Detection device, laser radar, and terminal

Abstract

A detection device, a laser radar, and a terminal, which are applied to the technical field of detection. The detection device (10) comprises a transmitting module (1), a receiving module (2), and an isolation buffer member (31). The transmitting module (1) is used for transmitting detection light, and the detection light is transmitted to the outside of the detection device (10) by means of an optical element (4). The receiving module (2) is used for receiving return light from the outside of the detection device (10), and the return light passes through the optical element (4). The isolation buffer member (31) is arranged inside the detection device (10) and is arranged between a main light path of the detection light and a main light path of the return light, the isolation buffer member (31) is made of a flexible material, and the gap between the isolation buffer member (31) and the optical element (4) is less than a first distance. The isolation buffer member (31) is arranged near the optical element (4) through which both the transmission and the reception pass, so that a transmitting light path and a receiving light path can be isolated, significantly reducing the possibility of stray light entering the receiving light path, improving the effectiveness of an optical signal received by the detection device (10); and the isolation buffer member (31) is made of a flexible material, so that the reliability of the detection device (10) can be improved.

Description

Detection device, lidar and terminal Technical Field

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

[0002] Lidar is a sensor that combines laser technology with photoelectric conversion technology. Its basic operating principle is: a transmitter emits detection light into a detection area, and a receiver receives the return light (or echo) from the detection area. This return light provides information about the targets in the detection area. This information helps to quickly identify and make decisions about surrounding objects, and is therefore widely used in many fields, including smart cars, intelligent transportation, and surveying and mapping.

[0003] With the advancement of information technology, the receivers of LiDAR (LiDAR) are becoming increasingly sensitive, improving both the distance measurement capability and detection accuracy of the detection device. However, at the same time, the negative effects of stray light are becoming increasingly severe. Because the actual reflectivity or transmittance of optical components in the LiDAR's transmitting and receiving optical paths often fall short of ideal values ​​(e.g., 100%), stray light inevitably arises when the detection light emitted from the light source passes through the optical components. This stray light may be received by the detection device's receiver, thereby affecting the LiDAR's detection performance.

[0004] How to reduce the impact of stray light on return light and improve the detection performance of the detection device is a hot issue being studied by those skilled in the art.

[0005] Summary of the Invention

[0006] The embodiments of the present application provide a detection device, a laser radar, and a terminal, which can reduce the impact of stray light inside the detection device on the return light while ensuring the reliability of the detection device, thereby improving the detection performance of the detection device.

[0007] In a first aspect, an embodiment of the present application provides a detection device, comprising a transmitting module, a receiving module, and an isolation buffer. The transmitting module is used to transmit detection light, which is transmitted to the outside of the detection device through an optical element. The receiving module is used to receive return light from the outside of the detection device, which passes through the optical element. The isolation buffer is arranged inside the detection device and between the main optical path of the detection light and the main optical path of the return light. The gap between the isolation buffer and the optical element is smaller than the first distance. Furthermore, the isolation buffer is made of a flexible material.

[0008] In the present application, the detection light and the return light pass through the optical element together. When the detection light passes through the optical element, it is very likely to generate stray light. These stray lights may reach the receiving end along the optical path of the return light after refraction, reflection or diffraction, etc., causing interference with the reception of the return light. The present application sets an isolation buffer inside the detection device to isolate the transmitting light path and the receiving light path, which can significantly reduce the possibility of stray light entering the receiving light path, improve the effectiveness of the optical signal received by the detection device, and improve the detection accuracy. Furthermore, the position of the buffer and the optical element is designed to be relatively close, and the gap between the two is small, which greatly improves the isolation between the transmitting light path and the receiving light path, and further reduces the possibility of stray light escaping to the receiving light path.

[0009] Furthermore, optical elements are usually precision elements. In this application, the isolation buffer is made of a flexible material, which can reduce the possibility of the isolation buffer scratching or smashing the components in the detection device, thereby improving the reliability of the detection device. Consider a possible situation, when an external force impacts the detection device, the impact force will reach the isolation buffer. At this time, on the one hand, the flexible material has a certain toughness and is not easy to break and produce sharp objects. On the other hand, the isolation buffer made of flexible material can play a buffering role, which can reduce the possibility of the optical element in the detection device being broken. Therefore, the isolation buffer made of flexible material can have an anti-collision effect and improve the reliability of the detection device. In addition, flexible materials also have the advantages of low cost, simple production, light weight, etc., which help to lightweight the detection device and reduce the cost of the detection device.

[0010] In summary, the present application can significantly reduce the impact of stray light inside the detection device on the return light, improve the detection accuracy of the detection device, and improve the detection performance.

[0011] In some schemes, the flight time corresponding to internal stray light is relatively short, and when it is received by the receiving end, it will seriously affect the detection device's ability to detect nearby targets. Therefore, isolating the transmitting and receiving optical paths can reduce the impact of internal stray light on the return light of close-range targets and enhance the detection device's side-by-side capability.

[0012] In some cases, since the transmitting and receiving optical paths are isolated, the reflectivity requirements for the optical and non-optical elements in the detection device can be reduced accordingly, thereby greatly reducing the overall cost of the detection device.

[0013] In one possible implementation of the first aspect, the transmitting module and the receiving module are configured in an off-axis configuration. In a coaxial configuration, since transmission and reception share some optical components, the transmitting and receiving optical paths are difficult to separate. In an off-axis configuration, the transmitting and receiving optical paths are separated and easily isolated. Therefore, when this solution is applied in an off-axis configuration, it can effectively isolate the transmitting and receiving optical paths, thereby improving the detection performance of the detection device.

[0014] Of course, in some coaxial detection devices, the transmitting optical path and the receiving optical path are separated in some areas. In this case, an isolation buffer 31 can be set at the position where the transmitting optical path and the receiving optical path are separated to improve the isolation.

[0015] In another possible embodiment of the first aspect, the isolation buffer is in contact with the optical element. Since the surface of the optical element reflects the detection light, generating stray light, in this embodiment, the isolation buffer abuts the optical element, thereby blocking stray light generated by the surface of the optical element at a position close to the optical element, thereby improving the isolation of the light transmission and reception paths and enhancing the detection performance of the detection device.

[0016] In another possible implementation of the first aspect, the first distance is the thickness of the isolation buffer along a first direction, where the first direction is from the main optical axis of the detection light to the main optical axis of the return light. In the above implementation, there is a gap between the isolation buffer and the optical element, but the distance of the gap does not exceed the thickness of the isolation buffer. In this way, while achieving isolation between transmitting and receiving, the detection device still reserves a certain amount of space for easy assembly. In some cases, the provision of a gap can also reduce the possibility of the optical element or the entire device becoming loose due to compression of the isolation buffer, thereby improving the reliability of the detection device.

[0017] In another possible embodiment of the first aspect, the detection device further includes a partition disposed between the main optical path of the detection light and the main optical path of the return light and positioned on a side of the isolation buffer away from the optical element. In this embodiment, the partition provides support and can relatively stably maintain its structural form, while the isolation buffer is positioned close to the optical element to prevent scratches or damage to the optical element. This achieves both isolation and improved reliability of the detection device.

[0018] Optionally, the hardness of the isolation buffer is smaller than that of the partition, so as to ensure that the partition maintains its structural form stably and improve the overall stability of the detection device.

[0019] In another possible implementation of the first aspect, along the thickness direction of the partition, the thickness of the isolation buffer is greater than or equal to the thickness of the partition. In this implementation, the thickness of the partition can be designed to be relatively small, which contributes to the lightweight development of the detection device.

[0020] In another possible implementation manner of the first aspect, the partition and the isolation buffer are used to isolate the optical paths of the transmitting module and the receiving module.

[0021] In another possible embodiment of the first aspect, the detection device also includes a scanning module, which rotates along a movable axis. The scanning module includes a first scanning area located on one side of the partition and a second scanning area located on the other side of the partition. The first scanning area and the transmitting module are located on the same side of the partition, and the second scanning area and the receiving module are located on the same side of the partition.

[0022] Furthermore, the first scanning area is used to reflect the detection light from the transmitting module to the optical element, and the second scanning area is used to reflect the return light from the optical element to the receiving module.

[0023] The above embodiment realizes the optical path isolation of the scanning detection device. The scanning of the detection light and the scanning of the receiving light are also isolated by partitioning, further improving the isolation between the transmitting light path and the receiving light path.

[0024] In another possible embodiment of the first aspect, the partition has an opening extending through the partition along its thickness, and the scanning module passes through the opening. Providing an opening in the partition to accommodate the scanning module not only isolates the transmitting and receiving light paths around the scanning module, preventing stray light from minor surface defects of the scanning module from affecting return light, but also makes the layout of the various components more compact, contributing to the miniaturization of the detection device.

[0025] In another possible implementation of the first aspect, the scanning module further includes an isolation portion, which is protruding from multiple reflective surfaces disposed around the scanning module's rotational axis and circumscribes the rotational axis. The isolation portion isolates the transmitting and receiving light paths, preventing stray light caused by surface imperfections in the scanning module from significantly impacting return light, further improving the isolation between the transmitting and receiving light paths near the scanning module. Furthermore, the isolation portion can reduce requirements for the scanning module's finish and scattering, thereby reducing the cost of the scanning module.

[0026] Furthermore, the isolation portion is located within the opening of the partition, and is spaced apart from the outer periphery of the reflective surface and opposite to the inner wall of the opening. The position of the isolation portion is opposite to that of the partition, further improving the isolation between the transmitting and receiving light paths, and reducing the impact of stray light within the detection device on the return light.

[0027] In another possible implementation of the first aspect, in a direction perpendicular to the thickness of the partition, the spacing between the partition portion and the inner wall surface of the opening is a first distance, the thickness of the partition is a second distance, and the first distance is less than the second distance. Because stray light may pass through the gap between the partition and the partition portion and reach the other optical path, this embodiment limits the distance of the gap, thereby improving the isolation between the transmitting and receiving optical paths.

