laser, or the left ends of the first gap and the second gap overlap with the left end of the third laser, and the right ends of the first gap and the second gap are located inside the right end of the third laser, or the right ends of the first gap and the second gap overlap with the right end of the third laser.

[0161] 19, there is a gap in the x-direction between two lasers in a laser pair that belong to different transmitting modules, causing the field of view of the light beams transmitted by these two lasers to be discontinuous in the x-direction. A third laser 1901 is positioned to fill the gap in the x-direction, so that the field of view of the first transmitting module and the field of view of the second transmitting module can be continuous in the field of view. This further reduces the blind spot area and improves short-distance detection capability.

[0162] Optionally, the fourth laser and the fifth laser in a laser pair are arranged in a second direction (e.g., the x-direction), and optionally, edges of the fourth laser and the fifth laser in a laser pair are aligned in the y-direction.

[0163] Optionally, in the x-direction, the length of the fourth laser in the laser pair is greater than the length of the fifth laser in the laser pair.

[0164] This is not limited to the above design. In another possible design, the transmitter device further includes a collimating lens group configured to collimate the light beams transmitted by the first transmitter module and the second transmitter module.

[0165] Optionally, the collimating lens group may include one or more of a lens, a collimating device, etc. Optionally, the lenses in some of the above-described embodiments may be replaced by a collimating lens group.

[0166] This is not limited to the above design. In another possible design, the collimating lens group has a converging function and a focal plane exists. The transmitting end face of the first transmitting module and the transmitting end face of the second transmitting module are defocused at the focal plane of the collimating lens group.

[0167] In one possible implementation, the distance between the focal plane of the collimating lens group and the collimating lens group is a first distance, the distance between a first plane of the transmitting device and the collimating lens group is a second distance, and the first plane is a plane on which the transmitting end face of the first transmitting module and the transmitting end face of the second transmitting module are located.

[0168] The second distance is different from the first distance, ie the "first plane" is defocused.

[0169] The above describes some possible designs in the embodiments of this application. In a specific implementation process, the above-mentioned multiple designs can be further combined. In the following, an example will be used to describe an embodiment obtained by combining some designs. It should be understood that for modules and logic not described below, reference can be made to the above basic cases and possible designs.

[0170] One embodiment of the present application provides a transmitting device including a first transmitting module and a second transmitting module. The first transmitting module and the second transmitting module are configured to transmit optical beams in a time division manner. The first transmitting module is configured to transmit the first optical beam. The second transmitting module is configured to transmit the second optical beam. A maximum detection distance of the first optical beam is shorter than a maximum detection distance of the second optical beam.

[0171] Embodiment 1 can also be combined with one or more of the above-mentioned designs, and the combination cases will not be described again here.

[0172] One embodiment of the present application provides a transmitting device, which includes a first transmitting module, a second transmitting module, and a beam homogenizing component.

[0173] The first transmitting module is configured to transmit a first light beam, and the second transmitting module is configured to transmit a second light beam, wherein a maximum detection distance of the first light beam is shorter than a maximum detection distance of the second light beam.

[0174] The beam homogenizing component is configured to perform homogenization on the first light beam to obtain a first detected signal.

[0175] Additionally, the beam uniformization module is further configured to perform uniformization on the second light beam to obtain a second detection signal.

[0176] Embodiment 2 can also be combined with one or more of the above-mentioned designs, and the combination cases will not be described again here.

[0177] 20 is a diagram of another possible transmitting device according to an embodiment of this application. The detecting device includes a circuit board (also referred to as a light source circuit board), a collimating lens group, a beam uniformizing component, and optionally a reflecting mirror. Optionally, the beam uniformizing component is implemented by using a microlens array. Note that the arrangement position of each optical element (such as the collimating lens group, the beam uniformizing component, or the reflecting mirror) is not limited in the embodiment of this application, and the order shown in the figure is an example order. Optionally, the first transmitting module and the second transmitting module are arranged on the same circuit board and electrically connected to the circuit board.

[0178] The first transmitter module and the second transmitter module are disposed on a light source circuit board. The distribution of the first transmitter module (including the light source shown in the gray box) and the second transmitter module (including the light source shown in the white box) on the xy plane is shown in area 2001. The light sources in the second transmitter module are spaced apart from each other in the y direction. The first transmitter module includes two parts, which are disposed at both ends of the second transmitter module, respectively.

