Emitting module, detection apparatus and terminal device

Abstract

An emitting module, a detection apparatus and a terminal device, which relate to the technical field of radars, and are used for improving the degree of freedom of structural design of the emitting module. The emitting module comprises a light source assembly, a reflection assembly, a shaping assembly and a circuit board, wherein the light source assembly and the reflection assembly are arranged on the circuit board; the light source assembly comprises an edge-emitting laser (EEL), and the light source assembly is used for emitting a first light beam; the reflection assembly is used for reflecting the first light beam to obtain a second light beam; and the shaping assembly is used for shaping the second light beam in a fast axis direction and a slow axis direction. The solution supports the arrangement of the EEL at a non-edge position of the circuit board, and the shaping assembly can also be arranged above the circuit board in cooperation with the reflection assembly, such that the degree of freedom of structural design of the emitting module can be effectively improved. There are no constraints limiting placement on the edge of the circuit board; therefore, a plurality of EELs can also be arranged on the same circuit board, and there is no need to separately provide a circuit board for each EEL, such that the costs and volume of the emitting module can also be effectively reduced.

Description

Transmitting module, detecting device and terminal equipment Technical Field

[0001] The present application relates to the field of radar technology, and in particular to a transmitting module, a detection device and a terminal device. Background Art

[0002] In the field of LiDAR, edge-emitting lasers (EELs) and vertical cavity surface emitting lasers (VCSELs) are the two most commonly used light sources. VCSELs are top-emitting lasers, as shown in Figure 1a. Their light emission direction is perpendicular to the circuit board surface and can be placed anywhere on the board. EELs, on the other hand, are side-emitting lasers, as shown in Figure 1b. Their light emission direction is parallel to the circuit board surface and must be placed at the edge of the board to prevent light from being blocked or reflected by the board.

[0003] Compared to VCSEL, EEL can have a higher optical power density. For example, the optical power density of a 125W EEL can reach 60,000W / mm 2 , while the optical power density of a 1000W VCSEL is only 1000W / mm 2 However, since the EEL needs to be placed at the edge of the circuit board, the light emitted by the EEL is emitted from the edge of the circuit board. This not only limits the layout position of the EEL on the circuit board, but also limits the layout position of other optical components in the emission module, resulting in other optical components being placed only behind the EEL, which greatly reduces the structural design freedom of the emission module.

[0004] In summary, how to improve the structural design freedom of the transmitting module is a technical problem that needs to be urgently solved in the current lidar using EEL as the transmitting light source.

[0005] Summary of the Invention

[0006] The present application provides a transmitting module, a detection device and a terminal device, which are used to improve the structural design freedom of the transmitting module.

[0007] In a first aspect, the present application provides a transmitting module comprising a light source assembly, a reflector assembly, a shaping assembly, and a circuit board. The light source assembly and the reflector assembly are disposed on the circuit board, and the light source assembly includes an EEL. When the transmitting module is in operation, the light source assembly emits a first light beam, the reflector assembly reflects the first light beam to produce a second light beam, and the shaping assembly shapes the second light beam along both the fast and slow axes.

[0008] In the above scheme, by arranging a reflective component behind the EEL on the circuit board, even if the EEL is set at a non-edge position of the circuit board, the light emitted by the EEL can be reflected to another direction by the reflective component to avoid being blocked or reflected by the circuit board. It can be seen that the structural design of the emission module can support the placement of the EEL at a non-edge position of the circuit board, and the shaping component can also be arranged in its reflection direction in conjunction with the reflective component, such as being arranged above the surface of the circuit board, without having to be arranged on the outside of the circuit board. In this way, not only the layout freedom of the EEL on the circuit board can be improved, but also the layout flexibility of the shaping component coordinated with it can be improved, thereby effectively improving the structural design freedom of the emission module. In addition, since there is no restriction on being placed at the edge of the circuit board, when the emission module contains multiple EELs, multiple EELs can be placed on the same circuit board, without having to set up a separate circuit board for each EEL. This can also effectively save the cost and volume of the emission module.

[0009] In one possible design, the first light beam emitted by the light source assembly is parallel to the circuit board. In this way, the first light beam can have a higher optical power density, which can improve the distance measurement capability of the transmitting module.

[0010] In one possible design, the reflective component can be a prism, with the second light beam emitted by the prism being perpendicular to the circuit board. In other words, the prism can be designed with a 45° inclination angle to reflect the light emitted by the EEL, which is parallel to the circuit board surface, perpendicular to the surface. Using a prism as a reflector offers a large contact area and a typical 45° angle, making it easier to install and providing greater stability and robustness against mechanical stress.

[0011] In a possible design, the light source assembly may be placed in an edge area or a non-edge area of ​​the circuit board to improve the layout flexibility of the light source assembly.

[0012] In one possible design, the shaping assembly may include a collimator lens assembly for collimating the second light beam in both the fast and slow axis directions. By placing the collimator lens assembly, which performs fast and slow axis collimation, within the shaping assembly rather than on the circuit board, interference with the circuit board and light source assembly is eliminated. The collimator lens assembly's aperture is unaffected by the circuit board and light source assembly, allowing it to be designed larger for better collimation. This also reduces the difficulty of installing the collimator lens assembly.

[0013] In a further possible design, the collimator lens assembly may include one or more collimators, such as:

[0014] In one example, the collimating lens assembly may include a first collimating lens having optical power in both the fast and slow axis directions, and configured to collimate the second light beam in both the fast and slow axis directions. This dual-axis collimation achieved with a single collimating lens can reduce the number of components in the transmitting module and its size.

[0015] In another example, the collimator lens assembly may include a second collimator lens and a third collimator lens. The second collimator lens has optical power in the fast axis direction and is used to collimate the second light beam in the fast axis direction. The third collimator lens has optical power in the slow axis direction and is used to collimate the second light beam in the slow axis direction. In this way, using two collimators to achieve independent collimation in two directions can reduce the design difficulty of the collimators and the structural complexity of the emission module.

[0016] In one possible design, the light source assembly may include one or more EELs. When it includes multiple EELs: the first light beams emitted by multiple EELs can be reflected by the same reflecting prism, so that one reflecting prism can be shared to reduce the number of optical components; or, the reflecting assembly includes the same number of reflecting prisms as the EELs, and the first light beam emitted by any EEL is reflected by the corresponding reflecting prism, so that a separate reflecting prism can be set for each EEL, reducing the design and installation difficulty of the reflecting prism.

[0017] In one possible design, when the light source assembly includes multiple EELs, the EELs can be arranged side by side on one side of the reflective assembly, side by side on both sides of the reflective assembly, or staggered on both sides of the reflective assembly. The EELs can emit in the same direction or in opposite directions. By arranging the EELs at different positions in the reflective assembly, the multiple second light beams can be partitioned along the fast axis, the slow axis, or both the fast and slow axes.

[0018] In one possible design, the reflective component may include one or more reflective prisms. When multiple reflective prisms are included, the inclination angles of the multiple reflective prisms are the same or different. Optionally, when multiple EELs are arranged along the slow axis direction, if the inclination angles of the multiple reflective prisms are the same, then the optical axes of the first light beams emitted by the multiple EELs are parallel after being reflected by the multiple reflective prisms, and the separation of the multiple second light beams in the slow axis direction can be achieved. If the inclination angles of the multiple reflective prisms are different, the optical axes of the first light beams emitted by the multiple EELs are not parallel after being reflected by the multiple reflective prisms, and the separation of the multiple second light beams in the fast axis direction and the slow axis direction can be achieved. In this way, by configuring the inclination angles of multiple reflective prisms, the second light beam can be partitioned in different directions, effectively improving the applicability of the emission module to multiple application scenarios.

[0019] In one possible design, the light source assembly may include an EEL (Electronic Light Emitting Diode) that emits light through multiple channels, with the first or second light beam appearing as a multi-segment linear spot along the slow axis of the angular space. This multi-channel EEL emission characteristic can be leveraged to achieve segmentation of the emitted light along the slow axis.

[0020] In one possible design, the shaping assembly can also include a homogenizer group, which homogenizes the collimated light, making the linear spot in angular space continuous along the slow axis. With this design, even if the beam emitted by a multi-channel EEL is segmented along the slow axis, the homogenizer group can still homogenize the light, making it continuous along the slow axis, thus meeting the requirement for a linear, uniform spot for radar detection.

[0021] In a further design, the light homogenizing lens group can be a microlens array (MLA). MLA has the characteristics of small unit size, high integration, high precision and easy production, which can improve the optical performance of the transmission module.

[0022] In one possible design, the light source assembly includes multiple EELs, and the shaping assembly may further include a wedge-shaped prism. The wedge-shaped prism is used to splice the second light beams corresponding to the multiple EELs in the slow axis direction so that the output light is just connected or overlapped in the slow axis direction, avoiding the situation where detection cannot occur at some positions in the slow axis direction.

[0023] In one example of the above design, any EEL emits multiple channels of light. The spliced ​​beams present multiple continuous light spots along the slow axis in angular space. Each light spot comprises multiple segments. For example, a wedge-shaped prism can be placed directly after the collimator assembly to transform the multiple segments of slow-axis light spots emitted by at least two multi-channel EELs into a continuous slow-axis light spot. This meets the requirement for linear continuous light spots for radar detection, while also eliminating the need for uniform light components, thereby reducing the cost and structural complexity of the transmitter module.

[0024] In a further example, multiple light sources are mapped one-to-one to multiple reflective prisms, each with a different inclination angle, so that the multiple light spots are separated along the fast axis. By partitioning the multiple light spots along the fast axis, the flexibility of detecting different areas can be improved.

[0025] In another example of the above design, the spliced ​​beam appears as a continuous linear spot in the slow axis direction of the angular space. For example, a homogenizer group can be placed after the collimator group, and then a wedge prism can be placed after the homogenizer group. The homogenizer group first homogenizes the slow-axis partitioned beam emitted by each EEL into a slow-axis continuous beam. The wedge prism then splices the slow-axis continuous beams corresponding to multiple EELs so that the multiple slow-axis continuous beams are precisely connected together to achieve linear spot detection.