[0028] In another possible implementation of the first aspect, a ratio of the second distance to the first distance is greater than or equal to 2. In this way, setting the distance between the isolation portion and the inner wall surface of the opening to be within half the thickness of the partition can significantly reduce the possibility of stray light entering the receiving optical path, further improving the isolation between the transmitting optical path and the receiving optical path.

[0029] In another possible implementation of the first aspect, the flexible material includes one or more of foam, Mylar sheet, or silicone.

[0030] In another possible implementation manner of the first aspect, the isolation buffer component has a rectangular cross-section, or the isolation buffer component is a component formed by splicing multiple structures.

[0031] In another possible implementation of the first aspect, when the flexible material includes foam, the diameter of the foam cells is greater than or equal to 0.1 millimeter (mm). In this manner, the relatively large cell diameter can enhance the suppression of stray light and prevent edge diffraction at the edges of the isolation buffer, thereby reducing the possibility of stray light generation.

[0032] In yet another possible implementation of the first aspect, the isolation buffer includes a first surface facing the optical element, and the optical element includes a second surface facing the isolation buffer. A length of the first surface along a first direction is a third distance, where the first direction is a direction from a principal optical axis of the detection light to a principal optical axis of the return light. A thickness of the optical element along a second direction is a fourth distance, where the second direction is a direction perpendicular to the second surface, and the third distance is greater than the fourth distance.

[0033] The thicker the optical element, the greater the distance light can travel after being reflected from its outer surface. Therefore, the thickness of the isolation buffer must also be designed to be thicker to prevent stray light from entering the receiving optical path. Therefore, by setting the isolation buffer thickness to be greater than the thickness of the optical element, the possibility of stray light entering the receiving optical path can be significantly reduced, improving the effectiveness of the optical signal received by the detection device and enhancing detection accuracy.

[0034] In another possible implementation of the first aspect, a ratio of the third distance to the fourth distance falls within [1.4, 2], for example, 1.5. In this implementation, setting the thickness of the isolation buffer to be at least twice the thickness of the optical element can further reduce the possibility of stray light entering the receiving optical path.

[0035] In another possible implementation of the first aspect, the length of the first surface along the first direction is positively correlated with the reflectivity of the optical element. As will be appreciated, a higher reflectivity of the optical element generates more stray light on the surface. Therefore, increasing the thickness of the isolation buffer accordingly can reduce stray light within the detection device.

[0036] In another possible implementation of the first aspect, the optical element includes a second surface and a third surface disposed opposite to each other, the second surface is close to the isolation buffer, and the third surface is away from the isolation buffer. The thickness design of the isolation buffer can meet the following conditions: the isolation buffer can block stray light reflected at least once on the third surface. In other words, when a beam of stray light enters the optical element from the inside of the detection device, it is reflected on the third surface of the optical element, and the isolation buffer can block the stray light formed by the reflection and prevent it from entering the receiving light path. In another possible implementation of the first aspect, the optical element belongs to the detection device, that is, the detection device includes the optical element. Exemplarily, the optical element is a window of the detection device.

[0037] In another possible embodiment of the first aspect, the isolation buffer includes a first surface facing the optical element, and the optical element includes a second surface facing the isolation buffer. The second surface includes a contact region opposite the first surface, and an anti-diffraction layer is provided on the outer edge of the first region. The anti-diffraction layer can suppress edge diffraction, further reducing stray light within the detection device.

[0038] In another possible implementation of the first aspect, the detection device is disposed in the terminal, and the optical element is a windshield of the terminal.

[0039] In another possible implementation of the first aspect, the detection device further includes a bottom housing, the bottom housing including a bottom plate and side walls surrounding the bottom plate, the transmitting module and the receiving module being disposed within a space enclosed by the bottom plate and the side walls, and the transmitting module and / or the receiving module being fixedly connected to the bottom housing.

[0040] In another possible implementation of the first aspect, the transmitting module is disposed close to the bottom shell.

[0041] In another possible implementation of the first aspect, the transmitting module is thermally connected to the bottom shell to further improve heat dissipation efficiency. Furthermore, the receiving module is thermally connected to the bottom shell.

[0042] In another possible implementation of the first aspect, a center line of the field of view of the emission module forms an angle with the bottom plate.

[0043] In yet another possible implementation of the first aspect, in a thickness direction of the base plate, a center of the field of view of the emission module does not overlap with a center of the viewing window.

[0044] In another possible implementation of the first aspect, the emission module includes a laser emission chip, and the laser emission lens is a VCSEL chip, or is formed by splicing multiple VCSEL chips.

[0045] In another possible implementation of the first aspect, the emission module further includes an emission lens, and the emission lens is a rotationally symmetric lens.

[0046] In yet another possible implementation of the first aspect, the receiving module includes an array receiver.

[0047] In another possible implementation of the first aspect, a center line of the field of view of the receiving module forms an angle with the bottom plate.

[0048] In another possible implementation of the first aspect, the receiving module further includes a receiving lens, and the receiving lens is a rotationally symmetric lens.

[0049] In a second aspect, embodiments of the present application provide a detection device comprising a transmitting module, a receiving module, and a bottom housing. The transmitting module is configured to transmit detection light, and the receiving module is configured to receive return light from the detection light. The bottom housing comprises a base plate and sidewalls surrounding the base plate, with the transmitting module and the receiving module disposed within the space enclosed by the base plate and the sidewalls. The transmitting module and / or the receiving module are fixedly connected to the bottom housing.

[0050] The transmitting module is disposed close to the bottom housing. Exemplarily, the transmitting module is disposed between the bottom plate and the receiving module. Furthermore, exemplarily, the distance between the transmitting module and the bottom plate of the bottom housing is less than a fifth distance. Optionally, the fifth distance is the distance between the light-emitting surface of the transmitting module and the bottom surface of the transmitting module. Alternatively, the fifth distance is the thickness of the transmitting module along the bottom plate. Alternatively, the fifth distance is less than 20 centimeters (cm), for example, 5 cm, 10 cm, or the like.

[0051] Since the transmitting module generates heat when working, placing the transmitting module close to the bottom shell can improve the heat dissipation efficiency of the transmitting module, which is beneficial to ensuring the stability of the detection performance of the detection device and extending the service life of the detection device. On the other hand, the structure of the bottom shell is relatively stable, and placing the transmitting module close to the bottom shell design can make the setting stability of the transmitting module higher, thereby improving the overall stability of the optical path. In short, the detection device provided by the embodiment of the present application has higher heat dissipation efficiency and stronger stability, which helps to ensure the stability of the detection performance of the detection device and significantly improves the reliability of the detection device.

[0052] In a possible implementation of the second aspect, the transmitting module is thermally connected to the bottom shell to further improve heat dissipation efficiency. Furthermore, the receiving module is thermally connected to the bottom shell.

[0053] In a possible implementation of the second aspect, a center line of the field of view of the emission module forms an angle with the bottom plate.

[0054] In yet another possible implementation of the second aspect, in the thickness direction of the base plate, the center of the field of view of the emission module does not overlap with the center of the viewing window.

[0055] In another possible implementation of the second aspect, the emission module includes a laser emission chip, and the laser emission lens is a VCSEL chip, or is formed by splicing multiple VCSEL chips.

[0056] In another possible implementation of the second aspect, the emission module further includes an emission lens, and the emission lens is a rotationally symmetric lens.

[0057] In yet another possible implementation of the second aspect, the receiving module includes an array receiver.

[0058] In another possible implementation of the second aspect, a midline of the field of view of the receiving module forms an angle with the bottom plate.

[0059] In yet another possible implementation of the second aspect, in a thickness direction of the bottom plate, a center of the field of view of the receiving module does not overlap with a center of the viewing window.

[0060] In another possible implementation of the second aspect, the receiving module further includes a receiving lens, and the receiving lens is a rotationally symmetric lens.

[0061] In another possible implementation of the second aspect, the detection light propagates through an optical element to the exterior of the detection device, and the return light passes through the optical element. The detection device further includes an isolation buffer disposed within the detection device and between a main optical path of the detection light and a main optical path of the return light. The gap between the isolation buffer and the optical element is less than the first distance. Furthermore, the isolation buffer is made of a flexible material.

[0062] In another possible implementation of the second aspect, the transmitting module and the receiving module are of off-axis architecture.

[0063] In another possible implementation of the second aspect, the isolation buffer is in contact with the optical element, or the first distance is the thickness of the isolation buffer along the first direction, which is the direction from the main optical axis of the detection light to the main optical axis of the return light.

[0064] In another possible embodiment of the second aspect, the detection device further includes a partition, which is disposed between the main optical path of the detection light and the main optical path of the return light and is disposed on a side of the isolation buffer away from the optical element. Optionally, the hardness of the isolation buffer is less than that of the partition.

[0065] In yet another possible implementation of the second aspect, along the thickness direction of the partition, the thickness of the isolation buffer is greater than or equal to the thickness of the partition.

[0066] In another possible embodiment of the second aspect, the detection device also includes a scanning module, which rotates along a movable axis. The scanning module includes a first scanning area located on one side of the partition and a second scanning area located on the other side of the partition. The first scanning area and the transmitting module are located on the same side of the partition, and the second scanning area and the receiving module are located on the same side of the partition.

[0067] In another possible implementation of the second aspect, the partition is provided with an opening, the opening passes through the partition along a thickness direction of the partition, and the scanning module passes through the opening.

[0068] In another possible implementation of the second aspect, the scanning module further includes a spacer portion, the spacer portion being protruding from the plurality of reflective surfaces disposed around the rotation axis of the scanning module and surrounding the rotation axis. Furthermore, the spacer portion is located within the opening of the partition, with an outer periphery of the spacer portion facing away from the reflective surfaces and spaced apart from an inner wall surface of the opening.