[0179] The light source circuit board is configured to drive the first transmitter module and the second transmitter module to transmit a light beam. After collimating and shaping the light beam, the collimating lens group sends the light beam to the beam homogenizing component. The distribution of the collimated light beam in angular space corresponds to the distribution of the light sources on the circuit board.

[0180] Because the two parts included in the first transmitting module are located at opposite ends of the second transmitting module, a gap exists between these two parts in the y direction, and the light spots formed by the light beams transmitted by the first transmitting module are discontinuous in the angle space in the y direction. Similarly, the light sources in the second transmitting module are spaced apart from each other in the y direction, and the light spots formed by the light beams transmitted by the first transmitting module are discontinuous in the angle space in the y direction. FIG. 21 is a diagram of two light shapes according to one embodiment of the present application. FIG. 21(a) shows the light shape formed by the light beams transmitted by the first transmitting module in the angle space in the y direction, and FIG. 21(b) shows the light shape formed by the light beams transmitted by the second transmitting module in the angle space in the y direction.

[0181] The beam uniformizing component may be configured to uniformize the light beam. After the beam uniformizing component uniformizes the light beam transmitted by the first transmitting module, gaps in the output light in the y direction are filled. Similarly, after the beam uniformizing component uniformizes the light beam transmitted by the second transmitting module, gaps in the output light in the y direction are filled. FIG. 22 is a diagram of two other light shapes according to an embodiment of the present application. FIG. 22(a) illustrates a light shape formed by the uniformized light beam transmitted by the first transmitting module in angle space in the y direction. FIG. 22(b) illustrates a light shape formed by the uniformized light beam transmitted by the second transmitting module in angle space in the y direction.

[0182] Optionally, in a period T, the first transmitter module emits light within a first period and the second transmitter module emits light within a second period, the first period and the second period not overlapping.

[0183] Optionally, in the embodiment shown in FIG. 20 , the light beams transmitted by the first transmitting module and the second transmitting module can be further implemented to have a continuous field of view in the x-direction without gaps. FIG. 23 is a diagram of an FOV according to one embodiment of the present application. In the x-direction, the FOV of the second transmitting module is α_x, and the FOV of the first transmitting module is β_x. The FOV of the first transmitting module covers the FOV of the second transmitting module, so that the field of view for long-range detection and the field of view for short-range detection have a continuous field of view in the x-direction without gaps.

[0184] In conclusion, in the embodiment of this application, blind spot compensation detection in the near field of view is realized, and the detected field of view is continuous, so that the blind spot area range of the near field of view of the detection device is greatly reduced, and the detection performance of the detection device is greatly improved.

[0185] 24 is a diagram of a possible transmitter device according to one embodiment of the present application. The transmitter device includes a light source circuit board and a collimating lens group. Optionally, the beam homogenizing component is implemented by using a microlens array. Optionally, the first transmitter module and the second transmitter module are disposed on the same circuit board and electrically connected to the circuit board.

[0186] The first transmitter module and the second transmitter module are disposed on a light source circuit board. The distribution of the first transmitter module (including the light source shown in the gray box) and the second transmitter module (including the light source shown in the white box) on the xy plane is shown in area 2401. The light sources in the second transmitter module are spaced apart from each other in the y direction. The first transmitter module is disposed between the light sources in the second transmitter module.

[0187] The light source circuit board is configured to drive the first transmitter module and the second transmitter module to transmit a light beam. After collimating and shaping the light beam, the collimating lens group sends the light beam to the beam homogenizing component. The distribution of the collimated light beam in angular space corresponds to the distribution of the light sources on the circuit board.

[0188] In one possible implementation, the length of the first transmitting module is a first length (denoted as ls) in the x-direction, and the length of the second transmitting module is a second length (denoted as lb), where ls>lb. Because the first transmitting module and the second transmitting module share some optical elements (e.g., a collimating lens group), the longer first transmitting module has a larger transmitting field of view in the x-direction, thereby realizing short-distance detection over a larger range and improving short-distance detection efficiency.

[0189] In the transmitter device shown in FIG. 24 , the first transmitter module is disposed in the center of the light source circuit board in the y direction. Therefore, the light spot formed in the y direction by the light beam transmitted by the first transmitter module is located in the center of the light-emitting area. However, the light sources in the second transmitter module are spaced apart from each other in the y direction, and the light spot formed in the y direction by the light beam transmitted by the first transmitter module is discontinuous. FIG. 25 shows two other light shape diagrams according to an embodiment of this application. FIG. 25(a) shows the light shape formed by the light beam transmitted by the first transmitter module in angle space in the y direction, and FIG. 25(b) shows the light shape formed by the light beam transmitted by the second transmitter module in angle space in the y direction.