[0026] In another example of the above design, the spliced ​​light beams overlap along the slow axis in angular space. For example, compared to the previous example, by reducing the deflection angle of the wedge prism, the spliced ​​light beams can overlap along the slow axis. The overlapping portion can appear as a "convex" or "convex"-like light spot. This overlapping portion can correspond to the area of ​​interest for radar detection, thereby obtaining higher light intensity in the area of ​​interest and improving the range detection capability in that area.

[0027] In a second aspect, the present application provides a detection device, comprising a transmitting module as in the above-mentioned first aspect or any one of the designs of the first aspect, so that the detection device has the beneficial effects of the above-mentioned first aspect or any one of the designs of the first aspect.

[0028] In one possible design, the detection device may further include a scanning component for scanning the light beam from the emission module to the detection space.

[0029] In a possible design, the detection device may further include a receiving module, which is used to receive the returned light and convert the returned light into an electrical signal.

[0030] In a possible design, the detection device may further include a control module, which is used to process the electrical signal from the receiving module to obtain relevant information of the target.

[0031] In a third aspect, the present application provides a terminal device comprising the detection device according to the second aspect or any one of the designs of the second aspect.

[0032] The technical effects that can be achieved in any of the second to third aspects mentioned above can refer to the description of the beneficial effects in the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] FIG1a exemplarily shows a schematic diagram of a VSCEL on-board layout structure;

[0034] FIG1b exemplarily shows a layout structure diagram of an EEL board;

[0035] FIG2 exemplarily shows a schematic diagram of a possible application scenario of the present application;

[0036] FIG3a exemplarily shows a schematic diagram of a component layout of a transmission module provided by the industry;

[0037] FIG3 b exemplarily shows a schematic diagram of component layout of another transmitting module provided by the industry;

[0038] FIG4 exemplarily shows a structural diagram of a transmission module provided by the present application;

[0039] FIG5 exemplarily shows a schematic diagram of a possible arrangement of a light source assembly and a reflective assembly provided by the present application;

[0040] FIG6 exemplarily shows a schematic diagram of a layout of multiple light sources provided by the present application;

[0041] FIG7 a exemplarily shows a possible structural diagram of a reflective assembly provided by the present application;

[0042] FIG7 b exemplarily shows a possible structural diagram of another reflective assembly provided by the present application;

[0043] FIG7c exemplarily shows a possible structural diagram of another reflective assembly provided by the present application;

[0044] FIG7 d exemplarily shows a possible structural diagram of another reflective assembly provided in the present application;

[0045] FIG7e exemplarily shows a possible structural diagram of another reflective assembly provided in the present application;

[0046] FIG7f exemplarily shows a possible structural diagram of yet another reflective assembly provided in the present application;

[0047] FIG7g exemplarily shows a possible structural diagram of another reflective assembly provided in the present application;

[0048] FIG8a exemplarily shows a schematic diagram of a transmission light path corresponding to two reflecting prisms with the same inclination angle provided by the present application;

[0049] FIG8b exemplarily shows a schematic diagram of a transmission light path corresponding to two reflecting prisms with different inclination angles provided by the present application;

[0050] FIG9a illustrates a possible structural diagram of a collimating lens assembly in a single EEL scenario provided by the present application;

[0051] FIG9b illustrates a possible structural diagram of a collimating lens assembly in another single EEL scenario provided by the present application;

[0052] FIG10a illustrates a possible structural diagram of a collimating lens assembly in a multi-EEL scenario provided by the present application;

[0053] FIG10b illustrates a possible structural diagram of a collimating lens assembly in another multi-EEL scenario provided by the present application;

[0054] FIG10c is a schematic diagram illustrating a possible structure of a collimating lens assembly in another multi-EEL scenario provided by the present application;

[0055] FIG10d illustrates a possible structural diagram of a collimating lens assembly in yet another multi-EEL scenario provided by the present application;

[0056] FIG11a exemplarily shows a structural diagram of a shaping assembly provided by the present application;

[0057] FIG11b exemplarily shows a schematic diagram of the light spot shape of an outgoing light spot provided by the present application in the slow axis direction of the angular space;

[0058] FIG12a exemplarily shows a schematic structural diagram of another shaping assembly provided by the present application;

[0059] FIG12b exemplarily shows a schematic diagram of the light spot shape of another output light spot provided by the present application in the slow axis direction of the angular space;

[0060] FIG13a is a schematic diagram illustrating a light path deflection scheme of a wedge-shaped prism in a two-EEL scenario provided by the present application;

[0061] FIG13b exemplarily shows a schematic diagram of the spot shape of another output light spot provided by the present application in the slow axis direction of the angular space;

[0062] FIG14 exemplarily shows a comparison diagram of optical path deflection of a wedge-shaped prism with different deflection angles provided by the present application;

[0063] FIG15 exemplarily shows a structural diagram of another shaping assembly provided by the present application;

[0064] FIG16a exemplarily shows a schematic diagram of a transmission light path corresponding to a deflection angle greater than a first angle provided by the present application;

[0065] FIG16b exemplarily shows a schematic diagram of a light spot shape corresponding to a deflection angle greater than the first angle provided by the present application;

[0066] FIG17a exemplarily shows a schematic diagram of a transmission light path corresponding to a deflection angle equal to a first angle provided by the present application;

[0067] FIG17b exemplarily shows a schematic diagram of a light spot shape corresponding to a deflection angle equal to the first angle provided by the present application;

[0068] FIG18a exemplarily shows a schematic diagram of a transmission light path corresponding to a deflection angle smaller than a first angle provided by the present application;

[0069] FIG18b exemplarily shows a schematic diagram of a light spot shape corresponding to a deflection angle smaller than the first angle provided by the present application;

[0070] FIG18c is a schematic diagram showing, by way of example, the spot shape of an overlapping area of ​​an outgoing light provided by the present application in an angular space;

[0071] FIG19 exemplarily shows a schematic structural diagram of a detection device provided in the present application. DETAILED DESCRIPTION

[0072] The embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0073] The following is an explanation of some of the terms used in this application. It should be noted that these explanations are for the purpose of facilitating understanding by those skilled in the art and do not limit the scope of protection claimed in this application.

[0074] 1. Optical power

[0075] The optical power is equal to the difference between the convergence of the image-side beam and the convergence of the object-side beam, and can be used to characterize the ability of an optical element to deflect a beam. The optical power is often represented by the letter φ. Generally, the optical power is expressed as the reciprocal of the image-side focal length of the lens (assuming that the refractive index of air is approximately 1). The unit of optical power is diopters (D), where 1 diopters (D) = 1m -1 .

[0076] Due to the different thicknesses of optical elements, non-uniformities such as refractive index, and different curvatures of the front and back surfaces (the curvature radius of the convex surface of the lens is a positive number, and the curvature radius of the concave surface is a negative number), these characteristics will cause the actual optical focal length of the optical element to differ from the theoretical optical focal length. Therefore, the actual optical focal length can also be called the equivalent optical focal length. Unless otherwise specified below, the optical focal length refers to the actual optical focal length of the optical element.

[0077] 2. Light spot

[0078] The light spot usually refers to the spatial energy distribution formed by the light beam on the cross section (in the angular space). The shape of the light spot can be rectangular, elliptical, circular, or other possible regular or irregular shapes. It should be noted that those skilled in the art will know that in essence the light spot as a whole has energy distributions of different intensities. The energy density in the core area is relatively large, and the shape of the light spot is relatively obvious, while the edge part gradually extends outward. The energy density of the edge part is low and the shape is not clear. As the energy intensity gradually weakens, the recognition of the light spot part close to the edge is relatively low. Therefore, the light spot with a certain shape involved in this application can be understood as a light spot with an easily identifiable boundary formed by a part with stronger energy and higher energy density, and it is not the whole light spot in the technical sense.

[0079] It should be understood that the boundary of the light spot is usually defined by 1 / e^2 of the maximum energy density.

[0080] 3. Beam Collimation and Uniform Light

[0081] Beam collimation refers to converting a divergent light beam into a collimated light beam, such as a parallel light beam.

[0082] Beam homogenization refers to the process of homogenizing the energy of a beam and converting it into a light spot with uniform energy or intensity distribution.

[0083] 4. Fast axis and slow axis

[0084] The fast axis is the direction in which the beam spreads most rapidly, while the slow axis is the direction in which the beam spreads most slowly. Generally, the fast axis has a large divergence angle, while the slow axis has a small divergence angle.

[0085] 5. Zone Lighting

[0086] Partition lighting can also be simply referred to as partitioning, which means that the radar's light source has different luminous areas at different times.

[0087] 6. Region of interest (ROI)

[0088] In machine vision and image processing, a region of interest (ROI) is defined as the area of ​​interest within an image, using a box, circle, ellipse, or irregular polygon to delineate the area being processed. In radar detection, the ROI can be understood as the area within which the target is located. For example, when a radar is performing horizontal detection, the area directly in front of the radar can be considered the ROI. Another example is when a radar is performing a top-down detection, the ground directly below the radar can be considered the ROI. And so on.

[0089] The previous text introduced some of the terms involved in this application. The following text introduces the possible application scenarios of this application.

[0090] In one possible implementation, the transmitting module can be integrated into the detection device, and the detection device can be installed on the vehicle. The detection device can be, for example, a laser radar. Please refer to Figure 2, which exemplifies a possible application scenario of the present application. In this application scenario, the detection device is installed at the front bumper of the vehicle as an example. It can be understood that the detection device can also be installed at other locations of the vehicle, such as around the headlights, around the rearview mirrors, near the doors, at the rear bumper, behind the windshield or on the roof, etc., to capture the vehicle's surrounding environment information. When the detection device is installed behind the windshield, it has a lower requirement for no gravel collision risk, will not affect the appearance of the vehicle, and the front windshield itself has window heating and demisting and wiper cleaning functions.