[0069] In another possible implementation of the second aspect, in a direction perpendicular to the thickness of the partition, the spacing between the isolation portion and the inner wall of the opening is a first distance, the thickness of the partition is a second distance, and the first distance is less than the second distance. Optionally, the ratio of the second distance to the first distance is greater than or equal to 2.

[0070] In another possible implementation of the second aspect, the flexible material includes one or more of foam, Mylar sheet, or silicone.

[0071] In another possible embodiment of the second aspect, when the flexible material comprises foam, the diameter of the pores of the foam is greater than or equal to 0.1 millimeters (mm).

[0072] In yet another possible implementation of the second aspect, the isolation buffer includes a first surface facing the optical element, and the optical element includes a second surface facing the isolation buffer. A length of the first surface along a first direction is a third distance, where the first direction is a direction from a principal optical axis of the detection light to a principal optical axis of the return light. A thickness of the optical element along a second direction is a fourth distance, where the second direction is a direction perpendicular to the second surface, and the third distance is greater than the fourth distance.

[0073] In yet another possible implementation of the second aspect, a ratio of the third distance to the fourth distance falls within [1.4, 2], for example, 1.5.

[0074] In yet another possible implementation of the second aspect, the length of the first surface along the first direction is positively correlated with the reflectivity of the optical element.

[0075] In another possible implementation of the second aspect, the optical element belongs to the detection device, that is, the detection device includes the optical element. Exemplarily, the optical element is a window of the detection device.

[0076] In another possible implementation of the second aspect, the isolation buffer includes a first surface facing the optical element, and the optical element includes a second surface facing the isolation buffer. The second surface includes a contact area opposite the first surface, and an anti-diffraction layer is provided on an outer edge of the first area.

[0077] In yet another possible implementation of the second aspect, the detection device is disposed in the terminal, and the optical element is a windshield of the terminal.

[0078] In a third aspect, the present application provides a laser radar comprising the detection device described in any one of the first aspect or any one of the second aspect.

[0079] In a fourth aspect, the present application provides a terminal comprising the detection device described in any one of the first aspect or any one of the second aspect, or comprising the laser radar described in the third aspect.

[0080] In one possible implementation of the fourth aspect, the aforementioned optical element belongs to a terminal, for example, the optical element is a windshield of the terminal. The isolation buffer member in the detection device includes a first surface facing the optical element, and the windshield includes a second surface facing the isolation buffer member. The second surface includes a contact region opposite the first surface, and an anti-diffraction layer is provided on an outer edge of the first region.

[0081] In some cases, an anti-diffraction layer can suppress edge diffraction, further reducing stray light inside the detector. BRIEF DESCRIPTION OF THE DRAWINGS

[0082] The following is a brief introduction to the drawings required for describing the embodiments.

[0083] FIG1 is a schematic diagram of a detection device with an off-axis architecture;

[0084] FIG2 is a schematic structural diagram of a detection device provided in an embodiment of the present application;

[0085] FIG3 is a schematic cross-sectional view of an optical element and an isolation buffer member provided in an embodiment of the present application;

[0086] FIG4 is a schematic cross-sectional view of another optical element and an isolation buffer member provided in an embodiment of the present application;

[0087] FIG5 is a schematic cross-sectional view of another optical element and an isolation buffer member provided in an embodiment of the present application;

[0088] FIG6 is a schematic cross-sectional view of another optical element and an isolation buffer member provided in an embodiment of the present application;

[0089] FIG7 is a schematic diagram of a partial structure of the structure shown in FIG3 ;

[0090] FIG8 is a schematic diagram of the exploded structure of an optical element and an isolation buffer provided in an embodiment of the present application;

[0091] FIG9 is a schematic diagram of a surface of an optical element provided in an embodiment of the present application;

[0092] FIG10 is a top view of a detection device provided in an embodiment of the present application;

[0093] FIG11 is a schematic structural diagram of another detection device provided in an embodiment of the present application;

[0094] FIG12 is a schematic structural diagram of another detection device provided in an embodiment of the present application;

[0095] FIG13 is a schematic diagram of the disassembled structure of the detection device shown in FIG12;

[0096] FIG14 is a schematic cross-sectional structural diagram of the detection device shown in FIG12 taken along line AA;

[0097] FIG15 is a schematic structural diagram of another detection device provided in an embodiment of the present application;

[0098] FIG16 is a schematic structural diagram of the bottom shell of the detection device shown in FIG15;

[0099] FIG17 is a schematic diagram of a connection structure in a detection device provided in an embodiment of the present application;

[0100] FIG18 is a schematic structural diagram of another detection device provided in an embodiment of the present application;

[0101] FIG19 is a schematic diagram of an optical path provided in an embodiment of the present application;

[0102] FIG20 is a schematic diagram of an application of a detection device provided in an embodiment of the present application;

[0103] FIG21 is a schematic diagram of the position of a light spot on a window provided in an embodiment of the present application;

[0104] FIG22 is another optical path schematic diagram provided in an embodiment of the present application;

[0105] FIG23 is a schematic structural diagram of a transmitting module provided in an embodiment of the present application;

[0106] FIG24 is a schematic structural diagram of a receiving module provided in an embodiment of the present application;

[0107] Figure 25 is a schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0108] Stray light inside the detection device can have a serious impact on the detection performance of the detection device. Taking the detection device using an off-axis architecture in Figure 1 as an example, although the detection device adopts an off-axis architecture, there are also common optical elements for transmission and reception, such as a common transmission and reception window. The reflection (or scattering, diffraction, etc.) generated on the optical elements will form stray light, affecting the detection performance of the detection device. On the one hand, when stray light triggers the receiver to collect data, the detection device may mistakenly believe that there is a target in front, resulting in false detection. On the other hand, stray light may drown out the real echo, or when the stray light triggers the receiver to collect data, the real echo may arrive within the quenching time. At this time, the real echo cannot be detected. These situations will cause the detection device to miss detection.

[0109] In addition to the reflection effect of the optical component surface, defects in other optical components (or white materials) or non-optical components (or black materials) in the detection device may also cause internal stray light.

[0110] In view of this, the embodiments of the present application provide a detection device, a laser radar and a terminal, which can reduce the impact of stray light on return light while ensuring the reliability of the detection device, thereby improving the detection performance of the detection device.

[0111] Please refer to Figure 2, which is a schematic diagram of the structure of a detection device provided in an embodiment of the present application. The detection device 10 includes a transmitting module 1, a receiving module 2 and an isolation buffer 31.

[0112] The emission module 1 is used to emit detection light. Exemplarily, the emission module 1 may include one or more of the following light sources: a vertical cavity surface emitting laser (VCSEL), a photonic crystal surface emitting semiconductor lasers (PCSEL), an edge emitting laser (EEL), a laser diode (LD), a distributed feedback laser diode (DFB-LD), a grating coupled sampling reflection laser diode (GCSR-LD), or a micro opto electro mechanical system laser diode (MOEMS-LD).

[0113] In one possible implementation, the emission module 1 includes a laser emission chip 11, and the laser emission chip 11 includes one of the aforementioned multiple light sources. In one possible scenario, the emission module 1 includes a VCSEL chip. In another possible scenario, the emission module 1 includes a laser emission chip formed by splicing together a plurality of VCSEL chips. In the latter case, on the one hand, by splicing together multiple VCSEL chips, the emission power of the detection device can be increased, the blind area of ​​the detection device can be reduced, and the detection performance can be improved. On the other hand, under the condition of equal light-emitting area, splicing together multiple VCSEL chips has less stress than directly using a whole VCSEL chip of similar size. In addition, multi-chip splicing can also have higher heat dissipation efficiency, and is also beneficial to reducing the crosstalk of the emission module 1. For possible designs of the emission module 1, please refer to the description below, such as the description in the embodiments shown in Figures 15, 18 and 23.

[0114] The receiving module 2 is used to receive a light beam, and the light beam includes the return light of the detection light (or simply the return light). Exemplarily, the receiving module 2 may include a detector, and the detector may include but is not limited to one or more of the detection elements such as a single-photon avalanche diode (SPAD), a silicon photomultiplier (SiPM), a semiconductor avalanche photodiode (APD), a multi-pixel photon counter (MPPC), or an electron multiplying charge-coupled device (EMCCD). The detection elements can be arranged in an array to form an array detector. For example, the receiving module 2 can include a SPAD array. For possible designs of the receiving module 2, please refer to the description below, such as the description in the embodiments shown in Figures 15, 18 and 24.

[0115] In the embodiment of the present application, the detection light and the return light both pass through the optical element 4. To prevent stray light from affecting the receiving light path, an isolation buffer 31 is provided within the detection device 10. The isolation buffer 31 can be positioned between the main light path of the detection light and the main light path of the return light, thereby isolating the transmitting light path from the receiving light path. Referring to FIG2 , the isolation buffer 31 includes two surfaces arranged along the Y direction. Along the Y direction, the transmitting module 1 and the receiving module 2 are respectively arranged on either side of the isolation buffer 31.

[0116] 3 , the detection light and return light from the detection device 10 pass through the two sides of the isolation buffer 31. Consider a possible scenario where stray light is generated when the detection light passes through the optical element 4. However, this stray light is blocked by the isolation buffer 31 and does not propagate into the optical path of the return light, thereby improving the effectiveness of the optical signal received by the detection device and enhancing detection accuracy.

[0117] Furthermore, the isolation buffer 31 is closer to the optical element 4, and the gap is smaller (including when they are in abutment with no gap), which can improve the isolation between the transmitting and receiving optical paths. Referring to Figure 3 , when the distance between the two is greater, some stray light may pass through the gap between them and propagate into the receiving optical path. Therefore, reducing the gap between them can further reduce the possibility of stray light propagating into the receiving optical path.