[0190] The beam uniformizing component may be configured to uniformize the light beam. After the beam uniformizing component uniformizes the light beam transmitted by the first transmitting module, the output light is dispersed in the y-direction. Similarly, after the beam uniformizing component uniformizes the light beam transmitted by the second transmitting module, gaps in the output light in the y-direction are filled. FIG. 26 illustrates two other light shape diagrams according to an embodiment of the present application. (a) of FIG. 26 illustrates the light shape formed by the uniformized light beam transmitted by the first transmitting module in angle space in the y-direction. (b) of FIG. 26 illustrates the light shape formed by the uniformized light beam transmitted by the second transmitting module in angle space in the y-direction.

[0191] Optionally, in a period T, the first transmitter module emits light within a first period and the second transmitter module emits light within a second period, the first period and the second period not overlapping.

[0192] In addition, in the embodiment shown in Fig. 24, the light beams transmitted by the first transmitting module and the second transmitting module can further be implemented to have a continuous field of view in the x direction without gaps. For these two FOV degrees in the x direction, please refer to the related description in Fig. 23. The details will not be described again here.

[0193] In conclusion, in the embodiment of this application, blind spot compensation detection in the near field of view range is realized, and the detected field of view is continuous, so that the blind spot area range is greatly reduced and the detection performance of the detection device is greatly improved.

[0194] 27 is a diagram of a possible transmitter device according to one embodiment of the present application. The transmitter device includes a light source circuit board, a collimating lens group, and optionally a reflecting mirror. Optionally, the beam homogenizing component is implemented by using a microlens array. Optionally, the first transmitter module and the second transmitter module are disposed on the same circuit board and electrically connected to the circuit board.

[0195] The first and second transmitter modules are disposed on a light source circuit board. The distribution of the first and second transmitter modules (including the light source shown in the gray box) on the xy plane is shown in area 2701.

[0196] The second transmitting modules are distributed in the y direction, there is a gap between the two light sources, and the length of the second transmitting module in the x direction is a first length (denoted as lb). A part of the light sources in the first transmitting module (e.g., referred to as light source A) and the light sources in the first transmitting module are arranged opposite each other to form a light source pair, and the length of light source A in the x direction is a second length (denoted as ls1). A part of the light sources in the second transmitting module (e.g., referred to as light source B) is arranged between the light source pair, and the length of light source B in the x direction is a third length (denoted as ls2).

[0197] FIG. 28 is a diagram of the FOV of a transmitting device according to one embodiment of this application. In the x direction, the FOV of the second transmitting module (lb) of the transmitting device is α_x, the FOV of the light source A (ls1) in the first transmitting module is β_x, and the FOV of the light source B (ls2) in the first transmitting module is γ_x. In the x direction, the second transmitting module, the light source B in the first transmitting module, and the light source A in the first transmitting module are arranged in order, so that a light source for transmitting a signal exists at each x coordinate. Therefore, the field of view α_x, the field of view β_x, and the field of view γ_x each have a continuous field of view without gaps. This significantly improves the short-distance detection capability of the detecting device, improves detection efficiency, and enhances detection performance.

[0198] In the y-direction, the beam homogenizing component can homogenize the light beam, resulting in a continuous field of view of the transmitter in the y-direction.

[0199] In one possible implementation, within a period T, the first transmitting module transmits a first optical beam within a first period, the second transmitting module transmits a third optical beam within the first period, and the second transmitting module transmits a second optical beam within a second period. The longest detection distance of the third optical beam is shorter than the longest detection distance of the second optical beam, and the longest detection distance of the first optical beam is shorter than the longest detection distance of the second optical beam. In this implementation, the second transmitting module performs long-range detection within the second period, and the first transmitting module and the second transmitting module are used for short-range detection within the first period. This improves field of view coverage in short-range detection, improves detection efficiency, and enhances detection performance.

[0200] In one possible implementation, the light source circuit board is defocused with respect to the focal plane of the collimating lens so that the light beams transmitted by the first transmitting module and the second transmitting module are dispersed to some extent, which can improve the beam homogenization effect and thereby improve the short-distance detection capability.