[0091] Taking the detection device installed on a vehicle as an example, refer to Figure 2. The working principle of the detection device is as follows: the detection device emits a light beam into the detection area. If there is a target in the detection area, the target can reflect the received light beam back to the detection device (also known as returned light or echo signal). The detection device then determines the target's related information based on the returned light. Specifically, the detection device can obtain the vehicle's latitude and longitude, speed, direction, or related information (such as the target's distance, speed, and / or posture) of targets within a certain range (such as other surrounding vehicles, pedestrians, or obstacles) in real time or periodically. Furthermore, optionally, the detection device can send this acquired information to a control device in the vehicle, so that the control device can perform vehicle path planning, braking, or starting based on this acquired information. For example, the vehicle's position can be determined using longitude and latitude, or the vehicle's direction and destination for a period of time in the future can be determined using speed and direction, or the number and density of obstacles around the vehicle can be determined using the distance of surrounding objects. Furthermore, optionally, the function of an advanced driving assistant system (ADAS) can be combined to achieve assisted driving or autonomous driving of the vehicle.

[0092] It should be understood that the above application scenarios are only examples, and the detection device provided in this application (the detection device includes the transmission module provided in this application) can also be applied to other possible scenarios, not limited to the scenarios exemplified above. For example, the detection device can also be installed in a roadside unit (RSU) as a roadside traffic detection device for realizing intelligent vehicle-road cooperative communication, etc. For another example, the detection device can also be applied to other means of transportation as an information collection source for path planning to assist the driver in achieving or automatically achieving safe driving. Other means of transportation may include but are not limited to ships, airplanes, drones, trains, subways, automated guided vehicles (AGVs) or unmanned transport vehicles, etc. For another example, the detection device can also be applied to a terminal device or a component provided in a terminal device. The terminal device may be, for example, a smartphone, smart home device, smart manufacturing equipment, medical equipment, industrial equipment, and a robot, etc. They are not listed here one by one. It should be noted that the application scenarios described in this application are for the purpose of more clearly illustrating the technical solution of this application and do not constitute a limitation on the technical solution provided in this application.

[0093] In addition, the above application scenarios can be applied to, for example, unmanned driving, assisted driving, intelligent driving, autonomous driving, connected vehicles, optical communications, biomedicine, security monitoring, surveying and mapping (such as three-dimensional mapping, remote sensing mapping), meteorological research, biomass and vegetation research, air quality monitoring, and aviation and aerospace applications.

[0094] As described in the background, to prevent the light emitted by the EEL from being blocked by the circuit board, the EEL in existing transmitter modules must be placed only at the edge of the circuit board. This results in other optical components in the transmitter module (such as the shaping component) also being placed outside the circuit board in conjunction with the EEL, as shown in Figure 3a. This not only limits the layout freedom of the EEL and shaping component but also increases the size of the entire transmitter module, hindering its miniaturization.

[0095] To address the aforementioned issues, some solutions consider moving the EEL to a non-edge area of ​​the circuit board. For example, referring to Figure 3b, this solution arranges an EEL 210, a collimator 220, and a reflector 230 on the circuit board 100. Light emitted by the EEL 210, parallel to the surface of the circuit board 100, is first collimated by the collimator 220 and then reflected perpendicularly to the surface of the circuit board 100 by the reflector 230. This allows the shaping assembly 300, in conjunction with the reflector 230, to be placed above the circuit board 100, rather than being confined to its outer edge, thereby reducing the size of the transmitter module. However, analysis has revealed that the aperture of the collimator 220 must be very small, typically less than 0.8 mm, to avoid interference with the EEL 210 and the circuit board 100 itself. Such a small aperture of the collimator 220 has very poor collimation capabilities and is difficult to mount in the appropriate position on the circuit board 100, which in turn hinders the application of the transmitter module in the lidar field.

[0096] In view of the above problems, the present application proposes a transmitting module to improve the structural design freedom of each optical element in the transmitting module while maintaining the good optical performance of the transmitting module as much as possible and reducing the installation difficulty of the transmitting module as much as possible.

[0097] The transmitting module proposed in this application is described in detail below with reference to the specific drawings.

[0098] In the various embodiments of the present application, unless otherwise specified or there is a logical conflict, the terms and / or descriptions between different embodiments are consistent and can be referenced by each other. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0099] In the following description, the various angles such as "inclination" and "deflection angle" are not absolute and allow for a certain degree of engineering error. Relationships such as "greater than," "less than," and "equal to" are not absolute and allow for a certain degree of engineering error.

[0100] Please refer to Figure 4, which is a structural diagram of a transmission module provided in this application. The transmission module 40 includes a light source component 410, a reflection component 420, a shaping component 430 and a circuit board 440, and the light source component 410 and the reflection component 420 are arranged on the circuit board 440. When the transmission module 40 is working, the light source component 410 is used to emit a first light beam to the reflection component 420, the reflection component 420 is used to reflect the received first light beam to obtain a second light beam, and the shaping component 430 is used to shape the second light beam in the fast axis direction and the slow axis direction. Among them, the fast axis direction can be understood as the direction in which the light source component 410 emits light, that is, the x direction shown in the figure, and the slow axis direction is a direction orthogonal to both the x direction and the z direction shown in the figure. The y direction is taken as an example below.

[0101] Optionally, light source assembly 410 may include an edge-emitting laser (EEL), which has a high optical power density and can enhance the range-finding capability of the transmitter module. Referring to FIG4 , the first light beam emitted by the EEL is parallel to the surface of circuit board 440. After traveling a certain distance along circuit board 440, the first light beam reaches reflective assembly 420. Reflective assembly 420 then reflects the first light beam in a direction non-parallel to circuit board 440, such as perpendicular to the surface of circuit board 440, to prevent the first light beam from being blocked or reflected by circuit board 440. As can be seen, the structural design of the transmitter module supports placement of the EEL at a non-edge location on the circuit board. The shaping assembly 430 can also be positioned in conjunction with the reflecting assembly 440 in its reflection direction, such as above the surface of circuit board 440, rather than having to be positioned outside of the circuit board 440. This not only increases the layout flexibility of the EEL on the circuit board, but also enhances the layout flexibility of the corresponding shaping assembly, thereby effectively enhancing the structural design flexibility of the transmitter module. In addition, since there is no restriction on placement on the edge of the circuit board, when the transmitting module contains multiple EELs, multiple EELs can be placed on the same circuit board without having to set up a separate circuit board for each EEL, which can effectively save the cost and volume of the transmitting module.

[0102] The following describes the various functional components and structures shown in FIG4 , respectively, to provide an exemplary specific implementation solution.

[0103] 1. Circuit Board

[0104] For example, the circuit board 440 can be a printed circuit board (PCB), a flexible printed circuit (FPC), a wire substrate, or an aluminum substrate, etc. The circuit board 440 can be used to carry the light source assembly 410 and the reflective assembly 420, and play a supporting and fixing role.

[0105] Further, illustratively, the light source assembly 410 and the reflective assembly 420 are arranged on the circuit board 440, which can be understood as follows: the light source assembly 410 can be arranged at the edge or non-edge of the circuit board 440, and the reflective assembly 420 can also be arranged at the edge or non-edge of the circuit board 440. For example, please refer to Figure 5, which shows a variety of possible settings of the light source assembly and the reflective assembly provided by this application. In combination with Figures 4 and 5, Figure 4 shows that the light source assembly 410 and the reflective assembly 420 are both arranged at the non-edge of the circuit board 440, Figure 5 (A) shows that the light source assembly 410 is arranged at the non-edge of the circuit board 440 but the reflective assembly 420 is arranged at the edge of the circuit board 440, and Figure 5 (B) shows that the light source assembly 410 is arranged at the edge of the circuit board 440 but the reflective assembly 420 is arranged at the non-edge of the circuit board 440. It should be understood that the illustrated positions do not refer to absolute positions, and a certain engineering error can be allowed. For example, based on existing process capabilities, the edge position can refer to any position within 0.5 cm near the edge, and this application does not make specific restrictions on this.

[0106] 2. Light source components

[0107] It is understandable that the light source assembly 410 can be, for example, a point light source or an array light source. The array light source can be a one-dimensional array light source (or called a linear array type) or a two-dimensional array (or called a planar array type). The light source in the point light source or array light source can be the aforementioned EEL, or other light sources, such as a vertical cavity surface emitting laser (VCSEL), a laser diode (LD), a diode pumped solid state laser (DPSS) or a fiber laser, etc. The following description will be made using an EEL as an example of a light source, but it should be understood that the EEL can also be replaced with any other type of light source, and this application does not limit this.

[0108] Optionally, the light source assembly 410 may include one or more EELs. When multiple EELs are included, the multiple EELs may be located on the same side or different sides of the reflective assembly 420. For example, FIG6 shows a schematic diagram of a layout of multiple EELs provided by the present application. The diagram uses a first EEL 4101 and a second EEL 4102 as an example. This diagram can be considered a top view of the emitting module 40 as viewed from directly above the emitting module 40 shown in FIG4 , with the shaping assembly 430 hidden in the top view. As shown in Figure 6, the first EEL 4101 and the second EEL 4102 can be arranged side by side on the same side of the reflective component 420 (the left side in the figure), as shown in (A) in Figure 6, or they can be arranged side by side on opposite sides of the reflective component 420 (the left and right sides in the figure), as shown in (B) in Figure 6. They can also be staggered on opposite sides of the reflective component 420 (the left and right sides in the figure), and the staggered arrangement can be that the second EEL 4102 is in front and the first EEL 4101 is in the back, as shown in (C) in Figure 6, or the first EEL 4101 is in front and the second EEL 4102 is in the back, as shown in (D) in Figure 6.

[0109] It should be understood that multiple EELs may also have other arrangements. For example, they may be arranged non-parallel on the same side of the reflective component 420, such as being staggered on the left and right sides of the left side of the reflective component 420. For example, they may be arranged on two non-opposite sides of the reflective component 420, such as one on the left and the other on the top, or one on the right and the other on the bottom, etc., which will not be listed here one by one.

[0110] Furthermore, when multiple EELs are included, the multiple EELs can emit light in the same or opposite directions. The multiple EELs can be positioned at the same or similar heights on the circuit board 440 so that the multiple light paths emitted by the multiple EELs are emitted at the same height. The reflective assembly 420, which has the same inclination angle, can then reflect the multiple light paths with parallel optical axes. For more information on this, please refer to the description of the reflective assembly in Section 3 below and will not be explained here.