[0118] In some embodiments, the isolation buffer 31 is made of a flexible material. Exemplarily, the flexible material includes one or more of foam, Mylar sheet, or silicone. As one possible example, the isolation buffer 31 is made of foam. Because the foam contains pores, these pores can act as extinction cavities to further block the propagation of stray light, further reducing stray light within the detection device. Optionally, when the isolation buffer is made of foam, the pores have a relatively large diameter, for example, greater than 0.1 mm, to achieve a better blocking effect.

[0119] Since the optical element 4 is typically a precision component, on the one hand, its surface needs to maintain a certain degree of flatness to improve transmittance (or reflectivity), and on the other hand, optical elements are generally made of brittle materials and are easily broken and fractured. Therefore, making the isolation buffer out of a flexible material can reduce the possibility of the isolation buffer scratching or shattering surrounding components (such as the optical element 4), thereby improving the reliability of the detection device. On this basis, the isolation buffer 31 can be designed relatively close to the optical element, thereby improving isolation.

[0120] In some cases, due to the isolation of the transmitting and receiving optical paths, the reflectivity requirements for the optical and non-optical elements in the detection device can be relatively lowered, thereby greatly reducing the overall cost of the detection device.

[0121] In addition, consider a possible situation. If the isolation buffer 31 is not provided, in order to avoid serious interference between the transmitting light path and the receiving light path, a certain distance needs to be set between the transmitting module 1 and the receiving module 2. In this case, the overall volume of the detection device is relatively large. For example, when the transmitting module and the receiving module are arranged up and down, some solutions set a large distance between the transmitting module 1 and the receiving module 2 in order to avoid interference of the transmitting light path on the receiving light path. In this case, the height of the detection device is relatively high, which is not conducive to the design of the installation position of the detection device. However, the present application isolates the transmitting and receiving light paths through the isolation buffer 31, so that the distance between the transmitting module 1 and the receiving module 2 can be reduced, thereby reducing the overall size of the detection device (for example, reducing the height), which contributes to the miniaturization of the detection device and the design of the installation position of the detection device.

[0122] In some embodiments, the transmitting module 1 and the receiving module 2 are off-axis structures. In some schemes, the off-axis structure refers to an optical path structure in which the main optical axis of the light beam emitted by the reflection module does not coincide with the main optical axis of the receiving module. The transmitting optical path and the receiving optical path of the off-axis structure are separated and easy to isolate. When this scheme is applied to the off-axis structure, it can achieve a better effect of isolating the transmitting optical path and the receiving optical path, thereby improving the detection performance of the detection device. Of course, some detection devices using a coaxial structure have their transmitting optical path and the receiving optical path separated in some areas. In this case, the position where the transmitting optical path and the receiving optical path are separated can be applicable to the embodiments of the present application.

[0123] In some embodiments, the interior of the detection device 10 can be understood as the receiving space formed by the shell of the detection device 10. In some embodiments, the shell of the detection device 10 has a viewing window, and the optical element 4 can be installed in the viewing window of the shell as a window. Optionally, the isolation buffer 31, the transmitting module 1 and the receiving module 2 are arranged on the same side of the optical element 4. In some embodiments, the shell of the detection device 10 has a light through port, and the optical element 4 is a component independent of the detection device 10, but at this time the light through port of the detection device 10 cooperates with the optical element 4, and the detection light passes through the light through port of the detection device 10 and the optical element 4 in sequence, and the return light passes through the optical element 4 and the light through port of the detection device 10 in sequence to propagate to the receiving module 2.

[0124] Optionally, the optical element includes but is not limited to one or more of a window, a lens, a windshield, or a reflector, etc. In some embodiments of the present application, the optical element is described as a window or a windshield.

[0125] In some embodiments, the optical element 4 is part of the detection device 10, that is, the detection device 10 includes the optical element 4. Exemplarily, the optical element is a window of the detection device. In other possible embodiments, the optical element 4 is not a component of the detection device 10. Exemplarily, the detection device 10 is disposed within the terminal, and the optical element 4 is a component of the terminal, such as a windshield or a transparent housing of the terminal.

[0126] In some embodiments, the gap between the isolation buffer 31 and the optical element 4 is smaller than the first distance. The following examples illustrate two possible distances between the isolation buffer 31 and the optical element 4:

[0127] In the first case, the isolation buffer 31 is in contact with the optical element 4. As a possible implementation, the isolation buffer 31 can be in surface contact with the optical element 4. For example, in conjunction with FIG3 , the isolation buffer 31 can include a first surface 311 facing the optical element 4, and the optical element 4 can include a second surface 41 facing the isolation buffer 31. The first surface 311 and the second surface 41 are in contact, and the distance between the first surface 311 and the second surface 41 is represented as d1, d1=0. In some optional solutions, the isolation buffer 31 is compressed by the optical element 4, that is, it is in a compressed state, so that the contact between the two is closer.

[0128] Case 2: There is a gap between the isolation buffer 31 and the optical element 4, and the gap is smaller than the first distance. In some schemes, the first distance can be the thickness of the isolation buffer along the first direction, which is the direction from the main optical axis of the detection light to the main optical axis of the return light (the Y direction as shown in Figures 2 and 3). In other words, the thinner the isolation buffer 31 is, the smaller the gap should be set. Conversely, the thicker the isolation buffer 31 is, the gap can be slightly larger. In short, there can be a gap between the isolation buffer 31 and the optical element 4, but the distance of the gap does not exceed the thickness of the isolation buffer 31. In this way, the detection device 10 reserves a certain amount of space for easy assembly while achieving transmission and reception isolation. In some cases, by setting a gap, the possibility of the optical element 4 or the detection device being loosened due to compression of the isolation buffer 31 can be reduced, thereby improving the reliability of the detection device 10.

[0129] The above-mentioned constraints on the size of the gap are only examples. For example, in some other solutions, the first distance can be a pre-designed distance, such as the first distance being less than or equal to 5 mm, or the first distance being less than 10 mm, etc.

[0130] In one possible design, there are multiple possible designs for the shape of the isolation buffer 31. The following describes several designs of the isolation buffer 31 provided in the embodiment of the present application from the perspective of cross-section:

[0131] Design 1: The cross-section of the isolation buffer 31 is rectangular. For example, referring to Figure 3, in the YZ plane (i.e., a plane along the first and second directions), the cross-section of the isolation buffer is rectangular. This rectangular design isolates the light transmission and reception paths, is easy to manufacture, and improves installation efficiency.

[0132] Design 2, the cross-section of the isolation buffer 31 is trapezoidal. Please refer to Figure 4. On the YZ plane, that is, the plane along the first direction and the second direction, the outer contour of the cross-section of the isolation buffer 31 is trapezoidal. That is, the isolation buffer 31 can be a step, and its upper bottom surface (regarded as the first surface 311) is the surface facing the optical element 4. On the one hand, this design makes the surface of the waist side of the isolation buffer 31 inclined, which is conducive to reflecting stray light to the outside of the detection device 10 and reducing the internal stray light of the detection device. On the other hand, this design reduces the area of ​​the surface facing the optical element 4, which contributes to the lightweight design of the detection device.

[0133] In addition, in some solutions, the isolation buffer 31 is disposed between two components. When the isolation buffer 31 is in contact connection with the optical element 4, the trapezoidal design can reduce the stress generated by the isolation buffer 31 under the same compression amount, avoiding the components on both sides from being crushed. In some solutions, grooves, cavities, etc. can also be provided on the isolation buffer 31 to further reduce the stress generated by the isolation buffer 31 under the same compression amount.

[0134] Design three: The cross-section of the isolation buffer 31 is triangular. Please refer to FIG. 5. The cross-section in the YZ plane, that is, the plane along the first direction and the second direction, of the isolation buffer 31 is triangular. In the positive direction of the Z direction shown in FIG. 5, the apex angle of the triangle faces the optical element 4. Thus, on the one hand, such a design makes the surface of the waist side of the isolation buffer 31 inclined, which is beneficial to reflecting the incident stray light outside the detection device and reducing the internal stray light of the detection device. On the other hand, it reduces the area of the surface facing the optical element 4, reduces the stress generated by the isolation buffer 31 under the same compression amount, and contributes to the lightweight design of the detection device.

[0135] Optionally, the corners of the isolation buffer 31 can be designed as rounded corners, and / or the edges of the isolation buffer 31 can be arc-shaped surfaces. As shown in FIG. 5, the edge of the isolation buffer 31 facing the optical element 4 can be arc-shaped. On the one hand, it makes the contact smoother, avoids scratching the optical element 4, and improves the reliability of the detection device 10. On the other hand, it can also reduce the edge diffraction phenomenon and contribute to reducing the internal stray light of the detection device 10.

[0136] Design four: The isolation buffer 31 is a component formed by splicing multiple structures. Please refer to FIG. 6. The cross-section in the YZ plane, that is, the plane along the first direction and the second direction, of the isolation buffer 31 is a "T" shape, or can be regarded as a shape formed by splicing two rectangles. Of course, in some solutions, the isolation buffer can be spliced into other shapes, such as a "Z" shape, a "work" shape, or a "冂" shape, etc.

[0137] The above several designs are only examples, and the above designs can also be combined. For example, the cross-section of the isolation buffer 31 can be a figure formed by combining a rectangle and a triangle. The combination cases will not be elaborated here one by one.