[0201] An embodiment of the present application further provides a detection device, the detection device including a transmission device and a photodetector, the transmission device including a transmission device according to any one of the implementations of the first aspect or a transmission device according to any one of the implementations of the second aspect.

[0202] A first transmitting module in the transmitting device is configured to transmit a first light beam, and a second transmitting module in the transmitting device is configured to transmit a second light beam.

[0203] The optical detector is configured to receive an echo signal corresponding to the first optical beam and an echo signal corresponding to the second optical beam.

[0204] In one possible implementation, the detection device further includes a control module configured to generate a first control signal and a second control signal, the first control signal being different from the second control signal, the first control signal being used to control the first transmitting module to transmit the light beam, and the second control signal being used to control the second transmitting module to transmit the light beam.

[0205] In this implementation, the first and second transmitting modules are driven by using different control signals. Therefore, the first and second transmitting modules can be isolated from each other from a control standpoint. This helps control the output optical power of the lidar and improves the flexibility of signal transmission.

[0206] An embodiment of the present application further provides a terminal, which includes the above-mentioned transmitting device and / or the above-mentioned detecting device, the transmitting device according to any one of the designs of the first aspect, the transmitting device according to any one of the designs of the second aspect, or the detecting device according to any one of the designs of the third aspect.

[0207] Optionally, the terminal is a vehicle, an unmanned aerial vehicle, or a robot.

[0208] In the description of this application, terms such as "center," "upper," "lower," "vertical," "horizontal," "inner," "outer," etc., refer to orientations or positional relationships based on the accompanying drawings and are intended to facilitate and simplify the description of this application, and do not indicate or imply that the devices or elements described need to have a particular orientation or be construed or operated in a particular orientation. Therefore, such terms should not be understood as limitations on this application.

[0209] In addition, the Cartesian coordinate system and directions x, y, and z shown in the embodiments of this application are merely examples for ease of understanding and are not intended to limit the embodiments of this application. In a specific implementation process, there may be other designs for the device placement method, placement direction, and light beam direction, and other coordinate systems, such as a spherical coordinate system, may also be used as the coordinate system.

[0210] In the embodiments of this application, terms such as "example" or "for example" are used to denote serving as an example, illustration, or explanation. Any embodiment or design solution described in this application as an "example" or "for example" should not be construed as preferred or advantageous over other embodiments or design solutions. Rather, the use of words such as "example" or "for example" is intended to present relative concepts in a concrete manner.

[0211] In the embodiments of this application, "at least one" means one or more, and "multiple" means two or more. "At least one of the following items" or similar expressions refers to any combination of those items, including any combination of a single item or multiple items. For example, at least one of a, b, or c can refer to a, b, c, (a and b), (a and c), (b and c), or (a, b, and c), where a, b, and c may be singular or plural. The term "and / or" describes an association between related objects and indicates that three relationships may exist. For example, A and / or B can refer to the following three cases: only A is present, both A and B are present, and only B is present, where A and B may be singular or plural. The character " / " typically indicates an "or" relationship between related objects.

[0212] Furthermore, unless otherwise specified, ordinal numbers such as "first" and "second" in the embodiments of this application are used to distinguish between multiple objects and are not intended to limit the order, chronological order, priority, or importance of multiple objects. For example, the first transmitting module and the second transmitting module are used merely for ease of explanation and do not indicate that the first transmitting module and the second transmitting module differ in light emission method, light emission order, importance, etc.

Claims

1. A transmitting device having a first transmitting module and a second transmitting module, the first transmitting module and the second transmitting module are configured to transmit light beams in a time-division manner, the first transmitting module being configured to transmit a first light beam and the second transmitting module being configured to transmit a second light beam; a maximum detection distance of the first light beam is shorter than a maximum detection distance of the second light beam; Transmitting device.

2. The transmitting device according to claim 1 , wherein the energy density of the first light beam is smaller than the energy density of the second light beam and / or the power of the first light beam is smaller than the power of the second light beam.

3. The transmitter further comprises a beam homogenizing component; The transmitting device according to claim 1 or 2, wherein the beam homogenizing component is configured to homogenize the first light beam to obtain a first detection signal.

4. The transmitting device of claim 3 , wherein the beam homogenizing component is further configured to perform homogenization on the second light beam to obtain a second detection signal.

5. 5. The transmitter of claim 4, wherein the field of view of the first detector signal and the field of view of the second detector signal overlap or have no gap.