[0111] 3. Reflection Component

[0112] Optionally, the reflective assembly 420 may include one or more reflectors, each of which may correspond to one or more EELs in the light source assembly 410. When one reflector corresponds to at least two EELs, at least two EELs share one reflector to reflect the first light beam. A reflector may be understood as a mirror structure with a reflective surface, where the reflective surface is the surface opposite to the corresponding EEL. The surface may be a plane, spherical, or aspherical surface, and is typically coated with a reflective film for reflecting incident light. The type of reflector may be, for example, a plane mirror, a reflecting prism, or an off-axis parabolic reflector, etc., without specific limitation.

[0113] Furthermore, optionally, the position of the reflector on the circuit board 440 (or the distance between the reflector and the corresponding EEL) and the area of ​​the reflective surface can be determined by the full-angle space of light emitted by the corresponding EEL. For example, in one example, the area of ​​the reflective surface on the reflector can cover the area occupied by the first light beam in the full-angle space emitted by the corresponding EEL when it is transmitted to the reflective surface. This ensures that the first light beam in the full-angle space emitted by the EEL is fully received and reflected by the corresponding reflector, thereby preventing the first light beam emitted by the EEL from irradiating the circuit board 440 and causing stray light, thereby improving the transmission performance of the transmission module 40.

[0114] For example, taking the reflector as a reflective prism as an example, please refer to Figures 7a, 7b, 7c, 7d, 7e, 7f, and 7g, which illustrate several possible structures and arrangements of the reflective assembly 420. The figures only illustrate the light source assembly 410, the reflective assembly 420, and the circuit board 440 in the emission module 40, and hide the shaping assembly 430. Figures 7a (A) to 7g (A) illustrate a partial front view structure of the emission module 40, Figures 7a (B) to 7g (B) illustrate a partial top view structure of the emission module 40, and Figures 7a (C) to 7g (C) illustrate a partial three-dimensional structure of the emission module 40. The possible structures and arrangements of the reflective assembly 420 are described in detail below in conjunction with Figures 7a to 7g.

[0115] In one example, referring to FIG7a , when the light source assembly 410 includes only one EEL 4100, the reflective assembly 420 may include only one reflective prism 4200. Surface A of the reflective prism 4200 relative to the EEL 4100 serves as a reflective surface. The reflective surface may be coated with a reflective film, while the other surfaces may be coated with an antireflection film. Alternatively, the reflective prism 4200 may be a right-angle reflective prism, and the inclination angle (i.e., the angle between the reflective surface A and the bottom surface) of the right-angle reflective prism may be configured to be 45°. In this way, the horizontal first light beam emitted by the EEL can be directly reflected vertically by the 45°-inclined reflective surface A. In other words, the second light beam is perpendicular to the circuit board. Using a right-angle reflective prism as a reflector inherently provides a large contact area and typical angles of 45° and 90°, making it easier to install and providing good stability and strength against mechanical stress.

[0116] In another example, referring to FIG. 7 b , when the light source assembly 410 includes two EELs 4101-4102 arranged side by side on the same side of the reflective assembly 420, the reflective assembly 420 may include only one reflective prism 4200. Surface A of the reflective prism 4200, which faces the two EELs 4101-4102, serves as a reflective surface. Surface A can reflect two first light beams emitted by the two EELs 4101-4102, which are parallel to the surface of the circuit board 440, in directions non-parallel to the surface of the circuit board 440. The optical axes of the two reflected second light beams are parallel. For example, when the inclination angle of the reflective prism 4200 is configured at 45°, the two EELs 4101-4102 emit first light beams in the same direction, with the principal optical axes of the two first light beams oriented in the x-direction. After the two first light beams are reflected by the reflective surface A, two second light beams are generated. The principal optical axes of the two second light beams are directed in the z-direction. The two second light beams overlap in the x-direction and separate in the y-direction. The x-direction is the direction of light emitted by the two EELs 4101-4102, i.e., the fast axis, and the y-direction is the slow axis. Therefore, when the two EELs are arranged along the slow axis y-direction, by sharing a reflecting prism (with an inclination angle of 45° or other angles), the two reflected second light beams can be partitioned along the slow axis through the light splitting path formed by the reflecting prism and the two EELs.

[0117] In another example, referring to FIG. 7 c , when the light source assembly 410 includes two EELs 4101-4102 arranged along the slow axis y-direction, the reflective assembly 420 may also include two reflective prisms arranged along the slow axis y-direction, namely, a first reflective prism 4201 and a second reflective prism 4202. The first reflective prism 4201 is positioned on the circuit board 440 relative to the first EEL 4101, and the second reflective prism 4202 is positioned on the circuit board 440 relative to the second EEL 4102. The surface A1 of the first reflecting prism 4201 relative to the first EEL 4101 and the surface A2 of the second reflecting prism 4202 relative to the second EEL 4102 are reflecting surfaces. The reflecting surface A1 can reflect the first light beam emitted by the first EEL 4101 and parallel to the surface of the circuit board 440 to a direction that is not parallel to the surface of the circuit board 440. The reflecting surface A2 can reflect the first light beam emitted by the second EEL4102 and parallel to the surface of the circuit board 440 to a direction that is not parallel to the surface of the circuit board 440.

[0118] It is understood that the inclination angles of the first reflecting prism 4201 and the second reflecting prism 4202 may be the same or different. For example, referring to Figures 8a and 8b, Figure 8a illustrates a transmission light path for two EELs through two reflecting prisms with the same inclination angle, and Figure 8b illustrates a transmission light path for two EELs through two reflecting prisms with different inclination angles. Figures 8a (A) and 8b (A) illustrate the reflection light path for the first EEL 4101 through the first reflecting prism 4201, and Figures 8a (B) and 8b (B) illustrate the reflection light path for the second EEL 4102 through the second reflecting prism 4202. First, please refer to Figure 8a and Figure 7c. When the inclination angles of the two reflecting prisms 4201~4202 are the same, the two second light beams after reflection overlap in the x-direction and separate in the y-direction. For example, Figure 8a takes the inclination angles of the two reflecting prisms 4201~4202 as 45° as an example. The two second light beams after reflection are reflected out with the z-direction as the main optical axis at the same position in the x-direction. Therefore, the two second light beams after reflection are partitioned in the y-direction, and the y-direction is the slow axis direction. Secondly, please refer to Figure 8b and Figure 7c. When the inclination angles of the two reflecting prisms 4201-4202 are different, the two reflected second light beams intersect in the x-direction and separate in the y-direction. For example, Figure 8b takes the inclination angle of the first reflecting prism 4201 as greater than 45° and the inclination angle of the second reflecting prism 4202 as less than 45° as an example. The two reflected second light beams are not only separated in the y-direction, but one is tilted to the upper left and the other is tilted to the upper right on the xoz plane, so that the two reflected second light beams are partitioned in both the y-direction and the x-direction, with the x-direction being the fast axis direction and the y-direction being the slow axis direction. It can be seen from this that when the two EELs are arranged along the slow axis y-direction, by using two reflecting prisms for light beam reflection, when the inclination angles of the two reflecting prisms are the same, the two reflected second light beams can be partitioned in the slow axis direction. When the inclination angles of the two reflecting prisms are different, the two reflected second light beams can be partitioned in both the fast axis direction and the slow axis direction.

[0119] It should be noted that Figure 8b uses two reflective prisms 4201-4202 with significantly different inclination angles as an example to illustrate the partitioning of the second light beam in the fast-axis x-direction. However, in an actual transmitting module 40, the inclination angles of the two reflective prisms 4201-4202 can typically be set relatively close. For example, the inclination angle of the first reflective prism 4201 is greater than 45° but relatively close to 45°, such as 45.4°, and the inclination angle of the second reflective prism 4202 is less than 45° but relatively close to 45°, such as 44.6°. In this way, although the two second light beams reflected by the two reflective prisms 4201-4202 are partitioned in the fast-axis x-direction, their optical paths are relatively close, facilitating comprehensive detection of the entire field of view in conjunction with a scanning method.

[0120] In another example, please refer to Figure 7d. When the light source assembly 410 includes two EELs 4101~4102 arranged along the fast axis x direction, the reflection assembly 420 may include a first reflection prism 4201 and a second reflection prism 4202 arranged along the fast axis x direction. The first reflection prism 4201 and the second reflection prism 4202 are located between the first EEL 4101 and the second EEL 4102. The surface A1 of the first reflection prism 4201 relative to the first EEL 4101 and the surface A2 of the second reflection prism 4202 relative to the second EEL 4102 are reflection surfaces. The reflection surface A1 is used to reflect the first light beam emitted by the first EEL 4101, and the reflection surface A2 is used to reflect the first light beam emitted by the second EEL 4102. It can be understood that when the inclination angle of the first reflecting prism 4201 and the inclination angle of the second reflecting prism 4202 are the same, the two second light beams reflected by the reflecting surface A1 and the reflecting surface A2 overlap in the y direction and separate in the x direction, with the x direction being the fast axis direction. Conversely, when the inclination angle of the first reflecting prism 4201 and the inclination angle of the second reflecting prism 4202 are different, the two second light beams reflected by the reflecting surface A1 and the reflecting surface A2 cross (or overlap) in the y direction and separate in the x direction, with the x direction being the fast axis direction and the y direction being the slow axis direction.