[0138] In one possible embodiment, the thickness of the isolation buffer 31 is related to the thickness of the optical element 4. Referring to FIG3 , the thickness of the isolation buffer 31 is the thickness along the first direction (Y direction), i.e., l1 shown in FIG3 . The thickness of the optical element 4 is the thickness along the second direction (Z direction), i.e., l2 shown in FIG3 . Referring to FIG3 , FIG7 and FIG14 , FIG7 is a schematic diagram of a partial structure of the structure shown in FIG3 . Because the optical element 4 has two light-transmitting surfaces disposed opposite to each other along the second direction, such as the second surface 41 and the third surface 42 , the light beam passing through the optical element 4 may be reflected (or scattered, diffracted, etc.) on both surfaces, forming stray light. The thicker the optical element 4, the greater the distance that the light can travel in the first direction (Y direction) after being reflected on the third surface 42. Therefore, the thickness of the isolation buffer 31 needs to be designed to be relatively large to prevent stray light from crossing into the receiving light path. Optionally, the thickness of the isolation buffer 31 (or the length of the first surface along the first aspect) can be designed to meet the following condition: the isolation buffer 31 can block stray light that is reflected at least once on the third surface 42. With reference to FIG7 , when stray light enters the optical element 4 from the interior of the detection device 10 and is reflected on the third surface 42 of the optical element 4, the isolation buffer 31 can block the stray light formed by this reflection and prevent it from entering the receiving optical path.

[0139] In some cases, the isolation buffer is rectangular or irregular in shape. In this case, the surface in contact with the optical element 4 can be designed to be relatively wide to achieve the above effect. In some possible solutions, referring to Figures 3, 4, and 7, the isolation buffer 31 includes a first surface 311 facing the optical element 4, and the optical element 4 includes a second surface 41 facing the isolation buffer. The length of the first surface 311 along a first direction (e.g., the Y direction) is a third distance (i.e., l1). The first direction is the direction from the principal optical axis of the detection light to the principal optical axis of the return light. The thickness of the optical element along a second direction is a fourth distance (i.e., l2). The second direction is a direction perpendicular to the second surface. The third distance is greater than the fourth distance, i.e., l1 ≥ l2.

[0140] Optionally, the third distance and the fourth distance satisfy a certain proportional relationship, for example, the ratio of the third distance to the fourth distance falls within [1.4, 2]. For example, the ratio of the third distance to the fourth distance is 1.5. For example, if the cross-section of the isolation buffer 31 is rectangular, the thickness of the isolation buffer 31 is 1.5 times the thickness of the optical element 4.

[0141] In one possible embodiment, the thickness of the isolation buffer 31 is positively correlated with the reflectivity of the optical element 4. It is understandable that the higher the reflectivity of the optical element 4, the more stray light is generated on the surface. Designing the thickness of the isolation buffer to be larger accordingly can reduce the stray light inside the detection device. Similarly, the thickness of the isolation buffer 31 here can also be replaced by the length of the isolation buffer 31 along the first direction (such as the Y direction) toward the surface of the optical element 4 (i.e., the first surface 311). The first direction is the direction from the transmitting light path to the receiving light path, i.e., the thickness direction of the isolation buffer.

[0142] In some possible embodiments, a light-absorbing layer may also be provided on the optical element 4. Please refer to Figure 8, which is a schematic diagram of the decomposed structure of an optical element and an isolation buffer provided in an embodiment of the present application, wherein the optical element 4 may be provided with a light-absorbing layer 43, and the light-absorbing layer 43 may be designed on the second surface 41 of the optical element 4, and the position of the light-absorbing layer 43 is opposite to the position of the isolation buffer 31. In some cases, the light-absorbing layer can block the stray light generated on the third surface 42. By designing the light-absorbing layer, the thickness requirement for the isolation buffer 31 can be reduced, which is beneficial to the lightweighting of the detection device. For example, the light-absorbing layer can be attached to the surface of the optical element 4 by coating, silk-screening, electroplating, etc.

[0143] Optionally, the length of the light absorption layer 43 along the first direction (eg, the Y direction) is greater than the thickness of the isolation buffer 31 (or greater than the length of the first surface 311 in the first direction).

[0144] In some other possible embodiments, an anti-diffraction layer may be further provided on the surface of the optical element 4. For example, the anti-diffraction layer may be provided on the surface of the optical element 4 by coating, silk-screening, electroplating, or dispensing. Please refer to Figure 9, which is a schematic diagram of the surface of an optical element provided in an embodiment of the present application, wherein part (a) of Figure 9 shows a side view of a structure including an optical element, and part (b) of Figure 9 shows a front view of the optical element. It can be seen that the optical element 4 includes a contact area on the surface facing the isolation buffer, and the contact area is opposite to the surface of the isolation buffer 31 facing the optical element 4. An anti-diffraction layer is provided on the outside of the edge of the first area (taking the silk-screen shown in Figure 9 as an example), and the edge of the anti-diffraction layer is rough, which can suppress the edge diffraction effect and further reduce the stray light inside the detection device. Furthermore, the anti-diffraction layer is not only provided inside the contact edge, but can also cover the contact area to further enhance the blocking effect. The partition 32 shown in Figure 9 is an optional design, which will be described below.

[0145] In some cases, when the flexible material is silicone, an anti-diffraction layer is provided on the surface of the optical element 4. Since the surface of silicone is smooth and produces diffraction, the anti-diffraction layer with a rough edge can reduce the diffraction effect.

[0146] Optionally, the anti-diffraction layer shown in FIG. 9 may be regarded as a light absorbing layer 43 .

[0147] In one possible embodiment, the isolation buffer 31 can be in contact with other components in the detection device (such as a housing, a mounting bracket of the transmitting module, etc.), or the spacing can be set closer (for example, less than the aforementioned first distance) to improve the isolation. Please refer to Figure 10, which is a top view of a detection device provided in an embodiment of the present application. The detection device 10 also includes a housing 6 (for example, a bottom shell, a middle shell or an integrated shell, etc.), and a structural member 7 for mounting the transmitting module 1 and the receiving module 2, wherein the isolation buffer 31 contacts the housing 6 and the structural member 7 on both sides along the Z direction, respectively, thereby improving the isolation. In some schemes, weight-reducing holes can be provided on the isolation buffer 31, which can reduce weight on the one hand and improve heat dissipation efficiency on the other.

[0148] Flexible materials are prone to deformation, making it difficult to maintain structural stability, especially when extended over a long length. In one possible implementation, the detection device 10 further includes a partition 32 , which is disposed between the main optical path of the detection light and the main optical path of the return light and is located on the side of the isolation buffer 31 away from the optical element 4 .

[0149] Please refer to Figure 11, which is a schematic diagram of the structure of another detection device provided in an embodiment of the present application. The detection device 10 further includes a partition 32. The partition 32, the isolation buffer 31, and the optical element 4 are sequentially arranged along the optical path of the transmitted light, and are positioned between the main optical path of the detection light and the main optical path of the return light. This further improves the isolation between the transmitting and receiving optical paths, achieving complete isolation between the transmitting and receiving optical paths.

[0150] In some possible implementations, the partition 32 can be made of metal, organic material, or inorganic non-metallic material. Furthermore, the hardness of the isolation buffer 31 is less than that of the partition 32. This ensures that the partition maintains its structural form stably, improving the overall stability of the detection device.

[0151] In some possible embodiments, the thickness of the isolation buffer 31 along the thickness direction of the partition 32 is greater than or equal to the thickness of the partition 32. For example, the thickness direction of the partition 32 can be along the direction from the transmitted light path (i.e., the optical path of the detection light) to the received light path (i.e., the optical path of the return light), such as the Y direction shown in Figure 11. The thickness of the partition 32 can be designed to be relatively small to reduce the weight of the detection device, thereby contributing to the development of lightweight detection devices.

[0152] In some other possible implementations, when the isolation buffer 31 is in contact with the optical element 4 , along the thickness direction of the partition 32 , the thickness of the isolation buffer 31 is less than or equal to the thickness of the partition 32 .

[0153] In some possible implementations, a partition 32 is used to isolate the optical paths of the transmitting module 1 and the receiving module 2. Similarly, an isolation buffer 31 is used to isolate the optical paths of the transmitting module 1 and the receiving module 2. The partition 32 provides support and can maintain its structural form relatively stably, while the isolation buffer 31 is positioned close to the optical element 4 to prevent scratches or damage to the optical element 4. This achieves both isolation and improved reliability of the detection device 10.

[0154] Optionally, there are many possible designs for the shape of the partition 32. In some embodiments, in conjunction with Figure 11, the transmitting module 1 and the receiving module 2 can be protrudingly arranged, for example, protrudingly arranged on the structural member 7 (not shown in the figure). In the direction of the main optical path of the detection light (such as the Z direction), an opening (referred to as the second opening 322 for easy distinction) is provided on the side of the partition 32 close to the transmitting module 1 and the receiving module 2. In the propagation direction of the detection light (such as the positive direction of the Z direction), the deepest part of the second opening 322 is lower than the light-emitting surface of the transmitting module. Since the light beam is emitted from the light-emitting surface of the transmitting module 1, the second opening 322 smaller than the height of the transmitting module is provided at the edge portion, which can isolate the transmitting light path, while also reducing the weight of the partition 32 and allowing heat to be transferred through the opening, thereby improving heat dissipation efficiency. Similarly, in the opposite direction of the propagation direction of the return light (such as the positive direction of the Z direction), the deepest part of the second opening 322 is lower than the light-transmitting surface of the receiving module 2.

[0155] In order to improve the field of view of the detection device, in some possible solutions, the detection device 10 can be provided with a scanning module to scan the detection light into the object space at multiple angles and correspondingly receive the return light of the detection light at multiple angles. The architecture provided in the embodiment of the present application is also applicable to scanning detection devices.

[0156] Please refer to Figures 12, 13 and 14. The detection device also includes a scanning module 5, which includes a first scanning area 51 located on one side of the partition 32 and a second scanning area 52 located on the other side of the partition. The first scanning area 51 and the transmitting module 1 are located on the same side of the partition 32, and the second scanning area 52 and the receiving module 2 are located on the same side of the partition 32. Exemplarily, the first scanning area 51 is used to reflect the detection light from the transmitting module 1 to the optical element 4, and the second scanning area 52 is used to reflect the return light from the optical element 4 to the receiving module 2. The scanning module 5 can rotate (or swing, vibrate, etc.) along the movable axis to form different scanning angles. The detection light passing through the scanning module 5 scans the field of view, and the receiving module 2 can also receive the return light at different angular positions in the field of view.