6. 6. The transmitting device according to claim 1, wherein the first transmitting module and the second transmitting module each comprise at least one laser.

7. 7. The transmitter of claim 6, wherein the at least one laser comprises a vertical cavity surface emitting laser (VCSEL) and / or a photonic crystal surface emitting laser (PCSEL).

8. the first transmitting module includes a first laser and a second laser; the first laser and the second laser are disposed on either side of the second transmitting module, respectively; 8. The transmitting device according to claim 6 or 7.

9. the second transmitter module includes a first laser group and a second laser group, the first laser group including one or more lasers, and the second laser group including one or more lasers; the first transmitting module is disposed between the first laser group and the second laser group; 8. The transmitting device according to claim 6 or 7.

10. the first transmitting module has a third laser and N fourth lasers, and the second transmitting module has N fifth lasers, where N is an integer and N≧2; In the first direction, the third laser is disposed between the third laser group and the fourth laser group; the third laser group includes M laser pairs, the M laser pairs being arranged in the first direction, each laser pair of the M laser pairs including one fourth laser and one fifth laser arranged in a second direction, a first gap being present between the fourth laser and the fifth laser of each laser pair, M being an integer, and M>N≧2; the fourth laser group includes N-M laser pairs, the N-M laser pairs arranged in the first direction, each laser pair of the N-M laser pairs including one fourth laser and one fifth laser arranged in the second direction, with a second gap between the fourth laser and the fifth laser of each laser pair; In the second direction, the position occupied by the third laser includes the position of the first gap and the position of the second gap, and the first direction is perpendicular to the second direction.

8. The transmitting device according to claim 6 or 7.

11. 11. The transmitting device of claim 1, wherein the first transmitting module is configured to transmit the first light beam within a first period of time and the second transmitting module is configured to transmit the second light beam within a second period of time, the first period and the second period of time not overlapping.

12. 12. The transmitting device of claim 1, wherein the second transmitting module is further configured to transmit a third light beam within the second period, and a longest detection distance of the third light beam is shorter than the longest detection distance of the second light beam.

13. The transmitter further includes a collimating lens group; the collimating lens group is configured to collimate the light beams transmitted by the first transmitting module and the second transmitting module; A transmitting device according to any one of claims 1 to 10.

14. a distance between a focal plane of the collimating lens group and the collimating lens group is a first distance; a distance between a first plane of the transmitting device and the collimating lens group is a second distance, the first plane being a plane on which a transmitting end face of the first transmitting module and a transmitting end face of the second transmitting module are located; the second distance is different from the first distance; The transmitting device according to claim 11.

15. 1. A transmitting apparatus having a first transmitting module, a second transmitting module, and a beam uniformizing component, the first transmitting module is configured to transmit a first light beam, the second transmitting module is configured to transmit a second light beam, and a maximum detection distance of the first light beam is shorter than a maximum detection distance of the second light beam; the beam homogenizing component is configured to homogenize the first light beam to obtain a first detection signal; Transmitting device.

16. The transmitting device of claim 15 , wherein the beam homogenizing component is further configured to perform homogenization on the second light beam to obtain a second detection signal.

17. 16. The transmitter of claim 15, wherein the field of view of the first detector signal and the field of view of the second detector signal overlap or have no gap.

18. 18. The transmitting device of claim 17, wherein the first transmitting module and the second transmitting module are configured to transmit the light beam in a time-division manner.

19. A detection device comprising a transmitter and a photodetector, the transmitter comprising a transmitter according to any one of claims 1 to 14 or a transmitter according to any one of claims 15 to 18, a first transmitting module of the transmitting device configured to transmit a first light beam, and a second transmitting module of the transmitting device configured to transmit a second light beam; the optical detector is configured to receive an echo signal corresponding to the first optical beam and an echo signal corresponding to the second optical beam. Detection device.

20. The detection device further comprises a control module configured to generate a first control signal and a second control signal, the first control signal being different from the second control signal; the first control signal is used to control the first transmitting module to transmit a light beam; the second control signal is used to control the second transmitting module to transmit a light beam; 20. The detection device of claim 19.

21. A terminal, the terminal comprising a transmitting device according to any one of claims 1 to 14, or comprising a transmitting device according to any one of claims 15 to 18, or comprising a detecting device according to claim 19 or 20.

22. The terminal of claim 15, wherein the terminal is a vehicle, an unmanned aerial vehicle, or a robot.

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