[0121] In another example, referring to FIG. 7e and FIG. 7f , when the light source assembly 410 includes two EELs 4101 - 4102 staggered on opposite sides of the reflective assembly 420 , the reflective assembly 420 may include a first reflective prism 4201 and a second reflective prism 4202 :

[0122] Alternatively, referring to FIG. 7e , the first reflecting prism 4201 and the second reflecting prism 4202 may be arranged side by side along the slow axis y direction between the first EEL 4101 and the second EEL 4102. With such a design, regardless of whether the inclination angle of the first reflecting prism 4201 and the inclination angle of the second reflecting prism 4202 are the same, the two second light beams reflected by the reflecting surface A1 and the reflecting surface A2 are separated in the slow axis y direction and the fast axis x direction. In other words, the two second light beams after reflection are partitioned in the slow axis y direction and the fast axis x direction; or,

[0123] Alternatively, referring to FIG7f , the first reflecting prism 4201 and the second reflecting prism 4202 can be arranged between the first EEL 4101 and the second EEL 4102 along the slow axis y direction, while being offset in the fast axis x direction, so that the two reflected second light beams are emitted from the same position in the fast axis x direction. With this design, when the inclination angles of the first reflecting prism 4201 and the second reflecting prism 4202 are both 45°, the two horizontal first light beams emitted by the first EEL 4101 and the second EEL 4102 are reflected vertically by the reflecting surfaces A1 and A2, respectively. The two reflected second light beams overlap in the fast axis x direction and separate in the slow axis y direction. In other words, the two reflected second light beams are partitioned only in the slow axis y direction. On the contrary, when at least one of the inclination angles of the first reflecting prism 4201 and the second reflecting prism 4202 is not 45°, regardless of whether the two inclination angles are the same, the two second light beams after reflection cross in the fast axis x direction and separate in the slow axis y direction. In other words, the two second light beams after reflection are partitioned in both the slow axis y direction and the fast axis x direction.

[0124] In another example, referring to FIG. 7g , when the light source assembly 410 includes two EELs 4101-4102 offset on opposite sides of the reflective assembly 420, the reflective assembly 420 may also include only a single reflective prism 4200, with both the first surface A1 of the reflective prism 4200 relative to the first EEL 4101 and the second surface A2 of the reflective prism 4200 being reflective surfaces. Alternatively, the reflective prism may be a right-angle reflective prism, with both the angle between the first surface A1 and the bottom surface and the angle between the second surface A2 and the bottom surface being configured to be 45°. In this manner, the first surface A1 can reflect the horizontal first light beam emitted by the first EEL 4101 in the vertical direction, and the second surface A2 can reflect the horizontal first light beam emitted by the second EEL 4102 in the vertical direction, thereby partitioning the two reflected second light beams in the fast x-axis and slow y-axis directions.

[0125] It should be noted that Figures 7a to 7g only use the example of the light source component 410 including one EEL or two EELs to exemplify several possible structures of the reflective component 420. The use of two EELs can achieve the effect of partitioned lighting in the fast axis direction, the slow axis direction, or the fast axis direction and the slow axis direction. However, it should be understood that in the actual emission module 40, the reflective component 420 can also have other structures. For example, when the two EELs are symmetrically distributed on different sides of the reflective component 420, the reflective component 420 can also include a reflective prism as shown in Figure 7g. The reflective prism has two reflective surfaces, and the two reflective surfaces respectively reflect the first light beams emitted by the EELs on both sides. The two second light beams after reflection overlap in the slow axis y direction and are partitioned in the fast axis x direction. For another example, when the light source assembly 410 includes three or more EELs, the reflective assembly 420 may include three or more reflective prisms corresponding to these EELs, and these reflective prisms are respectively used to reflect the first light beams emitted by the corresponding EELs. Alternatively, it may include a total reflective prism for reflecting the first light beams emitted by all EELs, or it may include at least two reflective prisms less than the number of EELs, wherein some reflective prisms are used to reflect the first light beam emitted by one EEL, and other partial reflective prisms are used to reflect the first light beams emitted by two or more EELs. For another example, Figures 7a to 7g only use an inclination angle of 45° as an example to introduce the position of the reflective prism, but the inclination angle can also be any angle, such as 45°, or an angle greater than or less than 45°, so that the optical path of the first light beam emitted by the light source assembly after being reflected by the reflective prism will also be different from that shown in the figure. There are many other possible structures, and this application will not list them one by one.

[0126] 4. Plastic components

[0127] Optionally, the shaping component 430 may include a collimating lens group, which is used to collimate the light reflected by the reflecting component 420 in the fast axis direction and the slow axis direction. The collimating lens group may include one or more collimating lenses, each of which may correspond to one or more EELs, and each collimating lens may be used to collimate the second light beam after the corresponding EEL is reflected by the reflecting component 420 in the fast axis direction and / or the slow axis direction. The collimating lens may be a lens that can achieve a focusing function, such as a convex lens. The convex lens may include, but is not limited to, a spherical lens, a cylindrical lens or an aspherical lens. The cylindrical lens may include, but is not limited to, a plano-convex cylindrical lens (or a plano-convex cylindrical lens), a plano-concave cylindrical lens (or a plano-concave cylindrical lens), a double-convex cylindrical lens (double-convex cylindrical lens) and a double-concave cylindrical lens (double-concave cylindrical lens).

[0128] It can be understood that by placing the collimating lens group used to achieve fast-axis collimation and slow-axis collimation in the shaping component instead of on the circuit board, there will be no interference between the collimating lens group and the circuit board and light source assembly. The aperture of the collimating lens group is not affected by the circuit board and the light source assembly and can be designed to be relatively large to obtain a better collimation effect. At the same time, the installation difficulty of the collimating lens group is reduced.

[0129] Furthermore, optionally, when the number of EELs included in the light source assembly 410 is different, the structure of the collimator lens group may also be different. The following describes the possible structures of the collimator lens group in a single EEL scenario and a multi-EEL scenario.

[0130] Collimating lens set for single EEL scene

[0131] Please refer to Figures 9a and 9b, which show two possible structures of the collimating lens group in the single EEL scenario provided by the present application. Figures 9a (A) and 9b (A) show the transmission light path on the xoz plane, and Figures 9a (B) and 9b (B) show the transmission light path on the yoz plane. The x direction is the fast axis direction, and the y direction is the slow axis direction:

[0132] In one example, referring to FIG. 9 a , the collimating lens assembly may include only one collimating lens, namely, a first collimating lens 431 . The first collimating lens 431 has optical power in both the fast-axis x-direction and the slow-axis y-direction, and may collimate the second light beam reflected by the reflecting assembly 420 in both the fast-axis x-direction and the slow-axis y-direction.

[0133] In another example, please refer to Figure 9b, the collimating lens group may include two collimating lenses, namely a second collimating lens 4311 and a third collimating lens 4312. The second collimating lens 4311 has an optical focal length in the fast axis x direction, and can collimate the second light beam reflected by the reflecting component 420 in the fast axis x direction. The third collimating lens 4312 has an optical focal length in the slow axis y direction, and can collimate the second light beam reflected by the reflecting component 420 in the slow axis y direction. It can be understood that the second collimator 4311 has the ability to deflect the light beam only in the fast axis x direction and is equivalent to a flat glass in the slow axis y direction, while the third collimator 4312 has the ability to deflect the light beam only in the slow axis y direction and is equivalent to a flat glass in the fast axis x direction. Therefore, the position setting of the second collimator 4311 (or the third collimator 4312) will not affect the function of the third collimator 4312 (or the second collimator 4311). Therefore, the positions of the second collimator 4311 and the third collimator 4312 can be adjusted. Interchange, for example, FIG9b takes the example of the second collimator 4311 being set between the reflective component 420 and the third collimator 4312, but the third collimator 4312 can also be set between the reflective component 420 and the second collimator 4311. In this case, the second light beam reflected by the reflective component 420 is first collimated in the slow axis y direction by the third collimator 4312, and then collimated in the fast axis x direction by the second collimator 4311. The relevant optical path can be simply deduced with reference to FIG9b, and this application will not repeat it.

[0134] Optionally, the light source assembly 410 can be a multi-channel EEL, such as a four-channel EEL. Referring to FIG9a and FIG9b , the four-channel EEL has four channels distributed along the slow axis y direction, each channel corresponding to a light source, and the light source of each channel emits a light beam centered on the channel in which it is located, and the light beam diffuses in a conical shape. Therefore, along the slow axis y direction, the four-channel EEL emits four beams of light, which are reflected by the reflective assembly 420 to the collimating lens group and then collimated into four beams of collimated light by the collimating lens group. The four beams of collimated light overlap in the fast axis x direction and are separated into four discontinuous line light spots in the slow axis y direction.

[0135] It should be understood that the above content only takes a four-channel EEL as an example. The EEL in the actual light source assembly can also be an EEL that emits light in any channel, such as a single-channel EEL, or an EEL that emits light in two channels, three channels, four channels, or any number of channels above four channels. This application does not limit this.

[0136] Collimator lens set for multiple EEL scenarios

[0137] Please refer to Figures 10a, 10b, 10c, and 10d, which illustrate four possible collimator lens assembly structures for a multi-EEL scenario provided by this application. The illustrations take a two-EEL scenario as an example. Figures 10a (A) through 10d (A) illustrate the transmission light path on the xoz plane, and Figures 10a (B) through 10d (B) illustrate the transmission light path on the yoz plane. The x direction is the fast axis, and the y direction is the slow axis. Each possible structure is described below in conjunction with Figures 10a through 10d.

[0138] In one example, referring to Figure 10a , the collimator assembly can include only one collimator 431. This collimator 431 covers the area occupied by the two second light beams corresponding to the two EELs 4101-4102 in the fast x-axis and slow y-axis directions. This collimator 431 has optical power in both the fast x-axis and slow y-axis directions and can be used to collimate the two second light beams reflected by the two reflecting prisms 4201-4202. It will be appreciated that if both EELs 4101-4102 emit light through four channels, each light beam will consist of four small beams from four channels.

[0139] In another example, referring to FIG10b , the collimator lens assembly may include a fast-axis collimator 4311 and a slow-axis collimator 4312. Both fast-axis collimator 4311 and slow-axis collimator 4312 cover the areas occupied by the two second light beams corresponding to the two EELs 4101-4102 in the fast x-axis and slow y-axis directions. Fast-axis collimator 4311 has optical power in the fast x-axis and can be used to collimate the two second light beams reflected by the two reflecting prisms 4201-4202 in the fast x-axis. Slow-axis collimator 4312 has optical power in the slow y-axis and can be used to collimate the two second light beams reflected by the two reflecting prisms 4201-4202 in the slow y-axis.