[0157] Optionally, the scanning module 5 may include one or more of a swinging mirror, a polygon mirror, a micro-electro-mechanical system (MEMS) galvanometer, or a metal galvanometer. In some embodiments, the scanning module may include one or more reflective surfaces, which may be mounted on the main body of the scanning module in the form of patches, or the reflective surface and the main body of the scanning module may be integral. Optionally, the scanning module 5 may perform one-dimensional scanning, two-dimensional scanning, or the like.

[0158] In one possible embodiment, referring to Figures 12 and 13 , the partition 32 is provided with an opening (referred to as a first opening 321 for ease of distinction), and the first opening 321 extends through the partition 32 along the thickness direction of the partition 32. The scanning module 5 can pass through the first opening 321. Providing an opening on the partition 32 to accommodate the scanning module 5 not only isolates the transmitting light path from the receiving light path around the scanning module 5, thereby preventing stray light from being generated by minor defects on the surface of the scanning module 5, but also makes the layout of the various components more compact, thereby facilitating the miniaturization of the detection device.

[0159] In one possible embodiment, the scanning module 5 further includes an isolation portion 53, which is protruding from multiple reflective surfaces disposed around the scanning module's rotational axis and circumscribes the rotational axis. Because the reflective surfaces on the scanning module 5 are planar, and because the pattern formed by their outer periphery is circular (or sector-shaped) when the scanning module is in motion, the present application further enhances the isolation of the optical path near the scanning module by providing an isolation portion circumscribing the rotational axis.

[0160] Furthermore, the isolation portion 53 is located within the first opening 321 of the partition 32, and the isolation portion faces away from the outer peripheral edge 531 of the reflective surface and is spaced apart from and opposite to the inner wall surface 3211 of the opening. Thus, the position of the isolation portion 53 and the partition 32 are opposite, further improving isolation and reducing the impact of stray light within the detection device on the return light.

[0161] Optionally, the isolation portion 53 is a flexible material. Exemplarily, the flexible material includes one or more of foam, Mylar sheet or silicone. In some cases, the material of the isolation portion 53 may be the same as the material of the isolation buffer 31. In some cases, the material of the isolation portion 53 is different from the material of the isolation buffer 31. The isolation portion 53 can isolate the transmitting light path and the receiving light path, thereby preventing stray light caused by surface defects of the scanning module from seriously affecting the return light. Moreover, the provision of the isolation portion 53 can also reduce the requirements for the finish, scattering and other characteristics of the scanning module, saving surface treatment costs.

[0162] In one possible embodiment, in a direction perpendicular to the thickness of the partition 32, the spacing between the isolation portion 53 and the inner wall surface 3211 of the first opening 321 is a first distance, the thickness of the partition 32 is a second distance, and the first distance is smaller than the second distance. Because stray light may pass through the gap between the partition 32 and the isolation portion 53 and reach the other optical path, limiting the distance of the gap here can improve the isolation between the transmitting and receiving optical paths.

[0163] In some embodiments, the transmitting module 1 and the receiving module 2 can be arranged up and down, where up and down refers to being arranged in sequence along the thickness direction of the bottom shell 61 of the detection device 10, as shown in Figure 15. In some schemes, the thickness direction of the bottom shell is the vertical direction, and correspondingly, the plane perpendicular to the vertical direction is the horizontal plane, which is usually parallel to the ground. Generally speaking, the horizontal resolution requirement of the detection result is higher than the vertical resolution requirement. Therefore, arranging the transmitting module 1 and the receiving module 2 in the vertical direction can reduce the parallax of the transmitting module 1 and the receiving module 2 in the horizontal direction, reduce the blind spot in the horizontal direction, and improve the detection effect in the horizontal direction. In particular, for a detection device including a scanning module 5, the scanning direction is usually horizontal scanning (i.e., scanning in the horizontal direction). At this time, arranging the transmitting module 1 and the receiving module 2 up and down can also reduce the parallax in the horizontal direction and improve the detection performance.

[0164] In some embodiments, the transmitting module 1 and the receiving module 2 have no parallax in the horizontal direction, where the horizontal direction may be the ground direction, or the direction perpendicular to the thickness of the base plate 612 (the X direction as shown in FIG15 ). This can improve the field of view alignment effect of the detection device and enhance detection performance.

[0165] In some embodiments, the transmitting module 1 is disposed close to the bottom housing 61 , as will be described in detail below.

[0166] Another detection device provided by the present application is described below. It should be noted that the detection device described in the following embodiments can be combined with the above-mentioned detection device.

[0167] Referring to Figures 15 and 18 , an embodiment of the present application further provides a detection device 10, which includes a transmitting module 1, a receiving module 2, and a bottom shell 61. The transmitting module 1 is used to transmit detection light, and the receiving module 2 is used to receive the return light of the detection light. For related descriptions, please refer to the previous text. In conjunction with Figure 16 , the bottom shell 61 includes a bottom plate 612 and a side wall 611 arranged around the bottom plate. The transmitting module 1 and the receiving module 2 are arranged in the space enclosed by the bottom plate 612 and the side wall 611.

[0168] In the embodiment of the present application, the transmitting module 1 is fixedly connected to the bottom shell and is arranged close to the bottom shell. For example, there are two ways to implement the arrangement close to the bottom shell:

[0169] Implementation method 1, with reference to FIG15 , the transmitting module 1 and the receiving module 2 are arranged vertically along the thickness direction of the bottom plate 612 of the bottom housing 61, with the transmitting module 1 being closer to the bottom plate 612 than the receiving module 2. Referring to FIG15 , along a third direction (e.g., the Y-axis direction shown in FIG15 ), the transmitting module 1, the receiving module 2, and the bottom plate 612 of the bottom housing 61 are arranged in sequence, with the transmitting module 1 being disposed between the bottom plate 612 of the bottom housing 61 and the receiving module 2.

[0170] In the second implementation mode, the distance between the transmitting module 1 and the bottom plate 612 of the bottom shell 61 is less than the fifth distance.

[0171] Exemplarily, the fifth distance is the distance between the light-emitting surface of the emission module 1 and the bottom surface of the emission module 1. With reference to FIG23 , when the emission module includes a laser emission chip 11, an emission lens 12, a first lens barrel 13, and a circuit board 14, the light-emitting surface of the emission module 1 is the surface of the first lens barrel 13 away from the emission lens 12, and the bottom surface of the emission module 1 is the surface of the circuit board 14 of the emission module 1 away from the laser emission chip 11, or the bottom surface of the emission module 1 is the surface of the laser emission chip 11 away from the emission lens 12.

[0172] As another example, the fifth distance is the length of the emission module along the thickness direction (eg, the Y direction shown in FIG15 ) of the bottom plate 612. Alternatively, the fifth distance is less than 20 cm, such as 5 cm or 10 cm.

[0173] Optionally, the arrangement of the transmitting module 1 and the receiving module 2 can be arranged in an up-down arrangement or a left-right arrangement. For example, in conjunction with Figure 15, along the third direction (for example, the Y-axis direction shown in Figure 15), the transmitting module 1, the receiving module 2 and the bottom plate 612 of the bottom shell 61 are arranged in sequence, and at this time, the distance between the transmitting module 1 and the bottom plate of the bottom shell 61 is less than the fifth distance. For another example, in conjunction with Figure 18, the transmitting module 1 and the receiving module 2 are arranged in sequence along the fourth direction (for example, the X-axis direction shown in Figure 15), and the fourth direction is perpendicular to the thickness direction of the bottom plate 612 (i.e., perpendicular to the Y direction).

[0174] Of course, the above description is based on the bottom plate 612 of the bottom shell as an example. In some solutions, the emitting module 1 is disposed close to the bottom shell 61 , including being disposed close to the side wall 611 of the bottom shell 61 .

[0175] On the one hand, since the transmitting module 1 generates heat when working, placing the transmitting module 1 close to the bottom shell 61 can improve the heat dissipation efficiency of the transmitting module, which is beneficial to ensuring the stability of the detection performance of the detection device and extending the service life of the detection device. On the other hand, the structure of the bottom shell 61 is relatively stable, and placing the transmitting module 1 close to the bottom shell design can make the setting stability of the transmitting module 1 higher, thereby improving the overall stability of the optical path. In short, the detection device provided by the embodiment of the present application has higher heat dissipation efficiency and greater stability, which significantly improves the reliability of the detection device.

[0176] Optionally, referring to Figure 17 , the transmitting module 1 and the bottom housing 61 can be connected via a structural member 7 to achieve stable installation of the transmitting module and the receiving module. For example, the transmitting module 1 can be connected to the structural member 7 via a connecting structure, and the structural member 7 is fixedly assembled with the bottom housing 61, thereby firmly connecting the transmitting module 1 to the bottom housing 61. Exemplarily, the aforementioned connecting structure may include a connecting hole, a pin, a fastener, a snap-fit ​​structure, etc.

[0177] In some possible implementations, the transmitting module 1 is thermally connected to the bottom housing 61 to further improve heat dissipation efficiency. For example, the structural member 7 is made of a thermally conductive material, such as metal (including pure metal and non-metal).

[0178] In some embodiments, the transmitting module 1 and the receiving module 2 have no parallax in the horizontal direction, where the horizontal direction may be the ground direction, or the direction perpendicular to the thickness of the base plate 612 (the X direction as shown in FIG15 ). This can improve the field of view alignment effect of the detection device and enhance detection performance.