[0140] In another example, referring to FIG10c , the collimator lens assembly may include a fast-axis collimator 4311 and two slow-axis collimators 43121-43122. The fast-axis collimator 4311 covers the area occupied by the two second light beams corresponding to the two EELs 4101-4102 in the fast x-axis direction. The slow-axis collimator 43121 covers the area occupied by the second light beam corresponding to the first EEL 4101 in the slow y-axis direction. The slow-axis collimator 43122 covers the area occupied by the second light beam corresponding to the second EEL 4102 in the slow y-axis direction. The fast-axis collimator 4311 has optical power in the fast x-axis direction and can be used to collimate the two second light beams reflected by the two reflecting prisms 4201-4202 in the fast x-axis direction. The slow-axis collimator 43121 has optical power in the slow y-axis direction and can be used to collimate the second light beam reflected by the first reflecting prism 4201 in the slow y-axis direction. The slow-axis collimating lens 43122 has optical power in the slow-axis y direction, and can be used to collimate the second light beam reflected by the second reflecting prism 4202 in the slow-axis y direction.

[0141] In another example, as shown in FIG10d , the collimator lens assembly may include two fast-axis collimators 43111-43112 and one slow-axis collimator 4312. The fast-axis collimator 43111 covers the area of ​​the second light beam corresponding to the first EEL 4101 in the fast-axis x-direction. The fast-axis collimator 43112 covers the area of ​​the second light beam corresponding to the second EEL 4102 in the fast-axis x-direction. The slow-axis collimator 4312 covers the area of ​​the two second light beams corresponding to the first EEL 4101 and the second EEL 4102 in the slow-axis y-direction. The fast-axis collimator 43111 has optical power in the fast-axis x-direction and can be used to collimate the second light beam reflected by the first reflecting prism 4201 in the fast-axis x-direction. The fast-axis collimator 43112 has optical power in the fast-axis x-direction and can be used to collimate the second light beam reflected by the second reflecting prism 4202 in the fast-axis x-direction. The slow axis collimator 4312 has optical power in the slow axis y direction, and can be used to collimate the two second light beams reflected by the two reflecting prisms 4201 - 4202 in the slow axis y direction.

[0142] It should be noted that Figures 10a to 10d are merely examples of several possible structures of the collimator group in a multi-EEL scenario. In the actual emission module 40, the collimator group may also have other structures. For example, the positions of the fast-axis collimator 4311 and the slow-axis collimator 4312 in Figure 10b may also be interchangeable. For another example, the positions of the fast-axis collimator 4311 and the two slow-axis collimators 43121 to 43122 in Figure 10c may also be interchangeable. For another example, the positions of the two fast-axis collimators 43111 to 43112 and the slow-axis collimator 4312 in Figure 10d may also be interchangeable. For another example, the two slow-axis collimators 43121 to 43122 in Figure 10c may also be dispersed on both sides of the fast-axis collimator 4311, or the two fast-axis collimators 43111 to 43112 in Figure 10d may also be dispersed on both sides of the slow-axis collimator 4312. There are many other possible structures, which will not be listed one by one in this application.

[0143] The above content introduces the possible structure of the collimating lens group. In addition to the collimating lens group, the shaping component 430 may also include other optical elements. These optical elements will be introduced in detail below.

[0144] In one possible implementation, taking the collimating lens group shown in FIG9b as an example, refer to FIG11a, the shaping component 430 may further include a homogenizing lens group 432, which is arranged after the collimating lens group and is used to homogenize the second light beam collimated by the collimating lens group. Due to the characteristics of the light wave, the energy distribution of the second light beam collimated by the collimating lens group may be different at different positions. The homogenizing lens group 432 can convert the light beam into a light spot with uniform energy distribution, that is, the light intensity at different positions on the light spot is approximately equal, thereby avoiding the influence of the uneven energy distribution of the light spot itself on the scanning result. Optionally, the homogenizing lens group 432 can homogenize the energy of the collimated second light beam corresponding to each EEL within the entire output range, so that the output light is continuous in both the fast axis x direction and the slow axis y direction. For example, please refer to Figure 11b, which shows the spot shape of the output light spot of the shaping component of the structure shown in Figure 11a in the slow axis y direction in the angular space. Combining Figure 11a and Figure 11b, even if the first light beam emitted by the four-channel EEL is collimated by the collimating lens group into four small beams of light partitioned in the slow axis y direction, the four small beams of light will eventually appear as a continuous line light spot in the slow axis y direction after being homogenized by the homogenizing lens group 432, so as to meet the requirements of certain radar detection scenarios for linear uniform light spots.

[0145] Optionally, in addition to performing the light homogenization function, the homogenizer assembly 432 can also adjust the divergence angle of the second light beam in the fast or slow axis direction to meet the radar's divergence angle requirements for the fast or slow axis directions. Adjusting the divergence angle can mean increasing or decreasing the divergence angle, adjusting only the fast axis direction, adjusting only the slow axis direction, adjusting both the fast and slow axis directions, and so on. For example, in one example, the homogenizer assembly 432 can also control the second light beam's divergence angle in the slow axis y direction to within a preset field of view angle by adjusting the divergence angle. For example, if the preset field of view angle of the second light beam in the slow axis y direction is 14 degrees, but the field of view angle of the second light beam in the vertical direction after collimation by the collimating lens group is greater than 14 degrees, in this case, the field of view angle of the light spot formed by the second light beam in the slow axis y direction can be changed to 14 degrees through the homogenizing lens group 432 to maintain it within the required field of view angle range and reduce the light intensity outside the preset field of view.

[0146] Alternatively, the light homogenizing lens assembly 432 may be a microlens array (MLA) or a diffractive optical element (DOE). An MLA is an array of lenses with a clear aperture and a relief depth in the micrometer range. It not only has the basic functions of a traditional lens, such as focusing and imaging, but also features small unit size, high integration, high precision, and easy fabrication. Using a microlens array as a light homogenizing lens assembly can improve the optical performance of the emission module.

[0147] In another possible implementation, continuing with the collimating lens assembly shown in FIG. 9b , referring to FIG. 12a , shaping assembly 430 may further include a wedge-shaped prism 433 positioned after the collimating lens assembly and configured to deflect the second light beam, after being collimated by the collimating lens assembly, in the slow-axis y-direction. For example, wedge-shaped prism 433 may deflect the light toward a region of interest (ROI), causing the second light beam to be emitted precisely within the ROI, thereby enabling detection of targets within the ROI.

[0148] Alternatively, a four-channel EEL emits four small beams of light segmented along the slow axis y direction. These four small beams of light are collimated by a collimating lens assembly to form four small collimated beams segmented along the slow axis y direction. These four small beams of collimated light are further deflected by a beam deflecting prism 433, resulting in the output light still segmented along the slow axis y direction. For example, FIG12b illustrates the morphology of the output light spot of the shaping assembly of FIG12a in the angular space along the slow axis y direction. Combining FIG12a and FIG12b, the four small collimated beams segmented along the slow axis y direction, after being deflected by the beam deflecting prism 433, ultimately appear as four small light spots along the slow axis y direction. These four small light spots are located on the same straight line and are discontinuous, allowing detection of four different small areas. In this way, by utilizing the multi-channel light-emitting structural characteristics of the EEL itself and combining it with a wedge-shaped prism to deflect the light beam, the light of each channel can be shaped into a uniform light spot, thereby serving as a light spot partition to save uniform light components and thus save the cost of the transmitting module.

[0149] Furthermore, optionally, when light source assembly 410 includes multiple EELs, wedge prism 433 may be used to splice multiple second light beams corresponding to the multiple EELs in the slow axis y-direction. Here, "splicing" means that there are no gaps between the multiple second light beams in the slow axis y-direction. This may include overlapping portions of the multiple second light beams in the slow axis y-direction or the multiple second light beams being exactly connected in the slow axis y-direction. For example, taking the overlapping part as an example, please refer to Figure 13a, which shows the light path deflection scheme of the wedge prism in the two EEL scenes. Figure 13a takes the structural design of the collimating lens group shown in Figure 10c and the light source component 410 and the reflection component 420 shown in Figures 7c and 8b as an example, wherein Figure 13a (A) shows the transmission light path of the light emitted by the first EEL 4101 on the xoz plane, Figure 13a (B) shows the transmission light path of the light emitted by the second EEL4102 on the xoz plane, and Figure 13a (C) shows the transmission light path of the light emitted by the two EELs 4101~4102 on the yoz plane. In this solution, the inclination angle of the first reflecting prism 4201 is greater than 45°, and the inclination angle of the second reflecting prism 4202 is less than 45°. Therefore, the two beams of light emitted by the first EEL 4101 and the second EEL 4102 are collimated by the collimating lens group to form two beams of light partitioned in the fast axis x direction, each of which includes four small beams of light partitioned in the slow axis y direction. After the two beams of light are spliced ​​by the wedge prism 433, they can overlap in the slow axis y direction, so that the field of view of the emitted light is continuous in the slow axis y direction. For example, please refer to Figure 13b, which shows the spot shape of the output light of the shaping component of the structure shown in Figure 13a in the angular space. Combining Figure 13a and Figure 13b, the two beams of four-channel light corresponding to the two EELs are spliced ​​by the wedge prism 433, and will eventually form two light spots in the slow axis y direction in the angular space. Each light spot includes four discontinuous sub-spots, and the sub-spots in one light spot can make up for the discontinuous parts between the sub-spots in the other light spot, so that the two light spots have a continuous field of view in the slow axis y direction, avoiding the situation where some areas in the slow axis direction cannot be scanned when scanning the target object.

[0150] It should be noted that FIG13b only illustrates one possible spot shape of the emitted light, which is related to the deflection angle of the wedge-shaped prism 433. The deflection angle can be understood as the angle between the top surface and the bottom surface of the wedge-shaped prism 433, such as α1 shown in FIG14(A) or α2 shown in FIG14(B), where the deflection angle α1 is smaller than the deflection angle α2. By comparing the deflection directions of the same light ray by the wedge-shaped prism 433 with two different deflection angles given in (A) and (B) of FIG14 , it can be seen that when the deflection angle is smaller, the closer the top surface is to the horizontal plane, the stronger the deflection ability of the top surface on the incident light, and the smaller the angle between the emergent light and the horizontal plane, so that the light corresponding to the two EELs is more likely to be deflected into one area by the top surfaces on both sides, and the light corresponding to the two EELs is more likely to be spliced ​​together in the slow axis y direction; conversely, when the deflection angle is larger, the further the top surface is from the horizontal plane, the weaker the deflection ability of the top surface on the incident light, and the larger the angle between the emergent light and the horizontal plane, so that the light corresponding to the two EELs is less likely to be deflected into one area by the top surfaces on both sides, and the light corresponding to the two EELs is more likely to be separated in the slow axis y direction. Based on this, the deflection angle of the wedge-shaped prism 433 can be adjusted to find a target deflection angle such that the wedge-shaped prism 433 at the target deflection angle can deflect the light beams corresponding to the two EELs into an overlapping state as shown in (C) in FIG13a, thereby obtaining the light spot shape shown in FIG13b. It should be understood that this adjustment process can be achieved through testing or simulation, or obtained through manual calculation, and this application does not specifically limit this.