[0179] In an off-axis architecture, it is usually difficult to completely align the fields of view of the transmitting module 1 and the receiving module 2. In one possible implementation, when the transmitting module 1 and the receiving module 2 are arranged vertically, the transmitting module 1 and the receiving module 2 can achieve no parallax in the field of view in the horizontal direction, that is, the horizontal field of view (HFOV) is aligned, while the fields of view in the vertical direction may be misaligned or of different sizes. In another possible implementation, when the transmitting module 1 and the receiving module 2 are arranged horizontally, the transmitting module 1 and the receiving module 2 can achieve no parallax in the field of view in the vertical direction, that is, the vertical field of view (VFOV) is aligned, while the fields of view in the horizontal direction may be misaligned or of different sizes.

[0180] As mentioned above, the field of view of transmitter module 1 and receiver module 2 can be different. The following are two field of view designs for transmitter module 1 and receiver module 2:

[0181] Design 1: The field of view of transmitter module 1 can be larger than that of receiver module 2. This allows the field of view of receiver module 2 to be widely covered by the field of view of transmitter module 1, reducing the risk of line loss for receiver module 2 and improving its utilization efficiency.

[0182] Design 2: The field of view of receiving module 2 is larger than that of transmitting module 1. This allows the field of view of receiving module 2 to cover all or most of the field of view of transmitting module 1, effectively receiving echoes within the field of view of transmitting module 1. This reduces the possibility of signals outside the field of view of receiving module 2 causing serious crosstalk on the detection results, thereby improving the utilization efficiency of transmitting module 1.

[0183] The following describes the design of the field of view of the transmitting module and the receiving module in this application.

[0184] In some possible embodiments, the center line of the field of view of the emission module 1 is at an angle to the base plate 612, for example, represented by α1. Please refer to Figure 19, which is a schematic diagram of an optical path provided by the present application. Taking the schematic diagram of the XY plane as an example, the emission module can be rotated around the Z axis by a certain angle toward the base plate, for example, by an angle of α2, so that the center line of the field of view angle is at an angle α1 to the base plate. Among them, α1 is less than the vertical field of view angle of the emission module 1, where the vertical field of view angle is the angle formed by the two edges of the field of view on the XY plane. Furthermore, α1 is less than half of the vertical field of view angle of the emission module 1. For example, α1≤10°, or α1≤5°, for example, α1 is 2.5°. By designing the emission module to tilt downward (i.e., "nod"), the field of view of the detection device can be deflected downward, thereby meeting the design of the detection area of ​​the detection device. Please refer to Figure 20, which is a schematic diagram of an application scenario of a detection device provided by an embodiment of the present application. Since the installation position of the detection device is usually at a certain height from the ground, if the center line of the field of view is parallel to the ground, most of the field of view of the detection device is the sky or a distant position, such as the field of view without "nodding" as shown in Figure 20. By designing the transmitting module 1 to nod, the field of view of the detection device can be deflected toward the ground, so that the field of view of the detection device can cover the ground closer in the horizontal direction. Especially when the detection device is set on a vehicle, the detection results of the position close to the vehicle have a higher value in intelligent driving decision-making, so the nodding design of the detection device improves the availability of the detection results of the detection device. In addition, by deflecting the transmitting module 1 by a certain angle, the aforementioned field of view deflection effect can be achieved when the bottom shell of the detection device is parallel to the ground, which is helpful for the installation position design and installation stability of the detection device.

[0185] Furthermore, the centerline of the field of view of the receiving module 2 of the detection device 10 also forms an angle with the base plate 612, for example, represented by α1. Optionally, α1 ≤ 10°, or α1 ≤ 5°, for example, α1 is 2.5°. As a possible implementation, the receiving module 2 is rotated about the Z axis by a first angle, for example, an angle α2, toward the base plate, so that the centerline of the field of view forms an angle α1 with the base plate. This can improve the overlap between the transmitting field of view and the receiving field of view, improve the usability of the detection results of the detection device, and improve detection performance.

[0186] In some possible embodiments, in the thickness direction of the base plate 612, the center of the field of view of the emission module does not overlap with the center of the ideal emission spot of the window, wherein the ideal emission spot is the spot on the window when the center line of the emission module is parallel to the base plate. Please refer to Figure 21, which is a schematic diagram of the position of a light spot on the window provided in an embodiment of the present application. Taking the accompanying figure shown in Figure 15 as an example, the center of the field of view of the emission module can be represented by the center of the light spot (point Q). Since the center of the field of view of the emission module 1 is at an angle to the base plate 612, the detection light is deflected, and the center of the light spot of the detection light no longer passes through the center of the ideal emission spot (point P). For example, the distance between the two is d2, and d2>0. The ideal emission spot is represented by a dotted circle, and the light spot actually generated by the emission module is represented by a solid circle.

[0187] In some possible implementations, the center of the field of view of the emission module does not overlap with the center of the viewing window in the thickness direction of the base plate 612. For example, because the probe light is at an angle to the base plate 612, the probe light is deflected relative to the XY plane, causing the probe light to deviate from the center of the viewing window in the thickness direction of the base plate 612.

[0188] In some possible embodiments, the center line of the field of view of the detection light emitted by the emission module 1 forms an angle with the light-transmitting surface of the window, for example, represented by β1. The window can be regarded as the aforementioned optical element 4, and the detection light and the return light pass through the window together. Please refer to Figure 22, which is another optical path schematic diagram provided in an embodiment of the present application. Taking the schematic diagram of the XY plane as an example, the emission module can be rotated around the Y axis by a second angle, for example, by an angle of β2, so that the center line of the field of view and the light-transmitting surface 81 of the window 8 (regarded as the optical element 4) form an angle β1. Optionally, the direction of rotation can be in a direction close to the window 8. Or optionally, the direction of rotation can be in a direction away from the window 8.

[0189] By deflecting around the Y-axis, the length of the optical path from the transmitting module 1 to other components in the detection device can be adjusted, and the projection of the detection light beam on the components can be controlled. In some cases, this embodiment can reduce the spot size of the detection light beam on the scanning module 5, thereby reducing the volume of the scanning module 5, which is conducive to the miniaturization and lightweight development of the detection device. In some cases, by deflecting around the Y-axis, the waist of the detection light can be closer to the position of the window 8, reducing the spot area of ​​the detection light on the window 8, reducing the beam loss, and facilitating the miniaturization of the lidar.

[0190] The window 8 can be regarded as the aforementioned optical element 4 , and the light-transmitting surface 81 can be the second surface 41 or the third surface 42 .

[0191] Furthermore, the centerline of the field of view of the receiving module 2 of the detection device 10 can form an angle, for example, β1, with the light-transmitting surface 81 of the window. Alternatively, the receiving module 2 can be rotated about the Y-axis by a certain angle, for example, β2, toward the window 8. This can improve the correspondence between the transmitting and receiving fields of view, thereby enhancing detection performance.

[0192] As one possible implementation, the emission module includes a laser emission chip, and the laser emission lens is a VCSEL chip, or is formed by splicing multiple VCSEL chips. By splicing multiple VCSEL chips, on the one hand, the emission power of the detection device can be increased, the blind area of ​​the detection device can be reduced, and the detection performance can be improved. On the other hand, given the same luminous area, splicing multiple VCSEL chips will reduce the stress compared to directly using a single VCSEL chip of similar size. In addition, multi-chip splicing can also achieve higher heat dissipation efficiency and help reduce crosstalk in the emission module.

[0193] As a possible embodiment, the emission module further includes an emission lens, which is a rotationally symmetric lens. Please refer to Figure 23, which is a schematic diagram of an emission module provided in an embodiment of the present application. The emission module 1 includes a laser emission chip 11 and an emission lens 12, and the emission lens 12 is rotationally symmetric, for example, a circular mirror. Furthermore, the detection light generated by the laser emission chip 11 is emitted through the emission lens 12, and further passes through an optical element (such as a scanning module, or a window, etc.) to reach the object space for detection.

[0194] Optionally, the emitting lens 12 can be a lens, or a lens group formed by multiple lenses. In some embodiments, in conjunction with Figure 22, the emitting module 1 can also include a first circuit board 14, which is used to power the laser emitting chip 11 and can also be used to implement other control logic or computing logic. Furthermore, the emitting module 1 can also include a first lens barrel 13, which is used to encapsulate the emitting lens. It should be understood that in some embodiments, the emitting module 1 may include more or fewer devices than the devices shown in Figure 23, for example, the emitting module 1 also includes one or more of a lens holder (for mounting the emitting lens), or a filter, etc.

[0195] As a possible implementation, referring to Fig. 24 , the receiving module 2 includes an array receiver 21. For example, the array receiver 21 is a SPAD array or an APD array.

[0196] As a possible implementation, the midline of the field of view of the receiving module 2 forms an angle with the bottom plate. For related descriptions, please refer to the introduction of the transmitting module.

[0197] As a possible embodiment, referring to FIG24 , the receiving module 2 further includes a receiving lens 22 . The receiving lens 22 is a rotationally symmetric lens, such as a circular lens. Optionally, the receiving lens 22 may include one or more lenses.

[0198] Optionally, the receiving module 2 may further include one or more components such as a second circuit board 24, a second lens barrel 23, a base (not shown), or a filter (not shown). In some embodiments, the receiving module and the transmitting module may share a circuit board, that is, the second circuit board 24 and the aforementioned first circuit board 14 may be the same circuit board.

[0199] As a possible implementation, in conjunction with FIG. 15 and FIG. 18 , the detection device further includes an isolation buffer 31 . The relevant description and setting position of the isolation buffer 31 can be found in the above description.

[0200] As a possible implementation, the detection device further includes a partition 32 , and related descriptions can be found in the above.

[0201] As a possible implementation, the detection device further includes a scanning module 5 , and related descriptions can be found in the above.

[0202] An embodiment of the present application also provides a laser radar, which includes the aforementioned detection device, such as the detection device in the embodiment shown in Figures 2, 10, 11, 12, 15, or 18, as well as the detection device described in the possible implementation methods of the above embodiments.