[0151] In addition, Figure 13a only illustrates the example of multiple EELs sharing a single wedge prism. In other examples, the shaping assembly 430 may also include multiple wedge prisms, with the multiple wedge prisms corresponding one-to-one with the multiple EELs, or partially one-to-one or partially one-to-many. The deflection angles of the multiple wedge prisms may be the same or different, and each wedge prism may be used to deflect the collimated light corresponding to one or more EELs. Combining multiple wedge prisms can also achieve a desired light spot shape. Furthermore, the above description only uses a wedge prism as an example to describe a beam deflection or beam splicing scheme in the slow axis y direction. In other examples, other devices capable of translating the beam may be used to adjust the beam's exit direction in the slow axis y direction. This application does not specifically limit this.

[0152] In another possible implementation, continuing with the collimator assembly shown in FIG10c as an example, and combining the structural designs of the light source assembly 410 and the reflector assembly 420 shown in FIG7c and FIG8a, as shown in FIG15, the shaping assembly 430 may further include both a homogenizer assembly 432 and a wedge-shaped prism 433. The homogenizer assembly 432 is positioned between the collimator assembly and the wedge-shaped prism 433. The homogenizer assembly 432 is used to homogenize the light collimated by the collimator assembly, and the wedge-shaped prism 433 is used to deflect the homogenized light in the slow-axis y direction. With this structural design, although the four channels of light emitted by each EEL are divided into different regions in the slow-axis y direction, these four channels of light can be homogenized into a single beam by the homogenizer assembly 432, and then angularly deflected by the wedge-shaped prism 433 to the area corresponding to the emission field of view.

[0153] Furthermore, by adjusting the deflection angle of wedge prism 433, the emitted light corresponding to the two EELs 4101-4102 can be partitioned, continuous, or overlapped along the slow axis y direction in angular space. Continuity and overlap can also be collectively referred to as splicing. These three scenarios are described in detail below.

[0154] In one example, by designing the deflection angle of the wedge-shaped prism 433 to be greater than a first angle, the emitted light corresponding to the two EELs 4101-4102 can be partitioned along the slow axis y direction. For example, referring to Figures 16a and 16b, Figure 16a illustrates the transmission light path of the structure shown in Figure 15 at a deflection angle greater than the first angle, and Figure 16b illustrates a light spot configuration of the emitted light from the transmission light path shown in Figure 16a in angular space. With reference to Figures 16a and 16b, using the wedge-shaped prism 433 with this deflection angle, when only the first EEL 4101 emits light, the emitted light appears as a continuous line spot along the slow axis y direction in angular space, and this line spot is distributed in the left portion of the emission field of view. Similarly, when only the second EEL 4102 emits light, the emitted light also appears as a continuous line spot along the slow axis y direction in angular space, and this line spot is distributed in the right portion of the emission field of view. When first EEL 4101 and second EEL 4102 emit light simultaneously, the emitted light appears as two line spots along the slow axis y direction in angular space: one line spot corresponds to first EEL 4101, and the other line spot corresponds to second EEL 4102. These two line spots are discontinuous. This shows that the structural design of the emission module shown in Figure 16a allows for zoned emission along the slow axis y direction by controlling the individual or combined emission of the two EELs.

[0155] In another example, by designing the deflection angle of the wedge-shaped prism 433 to be equal to the first angle, the light corresponding to the two EELs 4101-4102 can be made continuous in the slow axis y direction. For example, referring to Figures 17a and 17b, Figure 17a shows the transmission light path of the structure shown in Figure 15 at a first deflection angle, and Figure 17b shows a light spot shape of the output light of the transmission light path shown in Figure 17a in angular space. Combined with Figures 17a and 17b, using the wedge-shaped prism 433 with this deflection angle, when only the first EEL 4101 emits light, the output light appears as a continuous line light spot in the slow axis y direction in angular space. This line light spot is distributed in the left area of ​​the emission field of view, and its right edge is exactly in the center of the emission field of view. Similarly, when only the second EEL 4102 emits light, the emitted light also appears as a continuous line spot in the slow axis y direction in angular space. This line spot is distributed in the right area of ​​the emission field of view, and its left edge is exactly in the center of the emission field of view. When the first EEL 4101 and the second EEL 4102 emit light simultaneously, the emitted light also appears as a continuous line spot in the slow axis y direction in angular space. This line spot covers the line spot area corresponding to the first EEL 4101 and the line spot area corresponding to the second EEL 4102. It can be seen that the structural design of the emission module shown in Figure 17a can achieve partitioned or continuous emission in the slow axis y direction by controlling the individual or combined emission of the two EELs.

[0156] In another example, by designing the deflection angle of the wedge-shaped prism 433 to be smaller than the first angle and larger than the second angle, the light corresponding to the two EELs 4101 to 4102 can overlap in the slow axis y direction. For example, referring to Figures 18a, 18b, and 18c, Figure 18a shows the transmission light path of the structure shown in Figure 15 at a deflection angle smaller than the first angle, Figure 18b shows a spot shape of the output light of the transmission light path shown in Figure 18a in angular space, and Figure 18c shows the spot shape of the output light of the transmission light path shown in Figure 18a in the overlapping area in angular space. In combination with Figures 18a to 18c, using the wedge-shaped prism 433 with this deflection angle, when only the first EEL 4101 emits light, the output light appears as a continuous line spot in the slow axis y direction in angular space, and this line spot occupies the central area, part of the left area, and a small part of the right area of ​​the emission field of view. Similarly, when only the second EEL 4102 emits light, the emitted light also appears as a continuous line spot in the slow axis y direction of the angular space, and this line spot occupies the central area, part of the right area, and a small part of the left area of ​​the emission field of view. When the first EEL 4101 and the second EEL 4102 emit light simultaneously, the emitted light also appears as a continuous line spot in the slow axis y direction of the angular space. This line spot is a combination of the line spot corresponding to the first EEL 4101 and the line spot corresponding to the second EEL 4102. Since the line spot corresponding to the first EEL 4101 and the line spot corresponding to the second EEL 4102 overlap in the middle and nearby positions, the energy of the center and nearby areas of the emitted light is stronger, and the energy of the edge areas is weaker. The emitted light can form a "convex"-shaped light spot or a "convex"-shaped light spot as shown in Figure 18c on the cross section of the light emission direction (parallel to the xoy plane). Among them, a "convex"-shaped light spot or a "convex"-like light spot is a light spot with energy density distribution showing low ends and high in the middle. The energy density distribution may be a normal distribution or a shape similar to a normal distribution.

[0157] In a further example, the area where the linear light spot corresponding to the first EEL 4101 overlaps with the linear light spot corresponding to the second EEL 4102 can correspond to the radar detection area of ​​interest. For example, the radar area of ​​interest can be determined in advance based on the radar's position in the current usage scenario. Then, when assembling the radar's transmitting module, through measurement experiments, the area where the output light spot obtained by illuminating the first EEL 4101 alone and the output light spot obtained by illuminating the second EEL 4102 alone overlap can correspond to the area of ​​interest. This can provide higher light intensity in the area of ​​interest, helping to improve the range detection capability in that area.

[0158] It should be noted that the second angle can be understood as follows: when the deflection angle of the wedge-shaped prism 433 is the second angle, the right edge of the outgoing light beam corresponding to the first EEL 4101 in the slow-axis y-direction is exactly at the center of the emission field of view, and the left edge of the outgoing light beam corresponding to the second EEL 4102 in the slow-axis y-direction is exactly at the center of the emission field of view. In other words, the light spots corresponding to the first EEL 4101 and the second EEL 4102 are interchanged as shown in Figure 17b. Within the angular range from the first angle to the second angle, as the deflection angle decreases, the length of overlap between the outgoing light beams corresponding to the two EELs 4101-4102 in the slow-axis y-direction first increases and then decreases. When the deflection angle decreases below the second angle, the outgoing light beams corresponding to the two EELs 4101-4102 separate in opposite directions, causing the corresponding light spots to separate again in the slow-axis y-direction. The structure of the wedge-shaped prism 433 and the morphology of the outgoing light spots during this process can be found in Figures 16a to 18c above, and will not be repeated here.

[0159] It is understandable that Figures 11a to 18c above only illustrate a shaping assembly designed in combination with the structure of the collimating lens group shown in Figure 9b or Figure 10c, and the arrangement of the light source assembly and the reflective assembly shown in Figure 7c, Figure 8a or Figure 8b. The structure of the shaping assembly can also be applied to any collimating lens group, light source assembly or reflective assembly shown or not shown in this application. In other words, among the various components and structures provided in this application, unless otherwise specified or logically conflicting, they can be combined to form other possible emission module structures according to their inherent logical relationships. The several emission modules provided above are merely examples.

[0160] Optionally, in addition to the aforementioned light source assembly 410, reflective assembly 420, shaping assembly 430 and circuit board 440, the emission module 40 may also include other possible structures, for example, other lens groups. Other lens groups include at least one lens. The lens may be, for example, a spherical lens (such as a concave lens, or a convex lens, etc.), or it may be an aspheric lens. It should be understood that there are many different types of convex lenses and concave lenses, for example, convex lenses include biconvex lenses, plano-convex lenses and concave-convex lenses, and concave lenses include biconcave lenses, plano-concave lenses and concave-convex lenses. The present application does not limit the types of convex lenses and concave lenses. For another example, a window may be included, and the window may be made of infrared transparent materials, such as infrared plastic, black glass or infrared transparent acrylic. In some examples, an infrared anti-reflection film may be coated on the surface of the window to further improve the transmittance of infrared light.