[0203] The present application also provides a terminal including the aforementioned detection device, such as the detection device in the embodiments shown in Figures 2, 10, 11, 12, 15, or 18. Alternatively, the terminal includes the aforementioned laser radar.

[0204] Alternatively, the terminal may be an intelligent terminal or transportation vehicle such as a vehicle, drone, or robot, or may be an industrial device or a leisure and entertainment device. Industrial devices include industrial robots and robotic arms. Leisure and entertainment devices include virtual reality (VR) devices, mixed reality (MR) devices, or 4D cinema cabins.

[0205] In one possible implementation, referring to FIG. 25 , FIG. 25 is a schematic diagram of a vehicle provided in an embodiment of the present invention. The vehicle includes a windshield (i.e., windshield). Detection light emitted by the detection device can propagate through the windshield to the exterior of the detection device, while return light from the exterior of the detection device can propagate through the windshield and enter the interior of the detection device. The windshield can be considered the aforementioned optical element 4.

[0206] Optionally, a light absorbing layer and / or an anti-diffraction layer may be provided on the windshield, and the relevant descriptions may be found in the above.

[0207] Optionally, there are many possible installation locations for the detection device, such as being installed on the platform of the vehicle's dashboard (as shown in Figure 25), or being installed on the top of the cabin (as shown in Figure 20), or it can also be installed on the head, side, or rear of the vehicle.

[0208] It should be understood that the terminals involved in this application may include intelligent terminals or vehicles such as vehicles, robots, drones, ships, and steamships. The term "vehicle" is used in a broad sense and may include transportation vehicles (such as commercial vehicles, passenger cars, motorcycles, flying cars, trains, etc.), industrial vehicles (such as forklifts, trailers, tractors, etc.), engineering vehicles (such as excavators, bulldozers, cranes, etc.), agricultural equipment (such as mowers, harvesters, etc.), etc. For another example, a robot may be an automated guided vehicle (AGV), a walking conversational robot, a service robot, or other robots.

[0209] In the description of this application, the terms "center", "upper", "lower", "vertical", "horizontal", "inner", "outer", "left", "side", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, they should not be understood as limiting this application. It should be understood that the Z direction, Y direction, etc. mentioned in some embodiments of this application are based on the XYZ rectangular coordinate system as a reference to facilitate the description of the features in this solution, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation.

[0210] Furthermore, in the embodiments of the present application, "disposed opposite to each other" refers to having different orientations, and does not necessarily limit the orientations of the two parts to being completely opposite. For example, "a first surface and a second surface are disposed opposite to each other" means that the first surface and the second surface have substantially different orientations in the first direction, such as one being substantially oriented in the positive X-direction and the other being substantially oriented in the negative X-direction. In some possible cases, the first surface and the second surface are parallel and disposed opposite to each other, while in other cases, the first surface and the second surface may not be completely opposite to each other, but may be inclined at a certain angle.

[0211] In the embodiments of this application, words such as "exemplarily" or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design described in this application as "exemplary" or "for example" should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplarily" or "for example" is intended to present the relevant concepts in a concrete manner.

[0212] The “at least one” mentioned in the embodiments of this application refers to one or more, and “plurality” refers to two or more. “At least one of the following items” or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can represent: a, b, c, (a and b), (a and c), (b and c), or (a and b and c), where a, b, c can be single or multiple. “And / or” describes the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character “ / ” generally indicates that the previous and next associated objects are in an “or” relationship.

Claims

1. A detection device, characterized in that, It includes a transmitting module, a receiving module, and an isolation buffer. The transmitting module and the receiving module are off-axis architectures, where: The transmitting module is used to emit detection light, and the detection light propagates through an optical element to the outside of the detection device; The receiving module is used to receive the return light of the detection light from the outside of the detection device, and the return light passes through the optical element; The isolation buffer is arranged inside the detection device, and the gap between the isolation buffer and the optical element is less than a first distance; The isolation buffer is made of a flexible material and is arranged between the main optical path of the detection light and the main optical path of the return light.

2. The detection device according to claim 1, characterized in that, The gap between the isolation buffer and the optical element is less than the first distance, including: The isolation buffer is in contact connection with the optical element, or the gap between the isolation buffer and the optical element is less than the thickness of the isolation buffer in a first direction. The first direction is the direction from the main optical axis of the detection light to the main optical axis of the return light.

3. The detection device according to claim 1 or 2, characterized in that The detection device further includes a partition. The partition is arranged between the main optical path of the detection light and the main optical path of the return light and is disposed on the side of the isolation buffer away from the optical element. The hardness of the isolation buffer is less than the hardness of the partition.

4. The detection device according to claim 3, characterized in that, In the thickness direction of the partition, the thickness of the isolation buffer is greater than or equal to the thickness of the partition.

5. The detection device according to claim 3 or 4, characterized in that, The partition and the isolation buffer are used to isolate the optical paths of the transmitting module and the receiving module.

6. The detection device according to any one of claims 3-5, characterized in that, The detection device further includes a scanning module. The scanning module rotates along a movable axis. The scanning module includes a first scanning area 51 on one side of the partition and a second scanning area 52 on the other side of the partition. The first scanning area and the transmitting module are on the same side of the partition, and the second scanning area and the receiving module are on the same side of the partition, where: The first scanning area 51 is used to reflect the detection light from the transmitting module to the optical element, and the second scanning area 52 is used to reflect the return light from the optical element to the receiving module.

7. The detection device according to claim 6, characterized in that, The partition is provided with an opening that penetrates the partition in the thickness direction of the partition, and the scanning module passes through the opening.

8. The detection device according to claim 7, wherein, The scanning module further includes an isolation portion that protrudes from a plurality of reflecting surfaces of the scanning module surrounding the rotation axis and surrounds the rotation axis for one week; The isolation portion is located in the opening of the partition, and the outer peripheral edge of the isolation portion facing away from the reflecting surface is spaced relative to the inner wall surface of the opening.

9. The detection device according to claim 8, wherein In the direction perpendicular to the thickness direction of the partition, the interval between the isolation portion and the inner wall surface of the opening is the first distance. The thickness of the partition is the second distance. The first distance is less than the second distance.

10. The detection device according to claim 8 or 9, characterized in that, The ratio of the second distance to the first distance is greater than or equal to 2.

11. The detection device according to any one of claims 1-10, characterized in that, The flexible material includes one or more of foam, mylar, or silica gel.

12. The detection device according to claim 11, characterized in that, The cross-section of the isolation buffer is rectangular, or the isolation buffer is a component formed by splicing multiple structures.

13. The detection device according to claim 11, wherein When the flexible material includes foam, the diameter of the pores of the foam is greater than or greater than or equal to 0.1 mm.

14. The detection device according to any one of claims 1-13, characterized in that, The isolation buffer includes a first surface facing the optical element, and the optical element includes a second surface facing the isolation buffer. The length of the first surface in the first direction is a third distance, and the first direction is the direction from the main optical axis of the detection light to the main optical axis of the return light. The thickness of the optical element in the second direction is a fourth distance, and the second direction is the direction perpendicular to the second surface. The third distance is greater than the fourth distance.

15. The detection device according to claim 14, wherein The ratio of the third distance to the fourth distance falls within [1.4, 2].

16. The detection device according to any one of claims 1-15, characterized in that, The detection device includes the optical element, and the optical element is the window of the detection device.

17. The detection device according to claim 16, wherein, The isolation buffer includes a first surface facing the optical element, and the optical element includes a second surface facing the isolation buffer. The second surface includes a contact area opposite to the first surface, and an anti-diffraction layer is provided outside the edge of the first area.

18. The detection device according to any one of claims 1-15, characterized in that, The detection device is arranged in the terminal, and the optical element is the windshield of the terminal.

19. A detection device, characterized in that, The detection device includes a transmitting module, a receiving module, and a bottom case, where: The transmitting module is used to emit detection light. The receiving module is used to receive the return light of the detection light. The bottom case includes a bottom plate and a side wall surrounding the bottom plate, and the transmitting module and the receiving module are arranged in the space surrounded by the bottom plate and the side wall. The transmitting module and the receiving module are fixedly connected to the bottom case, and the transmitting module is arranged between the bottom plate and the receiving module.

20. The detection device according to claim 19, wherein The midline of the field of view of the transmitting module forms an angle with the bottom plate.

21. The detection device according to claim 20, characterized in that, In the thickness direction of the bottom plate, the center of the field of view of the transmitting module does not overlap with the center of the window.

22. The detection device according to claim 19, characterized in that, The transmitting module includes a laser emission chip, and the laser emission lens is a single VCSEL chip or formed by splicing multiple VCSEL chips.

23. The detection device according to claim 22, wherein, The transmitting module further includes a transmitting lens, and the transmitting lens is a rotationally symmetric lens.

24. The detection device according to any one of claims 19-23, characterized in that, The receiving module includes an array receiver.

25. The detection device according to claim 24, characterized in that, The midline of the field of view of the receiving module forms an angle with the bottom plate.

26. The detection device according to claim 19, characterized in that, The receiving module further includes a receiving lens, and the receiving lens is a rotationally symmetric lens.

27. A lidar, characterized in that, The lidar includes the detection device according to any one of claims 1-18 and / or the detection device according to any one of claims 19-26.

28. A terminal, characterized in that, The terminal includes the detection device according to any one of claims 1-18, or the terminal includes the detection device according to any one of claims 19-26, or the terminal includes the lidar according to claim 27.

29. A terminal, characterized in that, The terminal includes an optical element and the detection device according to any one of claims 1-15, where: The optical element is the windshield of the terminal. The isolation buffer in the detection device includes a first surface facing the optical element. The windshield includes a second surface facing the isolation buffer, the second surface includes a contact area opposite to the first surface, and an anti-diffraction layer is provided outside the edge of the first area.

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