[0161] Furthermore, the lens material mentioned above can optionally be an optical material such as glass, resin, or crystal. When the lens material is resin, it helps to reduce the weight of the emission module. When the lens material is glass, it helps to further improve the imaging quality of the emission module.

[0162] Based on the structure and functional principle of the emission module described above, the present application can also provide a detection device, see Figure 19. The detection device may include the emission module in any of the above embodiments, which will not be repeated here.

[0163] Furthermore, optionally, the above-mentioned detection device may also include a receiving module, refer to FIG19 , the receiving module is used to receive an echo signal, which is a signal obtained after the collimated light beam is reflected by a target in the detection area.

[0164] Furthermore, optionally, the above-mentioned detection device may also include a scanning module, as shown in FIG19 . The scanning module is used to project (eg, reflect) the received light beam toward the detection area.

[0165] In one possible implementation, the light beam emitted by the emitting module is distributed in a third direction, and the scanning module can scan along a fourth direction to achieve a two-dimensional scan in the detection area. For example, the third direction is perpendicular to the fourth direction. Alternatively, the light beam emitted by the emitting module is distributed in a fourth direction, and the scanning module can scan along the third direction to achieve a two-dimensional scan in the detection area. Scanning through a one-dimensional scanning module helps to simplify the structure of the scanning module, reduce the complexity of the detection device, and improve the scanning efficiency. Specifically, the scanning module is used to change the scanning angle of the scanning module to change the propagation direction of the light beam from the emitting module to the detection area, thereby achieving scanning of the detection area. It should be noted that the scanning module can rotate in a continuous operation mode, or it can rotate in a stepping operation mode, and this application does not limit this. In actual applications, the specific mode of rotation can be preset.

[0166] For example, the scanning module can be a polyhedron (e.g., an octahedron, a hexahedron, or a tetrahedron) rotating mirror, a microelectromechanical system (MEMS) galvanometer, or an oscillating mirror. It should be noted that this application does not limit the type of scanning module; any structure that can reflect the light beam from the transmitting module to the detection area is acceptable.

[0167] It should be noted that the detection device in the present application may also include other possible modules, such as a control module and / or a window (see Figure 19). The control module is used to control the detection device to detect the detection area. Alternatively, the control module is also used to plan the driving path based on the associated information of the determined target, such as avoiding obstacles on the path to be traveled, realizing automatic driving of the vehicle, etc. The window is used to isolate the impact of the external environment on the detection system.

[0168] Exemplarily, the control module may include one or more processing units, and the processing unit may be a circuit with signal (or data) processing capabilities. In one implementation, the processor may be a circuit with instruction reading and execution capabilities, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a microprocessor), or a digital signal processor (DSP); in another implementation, the processor may implement certain functions through the logical relationship of a hardware circuit, and the logical relationship of the hardware circuit is fixed or reconfigurable, such as a hardware circuit implemented by a processor as an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field programmable gate array (FPGA). In a reconfigurable hardware circuit, the process of the processor loading a configuration document to implement the hardware circuit configuration can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units. In addition, the processor can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), etc. For example, it can also be an application processor (AP), an image signal processor (ISP), or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. Among them, different processing units can be independent devices or integrated into one or more processors. Exemplarily, the above-mentioned detection device can be, for example, a lidar.

[0169] Based on the structure and functional principle of the detection device described above, the application can also provide a terminal device. The terminal device may include the detection device in any of the above embodiments. Exemplarily, the terminal device can be, for example, a vehicle (such as a car, a truck, a motorcycle, a bus, a ship, an airplane, a helicopter, an amusement vehicle, an amusement park vehicle, a construction vehicle, a tram, a golf cart, a train, an unmanned vehicle, an intelligent vehicle and a digital vehicle, etc.), a robot, a surveying and mapping equipment, an intelligent home appliance (such as a TV, a sweeping robot, an intelligent desk lamp, a sound system, an intelligent lighting system, an electrical control system, a home background music, a home theater system, an intercom system, or a video surveillance system, etc.), an intelligent manufacturing equipment (such as an industrial equipment, a lawn mower, etc.), an intelligent transportation equipment (such as an AGV, an unmanned transport vehicle, or a truck, etc.), or an intelligent terminal (a mobile phone, a computer, a tablet computer, a handheld computer, a desktop computer, a headset, an audio system, a wearable device, an on-board device, a virtual reality device, an augmented reality device, etc.), etc.

[0170] In this application, "at least one" means one or more, and "more" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. In the text description of this application, the character " / " generally indicates that the previous and next associated objects are in an "or" relationship. In the formula of this application, the character " / " indicates that the previous and next associated objects are in a "division" relationship. In addition, in this application, the word "exemplary" or "optionally" is used to indicate an example, illustration or explanation. Any embodiment or design scheme described as "example" or "optional" in this application should not be interpreted as being more preferred or more advantageous than other embodiments or design schemes. Alternatively, it can be understood that the use of the word "example" is intended to present the concept in a specific way and does not constitute a limitation on this application.

[0171] It will be appreciated that the various numerical numbers involved in this application are merely for the purpose of describing the distinctions made, and are not intended to limit the scope of the embodiments of the present application. The size of the sequence numbers of the above-mentioned processes does not imply the order of execution, and the order of execution of each process should be determined by its function and inherent logic. Terms such as "first", "second", and similar expressions are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, comprising a series of steps or units. Methods, systems, products, or devices are not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or that are inherent to these processes, methods, products, or devices.

[0172] The above are only specific embodiments of the present application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A transmitting module, characterized in that, Comprising: A light source assembly, a reflection assembly, a shaping assembly, and a circuit board. The light source assembly and the reflection assembly are disposed on the circuit board, and the light source assembly includes an edge-emitting laser (EEL). The light source assembly is configured to emit a first light beam. The reflection assembly is configured to reflect the first light beam to obtain a second light beam. The shaping assembly is configured to shape the second light beam in the fast axis direction and the slow axis direction.

2. The transmitting module according to claim 1, characterized in that, The first light beam emitted by the light source assembly is parallel to the circuit board.

3. The transmitting module according to claim 1 or 2, characterized in that, The reflection assembly is a reflection prism, and the second light beam emitted by the reflection prism is perpendicular to the circuit board.

4. The transmitting module according to any one of claims 1 to 3, characterized in that, The light source assembly is disposed in an edge region or a non-edge region of the circuit board.

5. The transmitting module according to any one of claims 1 to 4, characterized in that, The shaping assembly includes a collimating lens group, and the collimating lens group is configured to collimate the second light beam in the fast axis direction and the slow axis direction.

6. The transmitting module according to claim 5, characterized in that, The collimating lens group includes a first collimating lens, and the first collimating lens is configured to collimate the second light beam in the fast axis direction and the slow axis direction.

7. The transmitting module according to claim 5, characterized in that, The collimating lens group includes a second collimating lens and a third collimating lens. The second collimating lens is configured to collimate the second light beam in the fast axis direction, and the third collimating lens is configured to collimate the second light beam in the slow axis direction.

8. The transmitting module according to any one of claims 1 to 7, characterized in that, The light source assembly includes multiple EELs. The multiple EELs are arranged side by side on one side of the reflection assembly, or arranged side by side on both sides of the reflection assembly, or arranged staggeredly on both sides of the reflection assembly. The first light beams emitted by the multiple EELs are reflected by the same reflection prism, or the reflection assembly includes the same number of reflection prisms as the number of EELs, and the first light beam emitted by any one EEL is reflected by the corresponding reflection prism.

9. The transmitting module according to any one of claims 1 to 8, characterized in that, The reflection assembly includes multiple reflection prisms, and the tilting angles of the multiple reflection prisms are the same or different.

10. The transmitting module according to any one of claims 1 to 9, characterized in that, The light source assembly includes an EEL that emits multi-channel light, and the first light beam or the second light beam presents as multiple line-shaped light spots in the slow axis direction of the angular space.

11. The transmitting module according to any one of claims 1 to 10, characterized in that, The shaping assembly further includes a light homogenizing lens group, and the light homogenizing lens group is configured to homogenize the second light beam, and the line-shaped light spots in the angular space are continuous in the slow axis direction.

12. The transmitting module according to claim 11, characterized in that, The light homogenizing lens group is a microlens array (MLA).

13. The transmitting module according to any one of claims 1 to 12, characterized in that, The light source assembly includes multiple EELs, and the shaping assembly further includes a wedge prism. The wedge prism is configured to splice the second light beams corresponding to the multiple EELs in the slow axis direction.

14. The transmitting module according to claim 13, characterized in that, Any one EEL is an EEL that emits multi-channel light. The spliced light beam presents as multiple paths of light spots in the slow axis direction of the angular space. The multiple paths of light spots are continuous in the slow axis direction, and each path of light spot includes multiple sub-light spots.

15. The transmitting module according to claim 13 or 14, characterized in that, The multiple light sources correspond to the multiple reflection prisms one by one. The tilting angles of the multiple reflection prisms are different, and the multiple paths of light spots are separated in the fast axis direction.

16. The transmitting module according to claim 13, characterized in that, The spliced light beam presents as a continuous line-shaped light spot in the slow axis direction of the angular space.

17. The transmitting module according to claim 13, characterized in that, The spliced light beams overlap in the slow axis direction of the angular space.

18. A detection device, characterized in that, Including the emission module according to any one of claims 1 to 17.

19. The detection device according to claim 18, characterized in that, Further including a scanning assembly; The scanning assembly is configured to scan the light beam from the emission module into a detection space.

20. The detection device according to claim 18 or 19, characterized in that, Further including a receiving module; The receiving module is configured to receive the returned light and convert the returned light into an electrical signal.

21. The detection device according to any one of claims 18 to 20, characterized in that, It further includes a control module; The control module is configured to process the electrical signal from the receiving module to obtain the associated information of the target.

22. A terminal device, characterized in that, It includes the detection device according to any one of claims 18 to 21.

Images